aubo_robot
aubo_robot copied to clipboard
AuboRobot
when I use catkin_make to compile under Noetic, some errors are occured.
Dear author, there is a problem about ROS Noetic operation that cannot be solved.
When I download the function package and put it into a workspace for compilation, the following errors occur:
[ 89%] Building CXX object aubo_robot-Noetic/aubo_driver/CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp: In member function ‘virtual bool aubo_kinematics::AuboKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:105:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
105 | setValues(robot_description, group_name, base_frame, tip_frame, search_discretization);
| ^
In file included from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/include/aubo_kinematics/aubo_moveit_plugin.h:28,
from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:14:
/opt/ros/noetic/include/moveit/kinematics_base/kinematics_base.h:345:31: note: declared here
345 | [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
| ^~~~~~~~~
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp: In member function ‘virtual bool aubo_kinematics::AuboKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:105:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
105 | setValues(robot_description, group_name, base_frame, tip_frame, search_discretization);
| ^
In file included from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/include/aubo_kinematics/aubo_moveit_plugin.h:28,
from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:14:
/opt/ros/noetic/include/moveit/kinematics_base/kinematics_base.h:345:31: note: declared here
345 | [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
| ^~~~~~~~~
In file included from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/testAuboAPI.cpp:33:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp: In member function ‘bool aubo_driver::AuboDriver::setRobotJointsByMoveIt()’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp:327:1: warning: no return statement in function returning non-void [-Wreturn-type]
327 | }
| ^
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp: In member function ‘bool aubo_driver::AuboDriver::getFK(aubo_msgs::GetFKRequest&, aubo_msgs::GetFKResponse&)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp:829:1: warning: no return statement in function returning non-void [-Wreturn-type]
829 | }
| ^
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp: In member function ‘bool aubo_driver::AuboDriver::getIK(aubo_msgs::GetIKRequest&, aubo_msgs::GetIKResponse&)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/src/aubo_driver.cpp:846:1: warning: no return statement in function returning non-void [-Wreturn-type]
846 | }
| ^
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp: In member function ‘virtual bool aubo_kinematics::AuboKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:105:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
105 | ion, group_name, base_frame, tip_frame, search_discretization);
| ^
In file included from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/include/aubo_kinematics/aubo_moveit_plugin.h:28,
from /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_kinematics/src/aubo_moveit_plugin.cpp:14:
/opt/ros/noetic/include/moveit/kinematics_base/kinematics_base.h:345:31: note: declared here
345 | [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name,
| ^~~~~~~~~
[ 91%] Linking CXX shared library /home/gj/aubo_ws/devel/lib/libaubo_i5_moveit_kinematic_plugin.so
[ 92%] Linking CXX executable /home/gj/aubo_ws/devel/lib/aubo_driver/testAuboAPI
[ 92%] Built target aubo_i5_moveit_kinematic_plugin
Scanning dependencies of target testIO
[ 93%] Building CXX object aubo_robot-Noetic/aubo_driver/CMakeFiles/testIO.dir/src/testIO.cpp.o
[ 94%] Linking CXX shared library /home/gj/aubo_ws/devel/lib/libaubo_i3_moveit_kinematic_plugin.so
/usr/bin/ld: warning: libprotobuf.so.9, needed by /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `vtable for google::protobuf::MessageLite'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageLite::ParseFromArray(void const*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::SkipField(google::protobuf::io::CodedInputStream*, unsigned int, google::protobuf::UnknownFieldSet*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::DescriptorPool::FindFileByName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteDouble(int, double, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::VerifyVersion(int, int, char const*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::GeneratedMessageReflection::GeneratedMessageReflection(google::protobuf::Descriptor const*, google::protobuf::Message const*, int const*, int, int, int, google::protobuf::DescriptorPool const*, google::protobuf::MessageFactory*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteBool(int, bool, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::AddVarint(int, unsigned long)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteUInt32(int, unsigned int, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageFactory::InternalRegisterGeneratedMessage(google::protobuf::Descriptor const*, google::protobuf::Message const*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::StringTypeHandlerBase::Delete(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `vtable for google::protobuf::Message'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::CheckTypeAndMergeFrom(google::protobuf::MessageLite const&)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `vtable for google::protobuf::internal::FunctionClosure0'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::ReadString(google::protobuf::io::CodedInputStream*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::FunctionClosure0::~FunctionClosure0()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageLite::SerializeToArray(void*, int) const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedOutputStream::VarintSize32Fallback(unsigned int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageFactory::generated_factory()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadLittleEndian64Fallback(unsigned long*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteMessageMaybeToArray(int, google::protobuf::MessageLite const&, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::InitEmptyString()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::DescriptorPool::generated_pool()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::MessageFactory::InternalRegisterGeneratedFile(char const*, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&))'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::LogMessage::LogMessage(google::protobuf::LogLevel, char const*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::Skip(int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadVarint64Fallback(unsigned long*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteStringMaybeAliased(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::BytesUntilLimit() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::empty_string_once_init_'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::ReadBytes(google::protobuf::io::CodedInputStream*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::ReflectionOps::Merge(google::protobuf::Message const&, google::protobuf::Message*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::StringTypeHandlerBase::New[abi:cxx11]()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadTagFallback()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `vtable for google::protobuf::Closure'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::GetTypeName[abi:cxx11]() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::UnknownFieldSet()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteEnum(int, int, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::~Message()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::LogFinisher::operator=(google::protobuf::internal::LogMessage&)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::ComputeUnknownFieldsSize(google::protobuf::UnknownFieldSet const&)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedOutputStream::WriteStringWithSizeToArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned char*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::RepeatedPtrFieldBase::Swap(google::protobuf::internal::RepeatedPtrFieldBase*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::DiscardUnknownFields()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::OnShutdown(void (*)())'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::GoogleOnceInitImpl(long*, google::protobuf::Closure*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::ClearFallback()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::InitializationErrorString[abi:cxx11]() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadRaw(void*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::LogMessage::~LogMessage()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadLittleEndian32Fallback(unsigned int*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::Message::SpaceUsed() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::DescriptorPool::InternalAddGeneratedFile(void const*, int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `typeinfo for google::protobuf::Message'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::BytesUntilTotalBytesLimit() const'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedOutputStream::WriteVarint64ToArray(unsigned long, unsigned char*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::empty_string_[abi:cxx11]'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::PopLimit(int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteInt32(int, int, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::~UnknownFieldSet()'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::ReadVarint32Fallback(unsigned int*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::SerializeUnknownFieldsToArray(google::protobuf::UnknownFieldSet const&, unsigned char*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteBytesMaybeAliased(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::VerifyUTF8StringFallback(char const*, int, google::protobuf::internal::WireFormat::Operation, char const*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedOutputStream::WriteVarint32FallbackToArray(unsigned int, unsigned char*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteString(int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::UnknownFieldSet::MergeFrom(google::protobuf::UnknownFieldSet const&)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormatLite::WriteFloat(int, float, google::protobuf::io::CodedOutputStream*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::RepeatedPtrFieldBase::Reserve(int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::io::CodedInputStream::PushLimit(int)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::LogMessage::operator<<(char const*)'
/usr/bin/ld: /home/gj/aubo_ws/src/aubo_robot-Noetic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so: undefined reference to `google::protobuf::internal::WireFormat::SerializeUnknownFields(google::protobuf::UnknownFieldSet const&, google::protobuf::io::CodedOutputStream*)'
collect2: error: ld returned 1 exit status
make[2]: *** [aubo_robot-Noetic/aubo_driver/CMakeFiles/testAuboAPI.dir/build.make:101：/home/gj/aubo_ws/devel/lib/aubo_driver/testAuboAPI] 错误 1
make[1]: *** [CMakeFiles/Makefile2:4707：aubo_robot-Noetic/aubo_driver/CMakeFiles/testAuboAPI.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
[ 94%] Built target aubo_i3_moveit_kinematic_plugin
[ 96%] Linking CXX executable /home/gj/aubo_ws/devel/lib/aubo_driver/testIO
[ 96%] Built target testIO
[ 97%] Linking CXX shared library /home/gj/aubo_ws/devel/lib/libaubo_i10_moveit_kinematic_plugin.so
[ 97%] Built target aubo_i10_moveit_kinematic_plugin
make: *** [Makefile:141：all] 错误 2
I have solved this problem with #3
Exactly using the following commands:
$ sudo apt-get update
$ sudo apt-get install gdebi
$ wget http://archive.ubuntu.com/ubuntu/pool/main/p/protobuf/libprotobuf9v5_2.6.1-1.3_amd64.deb
$ sudo gdebi ./libprotobuf9v5_2.6.1-1.3_amd64.deb
and I have buit the project successfully.
Environment: Ubuntu 20.04 ROS: Noetic
Thank you very much for your reply and I will try this method in my environment.
| | @.*** | | @.*** |
---- Replied Message ---- | From | @.> | | Date | 06/29/2022 11:47 | | To | @.> | | Cc | @.@.> | | Subject | Re: [AuboRobot/aubo_robot] when I use catkin_make to compile under Noetic, some errors are occured. (Issue #73) |
I have solved this problem with #3
Exactly using the following commands: $ sudo apt-get update
$ sudo apt-get install gdebi
$ wget http://archive.ubuntu.com/ubuntu/pool/main/p/protobuf/libprotobuf9v5_2.6.1-1.3_amd64.deb
$ sudo gdebi ./libprotobuf9v5_2.6.1-1.3_amd64.deb
and I have buit the project successfully.
— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: @.***>
how to solve this situation？
/usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::AuboDriver(int)': driver_node.cpp:(.text+0x9e): undefined reference to ServiceInterface::ServiceInterface()'
/usr/bin/ld: driver_node.cpp:(.text+0xb3): undefined reference to ServiceInterface::ServiceInterface()' /usr/bin/ld: driver_node.cpp:(.text+0x1ac6): undefined reference to ServiceInterface::~ServiceInterface()'
/usr/bin/ld: driver_node.cpp:(.text+0x1ae2): undefined reference to ServiceInterface::~ServiceInterface()' /usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::~AuboDriver()':
driver_node.cpp:(.text+0x1b2f): undefined reference to ServiceInterface::robotServiceLeaveTcp2CanbusMode()' /usr/bin/ld: driver_node.cpp:(.text+0x1b3f): undefined reference to ServiceInterface::robotServiceLogout()'
/usr/bin/ld: driver_node.cpp:(.text+0x1b51): undefined reference to ServiceInterface::robotServiceLogout()' /usr/bin/ld: driver_node.cpp:(.text+0x1d25): undefined reference to ServiceInterface::~ServiceInterface()'
/usr/bin/ld: driver_node.cpp:(.text+0x1d35): undefined reference to ServiceInterface::~ServiceInterface()' /usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::timerCallback(ros::TimerEvent const&)':
driver_node.cpp:(.text+0x1da1): undefined reference to ServiceInterface::robotServiceGetCurrentWaypointInfo(aubo_robot_namespace::wayPoint_S&)' /usr/bin/ld: driver_node.cpp:(.text+0x1e3a): undefined reference to ServiceInterface::robotServiceGetRobotDiagnosisInfo(aubo_robot_namespace::RobotDiagnosis&)'
/usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::setRobotJointsByMoveIt()': driver_node.cpp:(.text+0x2fa6): undefined reference to ServiceInterface::robotServiceSetRobotPosData2Canbus(double*)'
/usr/bin/ld: driver_node.cpp:(.text+0x3046): undefined reference to ServiceInterface::robotServiceSetRobotPosData2Canbus(double*)' /usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::controllerSwitchCallback(boost::shared_ptr<std_msgs::Int32_<std::allocatorServiceInterface::robotServiceLeaveTcp2CanbusMode()' /usr/bin/ld: driver_node.cpp:(.text+0x360c): undefined reference to ServiceInterface::robotServiceEnterTcp2CanbusMode()'
/usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::robotControlCallback(boost::shared_ptr<std_msgs::String_<std::allocator<void> > const> const&)': driver_node.cpp:(.text+0x4237): undefined reference to ServiceInterface::rootServiceRobotStartup(aubo_robot_namespace::ToolDynamicsParam const&, unsigned char, bool, bool, int, aubo_robot_namespace::ROBOT_SERVICE_STATE&, bool)'
/usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::AuboAPICallback(boost::shared_ptr<std_msgs::Float32MultiArray_<std::allocator<void> > const> const&)': driver_node.cpp:(.text+0x48d9): undefined reference to ServiceInterface::robotServiceJointMove(double*, bool)'
/usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::connectToRobotController()': driver_node.cpp:(.text+0x4d26): undefined reference to ServiceInterface::robotServiceLogin(char const*, int, char const*, char const*)'
/usr/bin/ld: driver_node.cpp:(.text+0x4d84): undefined reference to ServiceInterface::robotServiceLogin(char const*, int, char const*, char const*)' /usr/bin/ld: driver_node.cpp:(.text+0x4de3): undefined reference to ServiceInterface::robotServiceGetIsRealRobotExist(bool&)'
/usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::run()': driver_node.cpp:(.text+0x508e): undefined reference to ServiceInterface::robotServiceEnterTcp2CanbusMode()'
/usr/bin/ld: driver_node.cpp:(.text+0x51ec): undefined reference to ServiceInterface::robotServiceLeaveTcp2CanbusMode()' /usr/bin/ld: driver_node.cpp:(.text+0x5205): undefined reference to ServiceInterface::robotServiceEnterTcp2CanbusMode()'
/usr/bin/ld: driver_node.cpp:(.text+0x55b5): undefined reference to ServiceInterface::robotServiceGetCurrentWaypointInfo(aubo_robot_namespace::wayPoint_S&)' /usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::publishIOMsg()':
driver_node.cpp:(.text+0x5bf3): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)' /usr/bin/ld: driver_node.cpp:(.text+0x5c48): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)'
/usr/bin/ld: driver_node.cpp:(.text+0x5f06): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)' /usr/bin/ld: driver_node.cpp:(.text+0x5f5b): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)'
/usr/bin/ld: driver_node.cpp:(.text+0x61ce): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)' /usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o:driver_node.cpp:(.text+0x6223): more undefined references to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)' follow
/usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::publishIOMsg()': driver_node.cpp:(.text+0x63d4): undefined reference to ServiceInterface::robotServiceGetAllToolDigitalIOStatus(std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)'
/usr/bin/ld: driver_node.cpp:(.text+0x63fa): undefined reference to ServiceInterface::robotServiceGetAllToolAIStatus(std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)' /usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::setIO(aubo_msgs::SetIORequest_<std::allocatorServiceInterface::robotServiceSetBoardIOStatus(aubo_robot_namespace::RobotIoType, int, double)' /usr/bin/ld: driver_node.cpp:(.text+0x68ca): undefined reference to ServiceInterface::robotServiceSetBoardIOStatus(aubo_robot_namespace::RobotIoType, int, double)'
/usr/bin/ld: driver_node.cpp:(.text+0x694b): undefined reference to ServiceInterface::robotServiceSetToolDigitalIOType(aubo_robot_namespace::ToolDigitalIOAddr, aubo_robot_namespace::ToolIOType)' /usr/bin/ld: driver_node.cpp:(.text+0x699a): undefined reference to ServiceInterface::robotServiceSetToolDigitalIOType(aubo_robot_namespace::ToolDigitalIOAddr, aubo_robot_namespace::ToolIOType)'
/usr/bin/ld: driver_node.cpp:(.text+0x69ef): undefined reference to ServiceInterface::robotServiceSetToolDOStatus(aubo_robot_namespace::ToolDigitalIOAddr, aubo_robot_namespace::IO_STATUS)' /usr/bin/ld: driver_node.cpp:(.text+0x6a56): undefined reference to ServiceInterface::robotServiceSetBoardIOStatus(aubo_robot_namespace::RobotIoType, int, double)'
/usr/bin/ld: driver_node.cpp:(.text+0x6aab): undefined reference to ServiceInterface::robotServiceSetToolPowerVoltageType(aubo_robot_namespace::ToolPowerType)' /usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::getFK(aubo_msgs::GetFKRequest_<std::allocatorServiceInterface::robotServiceRobotFk(double const*, int, aubo_robot_namespace::wayPoint_S&)' /usr/bin/ld: CMakeFiles/aubo_driver.dir/src/driver_node.cpp.o: in function aubo_driver::AuboDriver::getIK(aubo_msgs::GetIKRequest_<std::allocatorServiceInterface::robotServiceRobotIk(double const*, aubo_robot_namespace::Pos const&, aubo_robot_namespace::Ori const&, aubo_robot_namespace::wayPoint_S&)' collect2: error: ld returned 1 exit status make[2]: *** [aubo_robot-Noetic/aubo_driver/CMakeFiles/aubo_driver.dir/build.make:101：/home/zzdd/aubo_ws/devel/lib/aubo_driver/aubo_driver] 错误 1 make[1]: *** [CMakeFiles/Makefile2:2090：aubo_robot-Noetic/aubo_driver/CMakeFiles/aubo_driver.dir/all] 错误 2 make[1]: *** 正在等待未完成的任务.... /usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::AuboDriver(int)':
testAuboAPI.cpp:(.text+0x9e): undefined reference to ServiceInterface::ServiceInterface()' /usr/bin/ld: testAuboAPI.cpp:(.text+0xb3): undefined reference to ServiceInterface::ServiceInterface()'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x1ac6): undefined reference to ServiceInterface::~ServiceInterface()' /usr/bin/ld: testAuboAPI.cpp:(.text+0x1ae2): undefined reference to ServiceInterface::~ServiceInterface()'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::~AuboDriver()': testAuboAPI.cpp:(.text+0x1b2f): undefined reference to ServiceInterface::robotServiceLeaveTcp2CanbusMode()'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x1b3f): undefined reference to ServiceInterface::robotServiceLogout()' /usr/bin/ld: testAuboAPI.cpp:(.text+0x1b51): undefined reference to ServiceInterface::robotServiceLogout()'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x1d25): undefined reference to ServiceInterface::~ServiceInterface()' /usr/bin/ld: testAuboAPI.cpp:(.text+0x1d35): undefined reference to ServiceInterface::~ServiceInterface()'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::timerCallback(ros::TimerEvent const&)': testAuboAPI.cpp:(.text+0x1da1): undefined reference to ServiceInterface::robotServiceGetCurrentWaypointInfo(aubo_robot_namespace::wayPoint_S&)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x1e3a): undefined reference to ServiceInterface::robotServiceGetRobotDiagnosisInfo(aubo_robot_namespace::RobotDiagnosis&)' /usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::setRobotJointsByMoveIt()':
testAuboAPI.cpp:(.text+0x2fa6): undefined reference to ServiceInterface::robotServiceSetRobotPosData2Canbus(double*)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x3046): undefined reference to ServiceInterface::robotServiceSetRobotPosData2Canbus(double*)'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::controllerSwitchCallback(boost::shared_ptr<std_msgs::Int32_<std::allocator<void> > const> const&)': testAuboAPI.cpp:(.text+0x33c3): undefined reference to ServiceInterface::robotServiceLeaveTcp2CanbusMode()'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x360c): undefined reference to ServiceInterface::robotServiceEnterTcp2CanbusMode()' /usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::robotControlCallback(boost::shared_ptr<std_msgs::String_<std::allocatorServiceInterface::rootServiceRobotStartup(aubo_robot_namespace::ToolDynamicsParam const&, unsigned char, bool, bool, int, aubo_robot_namespace::ROBOT_SERVICE_STATE&, bool)' /usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::AuboAPICallback(boost::shared_ptr<std_msgs::Float32MultiArray_<std::allocatorServiceInterface::robotServiceJointMove(double*, bool)' /usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::connectToRobotController()':
testAuboAPI.cpp:(.text+0x4d26): undefined reference to ServiceInterface::robotServiceLogin(char const*, int, char const*, char const*)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x4d84): undefined reference to ServiceInterface::robotServiceLogin(char const*, int, char const*, char const*)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x4de3): undefined reference to ServiceInterface::robotServiceGetIsRealRobotExist(bool&)' /usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::run()':
testAuboAPI.cpp:(.text+0x508e): undefined reference to ServiceInterface::robotServiceEnterTcp2CanbusMode()' /usr/bin/ld: testAuboAPI.cpp:(.text+0x51ec): undefined reference to ServiceInterface::robotServiceLeaveTcp2CanbusMode()'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x5205): undefined reference to ServiceInterface::robotServiceEnterTcp2CanbusMode()' /usr/bin/ld: testAuboAPI.cpp:(.text+0x55b5): undefined reference to ServiceInterface::robotServiceGetCurrentWaypointInfo(aubo_robot_namespace::wayPoint_S&)'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::publishIOMsg()': testAuboAPI.cpp:(.text+0x5bf3): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x5c48): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x5f06): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x5f5b): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x61ce): undefined reference to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o:testAuboAPI.cpp:(.text+0x6223): more undefined references to ServiceInterface::robotServiceGetBoardIOStatus(std::vector<aubo_robot_namespace::RobotIoType, std::allocator<aubo_robot_namespace::RobotIoType> >, std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)' follow /usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::publishIOMsg()':
testAuboAPI.cpp:(.text+0x63d4): undefined reference to ServiceInterface::robotServiceGetAllToolDigitalIOStatus(std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x63fa): undefined reference to ServiceInterface::robotServiceGetAllToolAIStatus(std::vector<aubo_robot_namespace::RobotIoDesc, std::allocator<aubo_robot_namespace::RobotIoDesc> >&)'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::setIO(aubo_msgs::SetIORequest_<std::allocator<void> >&, aubo_msgs::SetIOResponse_<std::allocator<void> >&)': testAuboAPI.cpp:(.text+0x6863): undefined reference to ServiceInterface::robotServiceSetBoardIOStatus(aubo_robot_namespace::RobotIoType, int, double)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x68ca): undefined reference to ServiceInterface::robotServiceSetBoardIOStatus(aubo_robot_namespace::RobotIoType, int, double)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x694b): undefined reference to ServiceInterface::robotServiceSetToolDigitalIOType(aubo_robot_namespace::ToolDigitalIOAddr, aubo_robot_namespace::ToolIOType)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x699a): undefined reference to ServiceInterface::robotServiceSetToolDigitalIOType(aubo_robot_namespace::ToolDigitalIOAddr, aubo_robot_namespace::ToolIOType)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x69ef): undefined reference to ServiceInterface::robotServiceSetToolDOStatus(aubo_robot_namespace::ToolDigitalIOAddr, aubo_robot_namespace::IO_STATUS)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x6a56): undefined reference to ServiceInterface::robotServiceSetBoardIOStatus(aubo_robot_namespace::RobotIoType, int, double)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x6aab): undefined reference to ServiceInterface::robotServiceSetToolPowerVoltageType(aubo_robot_namespace::ToolPowerType)'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::getFK(aubo_msgs::GetFKRequest_<std::allocator<void> >&, aubo_msgs::GetFKResponse_<std::allocator<void> >&)': testAuboAPI.cpp:(.text+0x6c01): undefined reference to ServiceInterface::robotServiceRobotFk(double const*, int, aubo_robot_namespace::wayPoint_S&)'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function aubo_driver::AuboDriver::getIK(aubo_msgs::GetIKRequest_<std::allocator<void> >&, aubo_msgs::GetIKResponse_<std::allocator<void> >&)': testAuboAPI.cpp:(.text+0x6f9a): undefined reference to ServiceInterface::robotServiceRobotIk(double const*, aubo_robot_namespace::Pos const&, aubo_robot_namespace::Ori const&, aubo_robot_namespace::wayPoint_S&)'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function testMoveJ(aubo_driver::AuboDriver&)': testAuboAPI.cpp:(.text+0x70e6): undefined reference to ServiceInterface::robotServiceInitGlobalMoveProfile()'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x714e): undefined reference to ServiceInterface::robotServiceSetGlobalMoveJointMaxAcc(aubo_robot_namespace::JointVelcAccParam const&)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x7168): undefined reference to ServiceInterface::robotServiceSetGlobalMoveJointMaxVelc(aubo_robot_namespace::JointVelcAccParam const&)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x7187): undefined reference to ServiceInterface::robotServiceJointMove(double*, bool)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x7320): undefined reference to ServiceInterface::robotServiceSetMoveRelativeParam(aubo_robot_namespace::MoveRelative const&)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x733f): undefined reference to ServiceInterface::robotServiceJointMove(double*, bool)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x7492): undefined reference to ServiceInterface::robotServiceJointMove(double*, bool)'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function testMoveL(aubo_driver::AuboDriver&)': testAuboAPI.cpp:(.text+0x76d3): undefined reference to ServiceInterface::robotServiceInitGlobalMoveProfile()'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x7735): undefined reference to ServiceInterface::robotServiceSetGlobalMoveJointMaxAcc(aubo_robot_namespace::JointVelcAccParam const&)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x774f): undefined reference to ServiceInterface::robotServiceSetGlobalMoveJointMaxVelc(aubo_robot_namespace::JointVelcAccParam const&)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x776e): undefined reference to ServiceInterface::robotServiceJointMove(double*, bool)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x78b2): undefined reference to ServiceInterface::robotServiceInitGlobalMoveProfile()'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x78d1): undefined reference to ServiceInterface::robotServiceSetGlobalMoveEndMaxLineAcc(double)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x78f0): undefined reference to ServiceInterface::robotServiceSetGlobalMoveEndMaxAngleAcc(double)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x790f): undefined reference to ServiceInterface::robotServiceSetGlobalMoveEndMaxLineVelc(double)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x792e): undefined reference to ServiceInterface::robotServiceSetGlobalMoveEndMaxAngleVelc(double)'
/usr/bin/ld: testAuboAPI.cpp:(.text+0x7964): undefined reference to ServiceInterface::robotServiceLineMove(double*, bool)' /usr/bin/ld: testAuboAPI.cpp:(.text+0x7ab4): undefined reference to ServiceInterface::robotServiceLineMove(double*, bool)'
/usr/bin/ld: CMakeFiles/testAuboAPI.dir/src/testAuboAPI.cpp.o: in function main': testAuboAPI.cpp:(.text+0x7e4a): undefined reference to ServiceInterface::rootServiceRobotStartup(aubo_robot_namespace::ToolDynamicsParam const&, unsigned char, bool, bool, int, aubo_robot_namespace::ROBOT_SERVICE_STATE&, bool)'
collect2: error: ld returned 1 exit status
make[2]: *** [aubo_robot-Noetic/aubo_driver/CMakeFiles/testAuboAPI.dir/build.make:101：/home/zzdd/aubo_ws/devel/lib/aubo_driver/testAuboAPI] 错误 1
make[1]: *** [CMakeFiles/Makefile2:2144：aubo_robot-Noetic/aubo_driver/CMakeFiles/testAuboAPI.dir/all] 错误 2
[100%] Linking CXX executable /home/zzdd/aubo_ws/devel/lib/aubo_planner/aubo_planner_test
[100%] Built target aubo_planner_test
make: *** [Makefile:141：all] 错误 2
Invoking "make -j8 -l8" failed
