From a8f694488d340a33e775481c083e7e76c1c9df6e Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Thu, 12 May 2022 18:02:40 +0200
Subject: [PATCH] strange linking bug fixed
---
CMakeLists.txt | 31 ++++++++++++-------------------
include/node.h | 1 -
src/node.cpp | 5 -----
3 files changed, 12 insertions(+), 25 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ebd31cc..dfb4776 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,8 +1,10 @@
cmake_minimum_required(VERSION 3.10)
project(wolf_ros_node)
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++14)
+## Compile as C++14
+add_compile_options(-std=c++14)
+# -fPIC and -rdynamic ensure unique singleton instance across shared libraries (for factories) see: https://stackoverflow.com/a/8626922
+SET(CMAKE_CXX_FLAGS "-fPIC -rdynamic")
find_package(catkin REQUIRED COMPONENTS
roslib
@@ -38,40 +40,31 @@ include_directories(
${catkin_INCLUDE_DIRS}
)
-
add_executable(${PROJECT_NAME} src/node.cpp)
add_library(subscriber_${PROJECT_NAME}
- src/subscriber_diffdrive.cpp
- src/subscriber_odom2d.cpp)
+ src/subscriber_diffdrive.cpp
+ src/subscriber_odom2d.cpp)
+
add_library(publisher_${PROJECT_NAME}
- src/publisher_graph.cpp
- src/publisher_pose.cpp
- src/publisher_trajectory.cpp
- src/publisher_state_block.cpp
- src/publisher_tf.cpp)
+ src/publisher_graph.cpp
+ src/publisher_pose.cpp
+ src/publisher_trajectory.cpp
+ src/publisher_state_block.cpp
+ src/publisher_tf.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(subscriber_${PROJECT_NAME}
${catkin_LIBRARIES}
- ceres
wolfcore
- yaml-cpp
- dl
)
target_link_libraries(publisher_${PROJECT_NAME}
${catkin_LIBRARIES}
- ceres
wolfcore
- yaml-cpp
- dl
)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
- ceres
wolfcore
- yaml-cpp
- dl
)
\ No newline at end of file
diff --git a/include/node.h b/include/node.h
index 8ba4ef1..8324843 100644
--- a/include/node.h
+++ b/include/node.h
@@ -61,7 +61,6 @@
#include "publisher.h"
using namespace wolf;
-using namespace std;
class WolfRosNode
{
diff --git a/src/node.cpp b/src/node.cpp
index 8e43543..910cfda 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -84,12 +84,7 @@ WolfRosNode::WolfRosNode()
WOLF_TRACE("Loading publisher " + type + " via " + lib_publisher);
auto l = std::make_shared<LoaderRaw>(lib_publisher);
-
- FactoryPublisher::printCallbacks();
- FactoryPublisher::printAddress();
l->load();
- FactoryPublisher::printCallbacks();
- FactoryPublisher::printAddress();
//loaders_.push_back(l);
WOLF_INFO("Pub: ", type, " name: ", name);
--
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