catkin_make and target_link_libraries cant find file - c++

Question

I'm having trouble building this ros project with catkin_make. I'm getting an error /usr/bin/ld: cannot find -ldofbot_kinemarics which I believe relates to this line in CMakeLists.txt: target_link_libraries(dofbot_kinematics_fk ${catkin_LIBRARIES} libdofbot_kinemarics.so)
Below is my directory structure:
dofbot_ws
src
dofbot_moveit
include
dofbot_moveit
libdofbot_kinemarics.so
dofbot_kinemarics.h
launch
src
01_random_move.cpp
02_motion_plan.cpp
03_attached_object.cpp
dofbot_kinematics_fk.cpp
dofbot_kinematics_ik.cpp
CMakeLists.txt
and my CMakeLists.txt looks like this:
cmake_minimum_required(VERSION 3.0.2)
project(dofbot_moveit)
add_definitions(--std=c++11 -Wno-unknown-pragmas -DBOOST_SYSTEM_NO_DEPRECATED -DBOOST_ERROR_CODE_HEADER_ONLY)
find_package(catkin REQUIRED COMPONENTS
roscpp
rosmsg
rospy
moveit_core
moveit_msgs
moveit_ros_move_group
moveit_ros_planning_interface
)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
find_package(Qt5 COMPONENTS Core Gui Widgets PrintSupport)
include_directories(
include/dofbot_moveit
${catkin_INCLUDE_DIRS}
)
add_executable(dofbot_kinematics_fk src/dofbot_kinematics_fk.cpp)
add_executable(dofbot_kinematics_ik src/dofbot_kinematics_ik.cpp)
target_link_libraries(dofbot_kinematics_fk ${catkin_LIBRARIES} libdofbot_kinemarics.so)
target_link_libraries(dofbot_kinematics_ik ${catkin_LIBRARIES} libdofbot_kinemarics.so)
add_executable(01_random_move src/01_random_move.cpp)
add_executable(02_motion_plan src/02_motion_plan.cpp)
add_executable(03_attached_object src/03_attached_object.cpp)
target_link_libraries(01_random_move ${catkin_LIBRARIES})
target_link_libraries(02_motion_plan ${catkin_LIBRARIES})
target_link_libraries(03_attached_object ${catkin_LIBRARIES})
Here is dofbot_kinematics_fk.cpp
#include "dofbot_kinemarics.h"
#include <iostream>
using namespace KDL;
using namespace std;
Dofbot dofbot = Dofbot();
const float RA2DE = 180.0f / M_PI;
const float DE2RA = M_PI / 180.0f;
const char *urdf_file = "/home/dofbot/dofbot_ws/src/dofbot_moveit/urdf/dofbot.urdf";
int main(int argc, char **argv) {
// double joints[]{90, 90, 90, 90, 90};
double joints[]{90, 135, 0, 0, 90};
vector<double> initjoints;
vector<double> initpos;
for (int i = 0; i < 5; ++i) initjoints.push_back((joints[i] - 90) * DE2RA);
dofbot.dofbot_getFK(urdf_file, initjoints, initpos);
cout <<fixed<< "FK kinematics result : " << endl;
cout << "Xcoordinate (cm)： " << initpos.at(0) * 100 << "\t"
<< "Ycoordinate (cm)： " << initpos.at(1) * 100 << "\t"
<< "Zcoordinate (cm)： " << initpos.at(2) * 100 << endl;
cout << "Roll (°)： " << initpos.at(3) * RA2DE << "\t"
<< "Pitch (°)： " << initpos.at(4) * RA2DE << "\t"
<< "Yaw (°)： " << initpos.at(5) * RA2DE << endl;
return 0;
}
This is the error:
collect2: error: ld returned 1 exit status
make[2]: *** [dofbot_moveit/CMakeFiles/dofbot_kinematics_ik.dir/build.make:197: /home/dofbot/dofbot_ws/devel/lib/dofbot_moveit/dofbot_kinematics_ik] Error 1
make[1]: *** [CMakeFiles/Makefile2:2974: dofbot_moveit/CMakeFiles/dofbot_kinematics_ik.dir/all] Error 2
/usr/bin/ld: cannot find -ldofbot_kinemarics
collect2: error: ld returned 1 exit status
make[2]: *** [dofbot_moveit/CMakeFiles/dofbot_kinematics_fk.dir/build.make:197: /home/dofbot/dofbot_ws/devel/lib/dofbot_moveit/dofbot_kinematics_fk] Error 1
make[1]: *** [CMakeFiles/Makefile2:3433: dofbot_moveit/CMakeFiles/dofbot_kinematics_fk.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Why can't catkin_make find libdofbot_kinemarics.so?
Update:
I altered CMakeLists.txt with the following:
find_library(LIBDOF libdofbot_kinemarics.so <path/to/.so/file)
target_link_libraries(dofbot_kinematics_fk ${catkin_LIBRARIES} "${LIBDOF}")
target_link_libraries(dofbot_kinematics_ik ${catkin_LIBRARIES} "${LIBDOF}")
then I got a new error:
/usr/bin/ld:libdofbot_kinemarics.so: error adding symbols: file in wrong format
collect2: error: ld returned 1 exit status

Answer 1

I think you have a typo. Instead of kinemaRics it should be kinemaTics. Part of your folder structure uses kinemarics while your CMakelists.txt file declares/uses kinematics.