Failed to build: librealsense2 DSO missing from command line

[kamiradi]

Hi, I am having the following build errors when trying to build visp_ros. Any suggestions?

/usr/bin/ld: CMakeFiles/tutorial-franka-real-pbvs-apriltag.dir/tutorial/franka/real-robot/tutorial-franka-real-pbvs-apriltag.cpp.o: undefined reference to symbol 'rs2_get_failed_function' //usr/local/lib/librealsense2.so.2.50: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/tutorial-franka-real-pbvs-apriltag.dir/build.make:205: recipe for target '/home/panda/Documents/panda_vision_ws/devel_isolated/visp_ros/lib/visp_ros/tutorial-franka-real-pbvs-apri
ltag' failed
make[2]: *** [/home/panda/Documents/panda_vision_ws/devel_isolated/visp_ros/lib/visp_ros/tutorial-franka-real-pbvs-apriltag] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/tutorial-franka-real-pbvs-apriltag.dir/all' failed
make[1]: *** [CMakeFiles/tutorial-franka-real-pbvs-apriltag.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 95%] Linking CXX executable /home/panda/Documents/panda_vision_ws/devel_isolated/visp_ros/lib/visp_ros/tutorial-franka-real-ibvs-apriltag
/usr/bin/ld: CMakeFiles/tutorial-franka-real-ibvs-apriltag.dir/tutorial/franka/real-robot/tutorial-franka-real-ibvs-apriltag.cpp.o: undefined reference to symbol 'rs2_get_failed_function'
//usr/local/lib/librealsense2.so.2.50: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/tutorial-franka-real-ibvs-apriltag.dir/build.make:205: recipe for target '/home/panda/Documents/panda_vision_ws/devel_isolated/visp_ros/lib/visp_ros/tutorial-franka-real-ibvs-apr$ltag' failed
make[2]: *** [/home/panda/Documents/panda_vision_ws/devel_isolated/visp_ros/lib/visp_ros/tutorial-franka-real-ibvs-apriltag] Error 1
CMakeFiles/Makefile2:994: recipe for target 'CMakeFiles/tutorial-franka-real-ibvs-apriltag.dir/all' failed
make[1]: *** [CMakeFiles/tutorial-franka-real-ibvs-apriltag.dir/all] Error 2
[ 97%] Linking CXX executable /home/panda/Documents/panda_vision_ws/devel_isolated/visp_ros/lib/visp_ros/visp_ros_pbvs_blob_node
[100%] Linking CXX executable /home/panda/Documents/panda_vision_ws/devel_isolated/visp_ros/lib/visp_ros/visp_ros_blob_tracker_node
[100%] Built target visp_ros_pbvs_blob_node
[100%] Built target visp_ros_blob_tracker_node
Makefile:138: recipe for target 'all' failed

[kamiradi]

Hi on further investigation, I see that the real problem seems to be that CMake doesn't configure properly. I am using CMake 3.1.0, ROS kinetic, Ubuntu 16. CMake seems to be using cc and c++ compilers. Furthermore, i have also added the following lines to the package CMakeLists.txt

set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)
target_link_libraries(${PROJECT_NAME} Threads::Threads)

I get the following output in my CMakeError.log

Determining if the pthread_create exist failed with the following output:
Change Dir: /home/panda/Documents/panda_vision_ws/build/visp_ros/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTryCompileExec211407289/fast"
/usr/bin/make -f CMakeFiles/cmTryCompileExec211407289.dir/build.make CMakeFiles/cmTryCompileExec211407289.dir/build
make[1]: Entering directory '/home/panda/Documents/panda_vision_ws/build/visp_ros/CMakeFiles/CMakeTmp'
/opt/cmake/bin/cmake -E cmake_progress_report /home/panda/Documents/panda_vision_ws/build/visp_ros/CMakeFiles/CMakeTmp/CMakeFiles 1
Building C object CMakeFiles/cmTryCompileExec211407289.dir/CheckSymbolExists.c.o
/usr/bin/cc    -o CMakeFiles/cmTryCompileExec211407289.dir/CheckSymbolExists.c.o   -c /home/panda/Documents/panda_vision_ws/build/visp_ros/CMakeFiles/CMakeTmp/CheckSymbolExists.c
Linking C executable cmTryCompileExec211407289
/opt/cmake/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec211407289.dir/link.txt --verbose=1
/usr/bin/cc      CMakeFiles/cmTryCompileExec211407289.dir/CheckSymbolExists.c.o  -o cmTryCompileExec211407289 -rdynamic 
CMakeFiles/cmTryCompileExec211407289.dir/CheckSymbolExists.c.o: In function `main':
CheckSymbolExists.c:(.text+0x16): undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
CMakeFiles/cmTryCompileExec211407289.dir/build.make:88: recipe for target 'cmTryCompileExec211407289' failed
make[1]: *** [cmTryCompileExec211407289] Error 1
make[1]: Leaving directory '/home/panda/Documents/panda_vision_ws/build/visp_ros/CMakeFiles/CMakeTmp'
Makefile:118: recipe for target 'cmTryCompileExec211407289/fast' failed
make: *** [cmTryCompileExec211407289/fast] Error 2

File /home/panda/Documents/panda_vision_ws/build/visp_ros/CMakeFiles/CMakeTmp/CheckSymbolExists.c:
/* */
#include <pthread.h>

int main(int argc, char** argv)
{
  (void)argv;
#ifndef pthread_create
  return ((int*)(&pthread_create))[argc];
#else
  (void)argc;
  return 0;
#endif
}

I have also tried with other versions of CMake, but i get the same error. pthread does not seem to be linking to a very specific test of cmake. If you look at the CMakeError.log, the -pthread flag is not being passed, hence the error. Would you be able to see exactly which version of CMake you were using to build the package?

[fspindle]

I suspect that you have ViSP binary packages installed (maybe ros-distro-visp package installed in /opt/ros/distro/... or libvisp-dev package in /usr/lib) besides ViSP installed from source (in /usr/local/lib).

If this is the case, keep only ViSP installed from source by removing binary packages.

To check if I'm right:

$ sudo updatedb
$ locate libvisp_core

[shrutichakraborty]

Hi I have an issue after installing ros_humble_visp and then following the instructions on the main page to install visp_visioon for ros. Here is the error I see:

Can someone help me out? I also run

$ sudo updatedb $ locate libvisp_core

To check and I see:

In this case should I also remove the binaries and try again?

Thanks a lot!

[fspindle]

It seems that image_proc ros2 package is not installed.

$ sudo apt install ros-<distro>-image-proc