Ros2 Build Not Working

[geoeo]

Hello,

Im using the supplied Docker with Ros Iron.

Initially there were problems with the subcriber definitions which I fixed by

1. Removing the Reference from the callback

  void callback_image(const sensor_msgs::msg::Image::SharedPtr msg);

  void callback_imu(const sensor_msgs::msg::Imu::SharedPtr msg);

2. Not using SharedPtr in the function defition.

  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr sub_cam_;  //<! Camera subscriber
  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr sub_imu_;    //<! IMU subscriber

However now I have a linking error.

/usr/bin/ld: libmsceqf_lib.so: undefined reference to boost::math::tools::promote_args<double, float, float, float, float, float>::type boost::math::round(double const&)'`

I tried adding #include <boost/math/special_functions/next.hpp> as per https://lists.boost.org/Archives/boost/2016/09/230712.php
But it doenst help.

I can build the non-ros version fine. So its probably due to the static linking which happens in the non-ros version?

I not really sure whats going on

[AlessandroFornasier]

Hi there! Let me have a look over the weekend. I'll be back on you.