How to use the c++ library gtsam in my project package? - c++

Question

this is the first time I use an external c++ library aside from OpenCV. In the code I use quite a lot of ROS functionality, but I believe my issue is not related to ROS. I want to build a project with the GTSAM library.
Therefore I cloned the repository into my /usr/lib folder and installed it as instructed.
I then wrote the CMakeLists.txt,added two includes into my - otherwise functioning .h file - and tried to compile.
The beginning of my .h file, the compile error and my CMakeLists.txt are shown below. Interestingly, if I comment out the second include and just include Pose2.h, compilation works. That should mean that the compiler at least finds some headers from the library, ergo it is correctly installed. The part of my cmake code which is supposed to link the library is extracted from an example project given here. Any help is appreciated.
car_lib.h:
#ifndef CAR_LIB_H
#define CAR_LIB_H
// GTSAM headers
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
using namespace gtsam;
// rest of file follows....
When compiling, I get the following error:
...
[100%] Linking CXX executable /home/marc/catkin_ws/devel/lib/car/car_node
[100%] Linking CXX shared library /home/marc/catkin_ws/devel/lib/libcar_lib.so
[100%] Built target car_lib
CMakeFiles/car_node.dir/src/car_node.cpp.o: In function `__static_initialization_and_destruction_0(int, int)':
/usr/local/include/gtsam/inference/Key.h:41: undefined reference to `gtsam::_defaultKeyFormatter[abi:cxx11](unsigned long)'
/usr/local/include/gtsam/inference/Key.h:52: undefined reference to `gtsam::_multirobotKeyFormatter[abi:cxx11](unsigned long)'
collect2: error: ld returned 1 exit status
car/CMakeFiles/car_node.dir/build.make:113: recipe for target '/home/marc/catkin_ws/devel/lib/car/car_node' failed
make[2]: *** [/home/marc/catkin_ws/devel/lib/car/car_node] Error 1
CMakeFiles/Makefile2:384: recipe for target 'car/CMakeFiles/car_node.dir/all' failed
make[1]: *** [car/CMakeFiles/car_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
My CMakeLists.txt:
cmake_minimum_required(VERSION 2.8.3)
project(car)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
message_generation
nav_msgs
roscpp
sensor_msgs
std_msgs
)
###### GTSAM STUFF STARTS HERE
# Include GTSAM CMake tools
find_package(GTSAMCMakeTools)
#include(GtsamBuildTypes) # Load build type flags and default to Debug mode
#include(GtsamTesting) # Easy functions for creating unit tests and scripts
#include(GtsamMatlabWrap) # Automatic MATLAB wrapper generation
# Ensure that local folder is searched before library folders
#include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
###################################################################################
# Find GTSAM components
find_package(GTSAM REQUIRED) # Uses installed package
include_directories(${GTSAM_INCLUDE_DIR})
###################################################################################
# Build static library from common sources
#set(CONVENIENCE_LIB_NAME ${PROJECT_NAME})
#add_library(${CONVENIENCE_LIB_NAME} STATIC include/car/car_lib.h src/car_lib.cpp)
#target_link_libraries(${CONVENIENCE_LIB_NAME} gtsam)
###### GTSAM STUFF ENDS HER
catkin_package(
INCLUDE_DIRS include
LIBRARIES car_lib
CATKIN_DEPENDS
geometry_msgs
message_runtime
nav_msgs
roscpp
sensor_msgs
std_msgs
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(car_lib
include/${PROJECT_NAME}/car_lib.h
src/car_lib.cpp
)
add_executable(car_node src/car_node)
target_link_libraries(car_node ${catkin_LIBRARIES})
target_link_libraries(car_lib
${catkin_LIBRARIES}
)

Answer 1

Try replacing the bit under ## Declare a C++ library with
## Declare a C++ library
add_library(car_lib src/car_lib.cpp)
target_link_libraries(car_lib
gtsam
${catkin_LIBRARIES}
)
add_executable(car_node src/car_node)
target_link_libraries(car_node
car_lib
gtsam
${catkin_LIBRARIES}
)

Answer 2

For those who are trying to do the same thing using makefile, Here is the solution. [ note this is for simple c++ program without ROS ].
all: main.cpp
#g++ main.cpp \
-std=c++11 \
-I /usr/include/eigen3 \
-lboost_system -lboost_filesystem \
-lgtsam \
-o main
clear:
#rm -rf main