Compiler/IWR1642BOOST: ti_rospackage including class errors

Sorry, I didn't mean to add the rest of the question to the bottom line of the code snippet. Also the <strong> tags were not intended, I must have bold formated the code snippet. Here is the remainder of my question.

The errors I am getting are:
/home/joe/catkin_wsMA/build/ti_mmwave_rospkg/devel/lib/libmmwave.so:-1: error: undefined reference to `class_loader::class_loader_private::AbstractMetaObjectBase::AbstractMetaObjectBase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/home/joe/catkin_wsMA/build/ti_mmwave_rospkg/devel/lib/libmmwave.so:-1: error: undefined reference to `nodelet::Nodelet::Nodelet()'
/home/joe/catkin_wsMA/build/ti_mmwave_rospkg/devel/lib/libmmwave.so:-1: error: undefined reference to `nodelet::Nodelet::getPrivateNodeHandle() const'
...and some more class_loader errors

I am not sure what's wrong. Including the DataHandlerClass.h header file and initialising a new DataUARTHandler in the mmWaveLoader.cpp did not produce any compile errors. Any suggestions how to use the class in both files containing a main method?

Any help is much appreciated.

Ryen

John,

Thank you for your reply. I'm sorry, I think I was not very clear about the compile errors I am getting. Essentially I would like to integrate my own class into the ti_rospackage and use it's methods in the mmWaveQuickConfig.cpp source file. I kept running into compile errors, which is why I tried to understand how the existing DataUARTHandler class is integrated.

That is when I found that the ros package does not compile when including the DataUARTHandler class into the mmWaveQuickConfig.cpp (producing the same errors as when I tried to include my own class). For some reason the package does compile when including the DataUARTHandler class to the second source file containing a main() method, namely mmWaveLoader.cpp.

In short, adding this to the clean ti_rospackage compiles:

/*
* mmWaveLoader.cpp
*
*/
#include "ros/ros.h"
#include "nodelet/loader.h"
#include "DataHandlerClass.h"

int main(int argc, char **argv)
{

ros::NodeHandle myNH;
DataUARTHandler handler(&myNH);

...

But, adding this to the clean ti_rospackage does not compile:
/*
* mmWaveQuickConfig.cpp
*
*/

#include "ros/ros.h"
#include "ti_mmwave_rospkg/mmWaveCLI.h"
#include <cstdlib>
#include <fstream>
#include <stdio.h>
#include <regex>

#include "nodelet/loader.h"
#include "DataHandlerClass.h"
#include "mmWaveDataHdl.hpp"
#include <nodelet/nodelet.h>

int main(int argc, char **argv)
{

ros::NodeHandle myNH;
DataUARTHandler handler(&myNH);

...

and produces following compile error:

[100%] Linking CXX executable /home/joe/catkin_wsMA/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `class_loader::class_loader_private::AbstractMetaObjectBase::AbstractMetaObjectBase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `nodelet::Nodelet::Nodelet()'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `nodelet::Nodelet::getPrivateNodeHandle() const'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `class_loader::class_loader_private::getFactoryMapForBaseClass(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `class_loader::class_loader_private::getCurrentlyActiveClassLoader()'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `class_loader::class_loader_private::getCurrentlyLoadingLibraryName[abi:cxx11]()'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `class_loader::class_loader_private::AbstractMetaObjectBase::addOwningClassLoader(class_loader::ClassLoader*)'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `class_loader::class_loader_private::getPluginBaseToFactoryMapMapMutex()'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `class_loader::class_loader_private::AbstractMetaObjectBase::~AbstractMetaObjectBase()'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `nodelet::Nodelet::~Nodelet()'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `typeinfo for nodelet::Nodelet'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `class_loader::class_loader_private::AbstractMetaObjectBase::setAssociatedLibraryPath(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
/home/joe/catkin_wsMA/devel/lib/libmmwave.so: undefined reference to `class_loader::class_loader_private::hasANonPurePluginLibraryBeenOpened(bool)'
collect2: error: ld returned 1 exit status
ti_mmwave_rospkg/CMakeFiles/mmWaveQuickConfig.dir/build.make:126: recipe for target '/home/joe/catkin_wsMA/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig' failed
make[2]: *** [/home/joe/catkin_wsMA/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig] Error 1
CMakeFiles/Makefile2:1939: recipe for target 'ti_mmwave_rospkg/CMakeFiles/mmWaveQuickConfig.dir/all' failed
make[1]: *** [ti_mmwave_rospkg/CMakeFiles/mmWaveQuickConfig.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2


I really appreciate your help.

Regards,
Ryen

Ryen,

Although it may be possible to modify the ti_mmwave_rospkg package by adding custom classes, etc., it is preferred to create your own custom ROS package instead and then use the point cloud messages coming from the ti_mmwave_rospkg node. A tutorial on creating ROS packages can be found in the "Creating a ROS Package" section on wiki.ros.org/.../Tutorials. Creating your own custom package has the advantage of keeping the mmWave sensor driver code separate from your custom code. This will make it easier to develop your own code without dealing with the internal structure and build dependencies of the driver code and allow you to cleanly update the driver code when newer versions are released. It also allows you to record the ROS point cloud messages coming from the mmWave sensor node in ROS bag files and replay them later for your custom node to consume so you can iterate your custom code while replaying the same data capture from the Radar sensor if desired.

As far as the compile errors seen, it may be due to the internal library/executable partitioning of the mmWave ROS driver and the dependent ROS libraries required to link a standalone executable vs. launching a nodelet. Unfortunately, we are not able to investigate and resolve build issues due to custom code changes.

Regards,

John