大佬教程收集整理的这篇文章主要介绍了ROS CPP Snap7 Linux - CMake 不链接 lib 我安装了库：结果：FindLibSnap7.cmake：CMakeLists.txt：catkin_make 输出：lld 输出，大佬教程大佬觉得挺不错的，现在分享给大家，也给大家做个参考。
我想使用SnaP7（多平台以太网 S7 PLC 通信套件）在 ROS 和西门子 S7 1500 之间建立通信。
我遇到了链接器问题 - 虽然我可以找到包含和库 .so 文件本身，但使用自定义 FindlibsnaP7.cmake，target_link_librarIEs 没有链接到 snaP7 库。这是我的方法和帮助调试的输出：
（注意：目前我们被迫使用 ROS Kinetic，因此使用 snaP7 Python 包装器似乎不是一个选项，因为它是用 python3 编写的。）
sudo add-apt-repository ppa:gijzelaar/snaP7sudo apt-get updatesudo apt-get install libsnaP71 libsnaP7-dev$ ll /usr/lib/libsnaP7.so
-rwxr-xr-x 1 root root 305944 Apr 24 22:18 /usr/lib/libsnaP7.so*
$ ll /usr/include/snaP7.h
-rw-r--r-- 1 root root 41954 Jun 2 2015 /usr/include/snaP7.h
# find libsnaP7
#
# exports:
#
# libsnaP7_FOUND
# libsnaP7_INCLUDE_Dirs
# libsnaP7_liBRARIES
#
find_package(PkgConfig @R_262_10613@ired)
# Use pkg-config to get hints about paths
#pkg_check_modules(libsnaP7_PKGCONF @R_262_10613@ired libsnaP7)
# Include dir
find_path(libsnaP7_INCLUDE_DIR
nameS snaP7.h
PATHS ${libsnaP7_PKGCONF_INCLUDE_Dirs}
)
find_library(
libsnaP7_liBRARY
nameS snaP7 libsnaP7
PATHS /usr/lib
# PATH_SUFFIXES lib
# NO_DEFAulT_PATH
)
#FIND_PACKAGE_HANDLE_STANDARD_ARGS(libsnaP7 DEFAulT_MSG libsnaP7_liBRARY libsnaP7_INCLUDE_DIR)
message("libsnaP7_INCLUDE_DIR ${libsnaP7_INCLUDE_DIR}")
message("libsnaP7_liBRARY ${libsnaP7_liBRARY}")
set(libsnaP7_liBRARIES ${libsnaP7_liBRARY})
set(libsnaP7_INCLUDE_Dirs ${libsnaP7_INCLUDE_DIR})
set(libsnaP7_FOUND yes)
# Set the include dir variables and the librarIEs and let libfind_process do the rest.
# NOTE: Singular variables for this library,plural for librarIEs this this lib depends on.
#set(libsnaP7_PROCESS_INCLUDES libsnaP7_INCLUDE_DIR)
#set(libsnaP7_PROCESS_liBS libsnaP7_liBRARY)
cmake_minimum_@R_262_10613@ired(VERSION 2.8.3)
project(agv_snaP7_driver)
set(CMAKE_VERBOSE_MAKEfile ON)
## Compile as C++11,supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
##########################################################################################
set(CMAKE_MODulE_PATH ${CR_60_11845@AKE_MODulE_PATH} "${CR_60_11845@AKE_CURRENT_sourcE_DIR}/cmake")
messaGE( STATUS "CMAKE_MODulE_PATH: " ${CR_60_11845@AKE_MODulE_PATH} )
find_package(libsnaP7 @R_262_10613@ired)
include_directorIEs(${libsnaP7_INCLUDE_Dirs})
message("libsnaP7_liBRARIES ${libsnaP7_liBRARIES}")
message("libsnaP7_INCLUDE_Dirs ${libsnaP7_INCLUDE_Dirs}")
##########################################################################################
## Find catkin macros and librarIEs
## if COMPONENTS List like find_package(catkin @R_262_10613@ired COMPONENTS xyz)
## is used,also find other catkin packages
find_package(catkin @R_262_10613@ired COMPONENTS
roscpp
nodelet
agv_utils
agv_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_Dirs: uncomment this if your package contains header files
## liBRARIES: librarIEs you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencIEs of this project that dependent projects also need
catkin_package(
INCLUDE_Dirs include
liBRARIES ${PROjeCt_name}
CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS}
DEPENDS libsnaP7
)
###########
## Build ##
###########
## Specify additional LOCATIOns of header files
## Your package LOCATIOns should be Listed before other LOCATIOns
include_directorIEs(
include
${Catkin_INCLUDE_Dirs}
${libsnaP7_INCLUDE_Dirs}
)
## Declare a C++ library
add_library(${PROjeCt_name}
src/agv_snaP7_driver_config.cpp
src/agv_snaP7_driver.cpp
)
## Add cmake target dependencIEs of the executable
add_dependencIEs(${PROjeCt_name} ${${PROjeCt_name}_EXPORTED_TARGETS} ${Catkin_EXPORTED_TARGETS})
## Specify librarIEs to link a library or executable target against
target_link_librarIEs( ${PROjeCt_name} ${Catkin_liBRARIES} ${libsnaP7_liBRARIES})
#############
## Install ##
#############
## Mark librarIEs for installation
install(TARGETS ${PROjeCt_name}
ARCHIVE DESTinATION ${CATKIN_PACKAGE_liB_DESTinATION}
liBRARY DESTinATION ${CATKIN_PACKAGE_liB_DESTinATION}
RUNTIME DESTinATION ${CATKIN_GLOBAL_BIN_DESTinATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROjeCt_name}/
DESTinATION ${CATKIN_PACKAGE_INCLUDE_DESTinATION}
fileS_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
install(fileS nodelet.xml
DESTinATION ${CATKIN_PACKAGE_SHARE_DESTinATION}
)
install(DIRECTORY launch/
DESTinATION ${CATKIN_PACKAGE_SHARE_DESTinATION}/launch
fileS_MATCHING PATTERN "*.launch"
PATTERN ".svn" EXCLUDE
)
install(DIRECTORY config/
DESTinATION ${CATKIN_PACKAGE_SHARE_DESTinATION}/config
fileS_MATCHING PATTERN "*.yaml"
PATTERN ".svn" EXCLUDE
)
-- +++ processing catkin package: 'agv_snaP7_driver'
-- ==> add_subdirectory(agv_base_harDWare/agv_snaP7_driver)
-- CMAKE_MODulE_PATH: /home/twobit/workspaces/bestvc_ws/branches/Gestamp_AmorebIEta_01/base/src/agv_base_harDWare/agv_snaP7_driver/cmake
libsnaP7_INCLUDE_DIR /usr/include
libsnaP7_liBRARY /usr/lib/libsnaP7.so
libsnaP7_liBRARIES /usr/lib/libsnaP7.so
libsnaP7_INCLUDE_Dirs /usr/include
$ ldd libagv_snaP7_driver.so | grep snap
libsnappy.so.1 => /usr/lib/x86_64-linux-gnu/libsnappy.so.1 (0x00007fe89c01e000)
如您所见，找到了包含以及库。向 ${libsnaP7_liBRARIES} 提供 target_link_librarIEs 不是重新链接 libsnaP7.so
从源代码安装 snaP7 后，我发现示例 cpp 链接正确。
如果有人知道为什么会出现此错误链接，我很乐意提供帮助。
先谢谢你！
暂无找到可以解决该程序问题的有效方法，小编努力寻找整理中！
如果你已经找到好的解决方法，欢迎将解决方案带上本链接一起发送给小编。
小编邮箱:dio#foxmail.com (将#修改为@）
以上是大佬教程为你收集整理的ROS CPP Snap7 Linux - CMake 不链接 lib 我安装了库：结果：FindLibSnap7.cmake：CMakeLists.txt：catkin_make 输出：lld 输出全部内容，希望文章能够帮你解决ROS CPP Snap7 Linux - CMake 不链接 lib 我安装了库：结果：FindLibSnap7.cmake：CMakeLists.txt：catkin_make 输出：lld 输出所遇到的程序开发问题。
如果觉得大佬教程网站内容还不错，欢迎将大佬教程推荐给程序员好友。
本图文内容来源于网友网络收集整理提供，作为学习参考使用，版权属于原作者。
如您有任何意见或建议可联系处理。小编QQ：384754419，请注明来意。