Undefined references when linking MicroROS with an SMT32CubeMX project #309
Description
Describe the bug
I am trying to integrate MicroROS in an existing STM32CubeMX CMake project. Linking the final binary fails with errors about unresolved references in librmw_microxrcedds.a to symbols in Micro XRCE-DDS Client and to symbols in Micro XRCE-DDS typesupport:
../../install/lib/librmw_microxrcedds.a(rmw_client.c.obj): in function `rmw_destroy_client':
MicroROS/microros/rmw_microxrcedds/rmw_microxrcedds_c/src/rmw_client.c:220:(.text.rmw_destroy_client+0x9e): undefined reference to `uxr_buffer_cancel_data'
...
../../install/lib/libstd_msgs__rosidl_typesupport_c.a(int32__type_support.cpp.obj):
./build/std_msgs/rosidl_typesupport_c/std_msgs/msg/int32__type_support.cpp:67:(.data._ZN8std_msgs3msg20rosidl_typesupport_cL31_Int32_message_typesupport_dataE+0x0): undefined reference to `rosidl_typesupport_introspection_c__get_message_type_support_handle__std_msgs__msg__Int32'
Everything, including the main project, is a colcon package built with Ninja. The project layout is:
<project root>
├── Core
│ ├── Inc
│ │ └── <CubeMX generated headers>
│ └── Src
│ ├── <CubeMX generated sources>
│ ├── cubemx_uart_transport.c
│ ├── microros_allocator.c
│ └── main.c
├── MicroROS
│ ├── microros
│ │ └── <MicroROS packages>
│ ├── ros2
│ │ └── <ROS2 packages>
│ └── microros.repos
├── App
│ └── int32_publisher
│ ├── src
│ ├── CMakeLists.txt
│ └── package.xml
├── <other Cubemx generated files>
├── colcon.meta
├── colcon.pkg
└── CMakeLists.txt
The default task in main.c initializes MicroROS, calls into application packages, which are built as static libraries, to initialize node(s) etc., and then calls rclc_executor_spin_some() in a loop.
The project is built with colcon build --packages-up-to cubemx-microros-cmake --packages-ignore-regex=".*_cpp" --metas ./colcon.meta --merge-install --paths . --base-paths ./MicroROS ./App --cmake-args -G Ninja --no-warn-unused-cli -DCMAKE_POSITION_INDEPENDENT_CODE=OFF -DTHIRDPARTY=ON -DBUILD_SHARED_LIBS=OFF -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE="$(pwd)/cmake/gcc-arm-none-eabi.cmake"
Relevant parts of CMakeLists.txt:
Application package(s):
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_ros REQUIRED)
find_package(rclc REQUIRED)
find_package(std_msgs REQUIRED)
# Basic MicroROS publisher
add_library(int32_publisher STATIC
src/int32_publisher.c
)
ament_target_dependencies(int32_publisher
std_msgs rclc
)
# ...
install(
TARGETS int32_publisher
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
)
ament_export_targets(
export_${PROJECT_NAME} HAS_LIBRARY_TARGET
)
ament_export_dependencies(std_msgs rclc)
ament_package()Main CMakeLists.txt:
find_package(microxrcedds_client REQUIRED)
find_package(rmw_microxrcedds REQUIRED)
find_package(rcutils REQUIRED)
find_package(rcl REQUIRED)
find_package(rclc REQUIRED)
find_package(int32_publisher REQUIRED)
add_executable(${CMAKE_PROJECT_NAME})
# ...
target_link_libraries(${CMAKE_PROJECT_NAME}
int32_publisher::int32_publisher
${rmw_microxrcedds_LIBRARIES}
rclc::rclc rcl::rcl rcutils::rcutils
)I also tried to make the top level project an ament_cmake_ros package using ament_target_dependencies(), to no avail.
Expected behavior:
Linking the binary works without errors, all required MicroROS libraries are passed to the linker in the correct order.
System information:
- OS: FreeRTOS+POSIX, CMSIS v2
- ROS 2 Humble