Question

我想使用fcl库运行ROS节点。我刚刚编写了一个小代码，并编辑了CMakeLists.txt以确保我可以运行该节点，但是我收到了以下错误：

/usr/bin/ld: cannot find -lfcl
collect2: error: ld returned 1 exit status

我该怎么办？

我的CMakeLists.txt如下：

cmake_minimum_required(VERSION 2.8.3)
project(package_name)

find_path(FCL_INCLUDE_DIRS
NAMES fcl/collision.h
HINTS ${PC_FCL_INCLUDEDIR}
PATHS "${CMAKE_INSTALL_PREFIX}/include")

find_package(catkin REQUIRED COMPONENTS
    nav_msgs
    roscpp
    sensor_msgs
    visualization_msgs
    tf
    dynamic_reconfigure
    message_generation
    laser_geometry
    geometry_msgs
    cmake_modules
)

find_package(Boost REQUIRED)
find_package(Eigen REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(fcl REQUIRED)


generate_dynamic_reconfigure_options(
)


generate_messages(
    DEPENDENCIES
    geometry_msgs sensor_msgs nav_msgs visualization_msgs  
)


catkin_package(
    INCLUDE_DIRS include
    LIBRARIES ${haptic_teleoperation}
    CATKIN_DEPENDS message_runtime nav_msgs roscpp sensor_msgs 
    DEPENDS eigen
)

###########
## Build ##
###########

## Specify additional locations of header files  
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(include
    ${catkin_INCLUDE_DIRS}
    ${Eigen_INCLUDE_DIRS}
    ${Boost_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    ${FCL_INCLUDE_DIRS}
)


## Declare a cpp library
add_library()

add_executable(fcl_test src/fcl_test.cpp)
add_dependencies(fcl_test
    ${PROJECT_NAME}_gencfg        
    ${PROJECT_NAME}_generate_messages_cpp
)
target_link_libraries(fcl_test
    fcl
    ${catkin_LIBRARIES}
    ${Boost_LIBRARIES}
    ${OpenCV_LIBRARIES}
)

Answer 1

在link-command中将fcl替换为${fcl_LIBRARIES}：

target_link_libraries(fcl_test
  ${fcl_LIBRARIES}
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  ${OpenCV_LIBRARIES}
)

如果find_package(fcl REQUIRED)正常工作，则应自动设置此变量。

使用fcl库找不到-lfcl

1 个答案: