我正在尝试将摄像头(非uvc)流程序传输到ros平台。如何解决在ros中'未定义的引用libusb'错误?
我已经有了运行摄像头的驱动
和Makefile是这样的:
g++ main.cpp -o test_gui -g -I /usr/local/include -L /usr/local/lib -D_LIN -D_DEBUG -L../lib/x64 -I../include -lASICamera -lpthread -lusb -DGLIBC_20 -m64 -lrt -I/opt
现在,我想这样做的ROS节点,所以我写的其中CMakelists是这样一个节点:
include_directories(
${catkin_INCLUDE_DIRS}
)
include_directories(/usr/local/include)
include_directories(/root/catkin_ws/src/asi_converter_real/include/asi_converter_real)
link_directories(/usr/local/lib)
link_libraries(pthread)
link_libraries(usb)
link_libraries(libASICamera.a)
link_libraries(libASICamera.so)
add_executable(asi_converter_real src/asi_converter_real.cpp)
target_link_libraries(asi_converter_real ${catkin_LIBRARIES})
而且Makefile行生成到/ catkin_ws /编译/ *** /是这样的:
/usr/bin/c++ CMakeFiles/asi_converter_real.dir/src/asi_converter_real.cpp.o -o /root/catkin_ws/devel/lib/asi_converter_real/asi_converter_real -rdynamic -L/usr/local/lib -lpthread -lusb -Wl,-Bstatic -lASICamera -Wl,-Bdynamic -lASICamera
但似乎系统无法找到动态库libusb,因为它报告
undefined reference to `libusb_set_configuration'
undefined reference to `libusb_claim_interface'
/usr/local/lib/libASICamera.a(ASI174MM.o): In function `WorkingFunc(void*)':
undefined reference to `libusb_bulk_transfer'
undefined reference to `libusb_bulk_transfer'
[1]有没有人知道如何解决这个问题?
[2]如何在我的电脑中找到libusb的.a和.so。 (我相信我有他们,因为我可以pkg-config --cflags/- 库他们)
[3]我如何明确链接ros CMakelists动态库?或者只是link_libraries(usb)足够用于静态和动态libriries?
它可以正常工作!!!!!!!! thx leiaz,我爱pkg_search_module !!!!!!!!! – 2014-11-25 11:46:12