micro_ros_stm32cubemx_utils gcc编译报错 undefined reference to `_kill‘ undefined reference to `_getpid

micro_ros_stm32cubemx_utils gcc 链接时报错

undefined reference to _kill' undefined reference to _getpid

具体报错内容.

/usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/bin/ld: /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-signalr.o): in function `_kill_r':
/build/newlib-CVVEyx/newlib-3.3.0/build_nano/arm-none-eabi/thumb/v7e-m+fp/hard/newlib/libc/reent/../../../../../../../../newlib/libc/reent/signalr.c:53: undefined reference to `_kill'
/usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/bin/ld: /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-signalr.o): in function `_getpid_r':
/build/newlib-CVVEyx/newlib-3.3.0/build_nano/arm-none-eabi/thumb/v7e-m+fp/hard/newlib/libc/reent/../../../../../../../../newlib/libc/reent/signalr.c:83: undefined reference to `_getpid'

解决办法1

参考网上资料，在makefile文件中 链接选项追加 -specs=nano.specs -specs=nosys.specs -lnosys

LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections,-specs=nano.specs -specs=nosys.specs -lnosys

该方法可以编译通过，代码测试没有发现问题但具体原因不明确，会出现以下警告，可能存在隐患！

/usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/bin/ld: warning: cannot find entry symbol cs=nano.specs; defaulting to 00000000080001c0

解决办法2

因为是链接找不到相应的符号，可以根据提示添加对应的空函数

void _kill(void){};
void _getpid(void){};