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ROS 链接动态库

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ROS 链接动态库时需要注意的一些问题：写的每个包最好只生成一个动态库，不要生成多个动态库，否则会出现链接错误。

笔者在工程中发现如果对 ROS 项目中的某个包生成动态库时，生成了两个以上的动态库，那么就会在其它包引用这个包时出现链接错误。 例如，我实现了一个轨迹优化的包 traj_opt ，该包的 CMakeLists.txt 文件中，有下面的内容：

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include_directories (
    SYSTEM
    include
    ${catkin_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
 )

add_library ( minisnap
  src/mini_snap.cpp
 )
target_link_libraries ( minisnap
  ${catkin_LIBRARIES}
  osqp:: osqp
 )

add_library ( traj_opt
    src/poly_traj_optimizer.cpp
 )
target_link_libraries ( traj_opt
    ${catkin_LIBRARIES}
 )

add_executable ( test_minisnap src/test_minisnap.cpp )
target_link_libraries ( test_minisnap
    ${catkin_LIBRARIES}
    minisnap
 )

这里的本意是想要生成两个动态库，一个用于 minisnap 的轨迹优化，另一个为 traj_opt ，用于基于 MINCO 的轨迹优化。但是笔者发现，在外部引用这个包时，只能成功链接一个动态库，而不是两个。例如，笔者在另外一个包路径规划包 planning 中引用了这个轨迹优化包。在其 CMakeLists.txt 文件中，笔者这样写

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find_package ( catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_filters
  sensor_msgs
  image_transport
  mav_msgs
  quadrotor_msgs
  traj_utils
  traj_opt
 )

add_definitions ( ${PCL_DEFINITIONS} )

catkin_package (
  INCLUDE_DIRS include
  LIBRARIES rast_corridor_planning
  CATKIN_DEPENDS roscpp traj_opt traj_utils
 )

include_directories (
  include
  SYSTEM
  ${catkin_INCLUDE_DIRS}${PROJECT_SOURCE_DIR}/include
  ${PCL_INCLUDE_DIRS}
  ${Eigen3_INCLUDE_DIRS}
 )

include_directories ( /usr/local/include/munkres )
set ( MunkresLIB
  /usr/local/lib/libmunkres.a
 )

add_executable ( map_sim_example src/map_sim_example.cpp )
target_link_libraries ( map_sim_example ${catkin_LIBRARIES}${PCL_LIBRARIES} ${MunkresLIB} )

add_executable ( multi_planning_node
  src/multi_planning_node.cpp
  src/multi_planning.cpp )

target_link_libraries ( multi_planning_node
${catkin_LIBRARIES}
 )

笔者发现要生成的可执行文件 multi_planning_node 中出现 minisnap 动态库的链接错误。当笔者将轨迹优化包的 CMakeLists.txt 文件修改为以下形式后，该问题就消失了：

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include_directories (
    SYSTEM
    include
    ${catkin_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
 )

add_library ( traj_opt
    src/poly_traj_optimizer.cpp
    src/mini_snap.cpp
 )

target_link_libraries ( traj_opt
    ${catkin_LIBRARIES}
    osqp:: osqp
 )

add_executable ( test_minisnap src/test_minisnap.cpp )
target_link_libraries ( test_minisnap
    ${catkin_LIBRARIES}
    # minisnap
    traj_opt
 )