Question

我正在尝试链接到ros节点的boost库，在连接中我找到了以下链接：＆＃34; How to include external library (boost) into CLion C++ project with CMake?＆＃34;和＆＃34; How to link C++ program with Boost using CMake＆＃34;和＆＃34; problem building in groovy with catkin and boost＆＃34;。

因此，我创建了我的CMakelists.txt，如下所示，需要使用OpenCV和Boost：

cmake_minimum_required(VERSION 2.8.3)
project(image_listener_rosbag)

#set(Boost_USE_STATIC_LIBS OFF) 
#set(Boost_USE_MULTITHREADED ON)  
#set(Boost_USE_STATIC_RUNTIME OFF) 
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  message_generation
  roscpp
  sensor_msgs
  std_msgs
)

add_message_files(
  FILES
)
generate_messages(
  DEPENDENCIES
  std_msgs
  sensor_msgs
)

catkin_package(
    CATKIN_DEPENDS message_runtime
)
find_package(catkin REQUIRED)
find_package(OpenCV REQUIRED)

find_package( Boost REQUIRED COMPONENTS serialization archive ) # is this correct?
# The components included are chosen because I need to use the following usings: 
#include <boost/archive/binary_oarchive.hpp>
#include <boost/archive/binary_iarchive.hpp>
#include <boost/serialization/split_free.hpp>

include_directories(
    ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
)

link_directories(${Boost_LIBRARY_DIR})

add_library(image_listener_rosbag src/image_listener.cpp)
add_dependencies(image_listener_rosbag ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(image_listener_rosbag_node src/image_listener.cpp)
target_link_libraries(image_listener_rosbag_node ${OpenCV_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})#

当我尝试构建它时，突然出现另一个依赖于PCL的程序包崩溃：

 -- Configuring incomplete, errors occurred!
See also "/home/johann/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/johann/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1

调查CMakeError.log抱怨未找到pthread_create。崩溃的PCL软件包没有提到除了PCL内部的提升。我应该如上所述在故障包中明确添加提升吗？ 尝试：将有关上述提升的信息添加到PCL节点，我得到了引用丢失的pthread_create的相同错误日志。

作为一个测试，如果从上面的代码中删除所有的boost引用，我已尝试以多种方式编辑上面的代码，这两个包都是构建并运行没有问题。

如果我删除find_package(Boost ...，我会收到很多问题：未定义的引用boost :: archive :: detail :: basic_oarchive :: ~basic_oarchive（）`但是PCL节点编译没问题。< / p>

问题：我是否正确添加了boost和库？如果在包含PCL的另一个包中需要特殊引用时会出现问题吗？

系统：作为参考，我使用ros indigo full实现它，包含opencv（2.4）和pcl（看起来像1.54库），一切都在Ubuntu 14.04上。

附加

这个问题，＆＃34; PCL install links directly to boost installation directory somehow＆＃34;，似乎有一些相同的问题，但我们还没能转移建议。

PCL节点

以下节点是在上面添加了增强包含时出现错误的节点。

cmake_minimum_required(VERSION 2.8.3)
project(pointcloudlistener)

find_package(PCL REQUIRED)
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  PCL
  pcl_ros
  roscpp
  sensor_msgs
  std_msgs
)

add_message_files(
  FILES
)

generate_messages(
  DEPENDENCIES
  std_msgs
  sensor_msgs
)

catkin_package( 
 CATKIN_DEPENDS message_runtime
)
find_package(catkin REQUIRED)
find_package(OpenCV REQUIRED)
find_package(PCL REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})

link_directories(
    ${PCL_LIBRARY_DIRS}
)

add_library(pointcloudlistener src/pcl_listener.cpp src/matPclConverter.cpp src/Image_Safety.cpp)
add_dependencies(pointcloudlistener ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(pointcloudlistener_node src/pcl_listener.cpp src/matPclConverter.cpp src/Image_Safety.cpp)
target_link_libraries(pointcloudlistener_node ${OpenCV_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})

链接到提升

0 个答案: