gtsam：undefined symbol: _ZTVN5gtsam19GaussianFactorGraphE

wishchin

已于 2024-04-03 14:55:04 修改

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分类专栏： Cartogropher1.0和2.0笔记文章标签：动态规划

于 2024-04-03 14:53:16 首次发布

本文链接：https://blog.csdn.net/wishchin/article/details/137345546

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文章讲述了在使用GTSAM时遇到的nodelet加载失败问题，原因可能是缺少链接库和符号定义。解决方案是在CMakeLists.txt中正确添加GTSAM库到target_link_libraries。

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在使用gtsam的时候出现问题：

[ERROR] [1712107483.937877766]: Failed to load nodelet [/globalmap_server_nodelet] of type [hdl_localization/GlobalmapServerNodelet] even after refreshing the cache: Failed to load library /home/robot/catkin_ws/devel/lib//libglobalmap_server_nodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/robot/catkin_ws/devel/lib//libglobalmap_server_nodelet.so: undefined symbol: _ZTVN5gtsam19GaussianFactorGraphE)

[ERROR] [1712107483.937907728]: The error before refreshing the cache was: Failed to load library /home/robot/catkin_ws/devel/lib//libglobalmap_server_nodelet.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/robot/catkin_ws/devel/lib//libglobalmap_server_nodelet.so: undefined symbol: _ZTVN5gtsam19GaussianFactorGraphE)

[FATAL] [1712107483.938048249]: Failed to load nodelet '/globalmap_server_nodelet` of type `hdl_localization/GlobalmapServerNodelet` to manager `hdl_nodelet_manager'

解决方法：

在cmakelist的target_link_libraries里面添加gtsam，

貌似前面的那个GTSAM_LIBRARY_DIRS 没卵用，有可能是写错了

add_library(globalmap_server_nodelet apps/globalmap_server_nodelet.cpp)

target_link_libraries(globalmap_server_nodelet

${catkin_LIBRARIES}

${PCL_LIBRARIES}

${OpenCV_LIBRARY_DIRS}

${GTSAM_LIBRARY_DIRS}

gtsam

${glog_LIBRARY_DIRS}

)