/usr/bin/ld: cannot find -lusb_cam: No such file or directory

[hestrro]

When I use sudo apt-get install ros-humble-usb-cam to download, the find_package(usb_cam REQUIRED) prompt in cmakelist cannot be found.
terminal：
colcon build --packages-select urrobot-test
Starting >>> urrobot-test
--- stderr: urrobot-test
/usr/bin/ld: cannot find -lusb_cam: No such file or directory

[flynneva]

@hestrro are you trying to use the base usb_cam library in another node?

[hestrro]

Yes, I would like to use usb_cam
this library，There is currently a problem：driver_supported_formats and FCC2S functions are defined in multiple files

cmakelist：
cmake_minimum_required(VERSION 3.8)
project(controller)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()
find_package(ament_cmake REQUIRED)
find_package(rcl_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(ur_client_library REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(usb_cam REQUIRED)
find_package(OpenCV REQUIRED)

find_package(PkgConfig REQUIRED)
pkg_check_modules(avcodec REQUIRED libavcodec)
pkg_check_modules(avutil REQUIRED libavutil)
pkg_check_modules(swscale REQUIRED libswscale)

add_executable(${PROJECT_NAME}
src/main.cpp
src/delivery_server.cpp
src/usb_camera.cpp
)

target_include_directories(${PROJECT_NAME} PUBLIC
"include"
)

target_link_libraries(${PROJECT_NAME}
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
avcodec
stdc++
${avcodec_LIBRARIES}
${avutil_LIBRARIES}
${swscale_LIBRARIES}
${OpenCV_LIBRARIES}
)

ament_target_dependencies(${PROJECT_NAME}
rclcpp
rclcpp_lifecycle
rcl_interfaces
ur_client_library
usb_cam
)

if(SANITIZE)
target_compile_options(${PROJECT_NAME} PUBLIC -fsanitize=address -fsanitize=leak)
target_link_libraries(${PROJECT_NAME} -fsanitize=address -fsanitize=leak)
endif()

install(TARGETS
${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

install(DIRECTORY include/
DESTINATION include/${PROJECT_NAME}
)

ament_export_dependencies(${PROJECT_NAME})

install(DIRECTORY resources/
DESTINATION share/${PROJECT_NAME}/resources
)

install(DIRECTORY params/
DESTINATION share/${PROJECT_NAME}/params
)

install(DIRECTORY launch/
DESTINATION share/${PROJECT_NAME}/
)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()

ament_package()

/usr/bin/ld: CMakeFiles/sto_ur_controller.dir/src/delivery_server.cpp.o: in function usb_cam::conversions::FCC2S[abi:cxx11](unsigned int const&)': delivery_server.cpp:(.text+0x69): multiple definition of usb_cam::conversions::FCC2S[abi:cxx11](unsigned int const&)'; CMakeFiles/sto_ur_controller.dir/src/main.cpp.o:main.cpp:(.text+0x45): first defined here
/usr/bin/ld: CMakeFiles/sto_ur_controller.dir/src/delivery_server.cpp.o: in function usb_cam::driver_supported_formats(usb_cam::formats::format_arguments_t const&)': delivery_server.cpp:(.text+0x14e): multiple definition of usb_cam::driver_supported_formats(usb_cam::formats::format_arguments_t const&)'; CMakeFiles/sto_ur_controller.dir/src/main.cpp.o:main.cpp:(.text+0x12a): first defined here
/usr/bin/ld: CMakeFiles/sto_ur_controller.dir/src/usb_camera.cpp.o: in function usb_cam::conversions::FCC2S[abi:cxx11](unsigned int const&)': usb_camera.cpp:(.text+0x0): multiple definition of usb_cam::conversions::FCC2S[abi:cxx11](unsigned int const&)'; CMakeFiles/sto_ur_controller.dir/src/main.cpp.o:main.cpp:(.text+0x45): first defined here
/usr/bin/ld: CMakeFiles/sto_ur_controller.dir/src/usb_camera.cpp.o: in function usb_cam::driver_supported_formats(usb_cam::formats::format_arguments_t const&)': usb_camera.cpp:(.text+0xe5): multiple definition of usb_cam::driver_supported_formats(usb_cam::formats::format_arguments_t const&)'; CMakeFiles/sto_ur_controller.dir/src/main.cpp.o:main.cpp:(.text+0x12a): first defined here
/usr/bin/ld: CMakeFiles/sto_ur_controller.dir/src/main.cpp.o: in function void __gnu_cxx::new_allocator<sto_ur_controller::DeliveryServer>::construct<sto_ur_controller::DeliveryServer>(sto_ur_controller::DeliveryServer*)': main.cpp:(.text._ZN9__gnu_cxx13new_allocatorIN17sto_ur_controller14DeliveryServerEE9constructIS2_JEEEvPT_DpOT0_[_ZN9__gnu_cxx13new_allocatorIN17sto_ur_controller14DeliveryServerEE9constructIS2_JEEEvPT_DpOT0_]+0x9a): undefined reference to sto_ur_controller::DeliveryServer::DeliveryServer(rclcpp::NodeOptions const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/sto_ur_controller.dir/build.make:394: sto_ur_controller] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/sto_ur_controller.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< sto_ur_controller [1.97s, exited with code 2]

Summary: 0 packages finished [2.25s]
1 package failed: sto_ur_controller
1 package had stderr output: sto_ur_controller

[flynneva]

@hestrro looks like you forgot to link to the usb_cam library but are adding it as an agent target dep?

[hestrro]

The name usb_cam used when target_link_libraries(${PROJECT_NAME} seems to be wrong

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(ur_client_library REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(usb_cam REQUIRED)
find_package(OpenCV REQUIRED)

add_executable(${PROJECT_NAME}
src/delivery_server.cpp
src/usb_camera.cpp
)

target_include_directories(${PROJECT_NAME} PUBLIC
"include"
)

target_link_libraries(${PROJECT_NAME}
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
ur_client_library::urcl
sensor_msgs
usb_cam
${avcodec_LIBRARIES}
${avutil_LIBRARIES}
${swscale_LIBRARIES}
${OpenCV_LIBRARIES}
)

ament_target_dependencies(${PROJECT_NAME}
rclcpp
rclcpp_lifecycle
ur_client_library
sensor_msgs
usb_cam
)
colcon build --packages-select sto_ur_controller
Starting >>> sto_ur_controller
--- stderr: sto_ur_controller
/usr/bin/ld: CMakeFiles/sto_ur_controller.dir/src/usb_camera.cpp.o: in function usb_cam::conversions::FCC2S[abi:cxx11](unsigned int const&)': usb_camera.cpp:(.text+0x0): multiple definition of usb_cam::conversions::FCC2S[abi:cxx11](unsigned int const&)'; CMakeFiles/sto_ur_controller.dir/src/delivery_server.cpp.o:delivery_server.cpp:(.text+0xa3): first defined here
/usr/bin/ld: CMakeFiles/sto_ur_controller.dir/src/usb_camera.cpp.o: in function usb_cam::driver_supported_formats(usb_cam::formats::format_arguments_t const&)': usb_camera.cpp:(.text+0xe5): multiple definition of usb_cam::driver_supported_formats(usb_cam::formats::format_arguments_t const&)'; CMakeFiles/sto_ur_controller.dir/src/delivery_server.cpp.o:delivery_server.cpp:(.text+0x188): first defined here
/usr/bin/ld: cannot find -lsensor_msgs: No such file or directory
/usr/bin/ld: cannot find -lusb_cam: No such file or directory
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/sto_ur_controller.dir/build.make:341: sto_ur_controller] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/sto_ur_controller.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Failed <<< sto_ur_controller [1.07s, exited with code 2]

Summary: 0 packages finished [1.34s]
1 package failed: sto_ur_controller
1 package had stderr output: sto_ur_controller

e()

[hestrro]

I found that FCC2S and driver_supported_formats are defined in the header file but are not used inline. I feel that this should be the problem.

[hestrro]

I copied your file into my project and compiled the link myself without a redefinition error