rtt_rosnode files to compile with OROCOS_TARGET=xenomai

Hi all,

I'm trying to compile rtt_ros_integration under Ubuntu 12.04. I have Ros Fuerte and I'm following the instructions reported here: http://www.ros.org/wiki/orocos_toolchain_ros

I alreay compiled the orocos_toolchain by specifyng the ORCOS_TARGET=xenomai.

However I have some problems building the rtt_rosnode. This is the error:

[ 94%] Building CXX object CMakeFiles/rtt_rosnode.dir/src/rtt_ros_service.o
  Linking CXX shared library ../lib/librtt_rosnode-xenomai.so
  CMakeFiles/rtt_rosnode.dir/src/ros_plugin.o: In function `loadRTTPlugin':
  ros_plugin.cpp:(.text+0x3c): undefined reference to `ros::isInitialized()'
  ros_plugin.cpp:(.text+0x78): undefined reference to `ros::init(int&, char**, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)'
  ros_plugin.cpp:(.text+0x88): undefined reference to `ros::master::check()'
  ros_plugin.cpp:(.text+0x91): undefined reference to `ros::start()'
  ros_plugin.cpp:(.text+0xc2): undefined reference to `ros::shutdown()'
  ros_plugin.cpp:(.text+0xf6): undefined reference to `ros::AsyncSpinner::AsyncSpinner(unsigned int)'
  ros_plugin.cpp:(.text+0x12b): undefined reference to `ros::AsyncSpinner::start()'
  collect2: ld returned 1 exit status
  make[3]: *** [../lib/librtt_rosnode-xenomai.so] Error 1
  make[3]: Leaving directory `/home/luca/Software/ros-stacks/orocos/rtt_ros_integration/rtt_rosnode/build'
  make[2]: *** [CMakeFiles/rtt_rosnode.dir/all] Error 2
  make[2]: Leaving directory `/home/luca/Software/ros-stacks/orocos/rtt_ros_integration/rtt_rosnode/build'
  make[1]: *** [all] Error 2
  make[1]: Leaving directory `/home/luca/Software/ros-stacks/orocos/rtt_ros_integration/rtt_rosnode/build'

How can I fix it?

Thanks in advance.

rtt_rosnode files to compile with OROCOS_TARGET=xenomai

On Thu, Feb 14, 2013 at 11:45 AM, <luca [dot] gherardi [..] ...> wrote:
> Hi all,
>
> I'm trying to compile rtt_ros_integration under Ubuntu 12.04.
> I have Ros Fuerte and I'm following the instructions reported here:
> http://www.ros.org/wiki/orocos_toolchain_ros
>
> I alreay compiled the orocos_toolchain by specifyng the ORCOS_TARGET=xenomai.
>
> However I have some problems building the rtt_rosnode. This is the error:
>
>
> [ 94%] Building CXX object CMakeFiles/rtt_rosnode.dir/src/rtt_ros_service.o
> Linking CXX shared library ../lib/librtt_rosnode-xenomai.so
> CMakeFiles/rtt_rosnode.dir/src/ros_plugin.o: In function `loadRTTPlugin':
> ros_plugin.cpp:(.text+0x3c): undefined reference to `ros::isInitialized()'
> ros_plugin.cpp:(.text+0x78): undefined reference to `ros::init(int&,
> char**, std::basic_string const&, unsigned int)'
> ros_plugin.cpp:(.text+0x88): undefined reference to `ros::master::check()'
> ros_plugin.cpp:(.text+0x91): undefined reference to `ros::start()'
> ros_plugin.cpp:(.text+0xc2): undefined reference to `ros::shutdown()'
> ros_plugin.cpp:(.text+0xf6): undefined reference to
> `ros::AsyncSpinner::AsyncSpinner(unsigned int)'
> ros_plugin.cpp:(.text+0x12b): undefined reference to
> `ros::AsyncSpinner::start()'
> collect2: ld returned 1 exit status
> make[3]: *** [../lib/librtt_rosnode-xenomai.so] Error 1
> make[3]: Leaving directory
> `/home/luca/Software/ros-stacks/orocos/rtt_ros_integration/rtt_rosnode/build'
> make[2]: *** [CMakeFiles/rtt_rosnode.dir/all] Error 2
> make[2]: Leaving directory
> `/home/luca/Software/ros-stacks/orocos/rtt_ros_integration/rtt_rosnode/build'
> make[1]: *** [all] Error 2
> make[1]: Leaving directory
> `/home/luca/Software/ros-stacks/orocos/rtt_ros_integration/rtt_rosnode/build'
>
>
> How can I fix it?

I have pushed the fix on the toolchain-2.6 branch and created new
releases for this issue.

In the meantime, you can do apt-get install libxml-xpath-perl.

Peter

rtt_rosnode files to compile with OROCOS_TARGET=xenomai

Hi all,

I'm trying to compile rtt_ros_integration under Ubuntu 12.04. I have Ros
Fuerte and I'm following the instructions reported here:
http://www.ros.org/wiki/orocos_toolchain_ros I alreay compiled the
orocos_toolchain, by specifyng the ORCOS_TARGET=xenomai. I've also
compiled rtt_ros_integration rtt_ros_comm rtt_common_msgs. However I have
some problems building the rtt_geometry (rtt_tf). This is the error:

[ 75%] Building CXX object
CMakeFiles/tests/lookup_test.dir/tests/lookup_test.o
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::lookupTransformAtTimeService(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&, ros::Time const&)':
rtt_tf-component.cpp:(.text+0x9e5): undefined reference to
`tf::Transformer::lookupTransform(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&, ros::Time const&, tf::StampedTransform&) const'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::lookupTransformService(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&)':
rtt_tf-component.cpp:(.text+0xa9e): undefined reference to
`tf::Transformer::getLatestCommonTime(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&, ros::Time&, std::basic_string<char, std::char_traits<char>,
std::allocator<char> >*) const'
rtt_tf-component.cpp:(.text+0xab8): undefined reference to
`tf::Transformer::lookupTransform(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&, ros::Time const&, tf::StampedTransform&) const'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::broadcastTransformService(geometry_msgs::TransformStamped_<std::allocator<void>
> const&)':
rtt_tf-component.cpp:(.text+0xb74): undefined reference to
`tf::resolve(std::basic_string<char, std::char_traits<char>,
std::allocator<char> > const&, std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&)'
rtt_tf-component.cpp:(.text+0xb9f): undefined reference to
`tf::resolve(std::basic_string<char, std::char_traits<char>,
std::allocator<char> > const&, std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&)'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::updateHook()':
rtt_tf-component.cpp:(.text+0x1233): undefined reference to
`tf::Transformer::setTransform(tf::StampedTransform const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&)'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::RTT_TF(std::basic_string<char, std::char_traits<char>,
std::allocator<char> > const&)':
rtt_tf-component.cpp:(.text+0x145a): undefined reference to
`tf::Transformer::DEFAULT_CACHE_TIME'
rtt_tf-component.cpp:(.text+0x149c): undefined reference to
`tf::Transformer::Transformer(bool, ros::Duration)'
rtt_tf-component.cpp:(.text+0x27f8): undefined reference to
`tf::Transformer::~Transformer()'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::~RTT_TF()':
rtt_tf-component.cpp:(.text._ZN6rtt_tf6RTT_TFD2Ev[_ZN6rtt_tf6RTT_TFD5Ev]+0x6d):
undefined reference to `tf::Transformer::~Transformer()'
rtt_tf-component.cpp:(.text._ZN6rtt_tf6RTT_TFD2Ev[_ZN6rtt_tf6RTT_TFD5Ev]+0xcb):
undefined reference to `tf::Transformer::~Transformer()'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o:(.data.rel.ro._ZTIN6rtt_tf6RTT_TFE[typeinfo
for rtt_tf::RTT_TF]+0x18): undefined reference to `typeinfo for
tf::Transformer'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o:(.data.rel.ro._ZTVN6rtt_tf6RTT_TFE[vtable
for rtt_tf::RTT_TF]+0xd8): undefined reference to `tf::Transformer::ok()
const'
collect2: ld returned 1 exit status
make[3]: *** [librtt_tf-xenomai.so] Error 1
make[3]: Leaving directory
`/home/hwadong/cotesys-lwr4+/LWR_ROS_RT_Workspace/orocos/rtt_geometry/rtt_tf/build'
make[2]: *** [CMakeFiles/rtt_tf.dir/all] Error 2
Linking CXX executable tests/lookup_test-xenomai
/usr/bin/ld: cannot open output file tests/lookup_test-xenomai: No such
file or directory
collect2: ld returned 1 exit status
make[3]: *** [tests/lookup_test-xenomai] Error 1
make[3]: Leaving directory
`/home/hwadong/cotesys-lwr4+/LWR_ROS_RT_Workspace/orocos/rtt_geometry/rtt_tf/build'
make[2]: *** [CMakeFiles/tests/lookup_test.dir/all] Error 2
make[2]: Leaving directory
`/home/hwadong/cotesys-lwr4+/LWR_ROS_RT_Workspace/orocos/rtt_geometry/rtt_tf/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory
`/home/hwadong/cotesys-lwr4+/LWR_ROS_RT_Workspace/orocos/rtt_geometry/rtt_tf/build'

How can I fix it?

Matteo Saveriano

Orocos, xenomai ros fuerte

Hi all,

I'm trying to compile rtt_ros_integration under Ubuntu 12.04. I have Ros
Fuerte and I'm following the instructions reported here:
http://www.ros.org/wiki/orocos_toolchain_ros I alreay compiled the
orocos_toolchain, by specifyng the ORCOS_TARGET=xenomai. I've also
compiled rtt_ros_integration rtt_ros_comm rtt_common_msgs. However I have
some problems building the rtt_geometry (rtt_tf). This is the error:

[ 75%] Building CXX object
CMakeFiles/tests/lookup_test.dir/tests/lookup_test.o
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::lookupTransformAtTimeService(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&, ros::Time const&)':
rtt_tf-component.cpp:(.text+0x9e5): undefined reference to
`tf::Transformer::lookupTransform(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&, ros::Time const&, tf::StampedTransform&) const'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::lookupTransformService(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&)':
rtt_tf-component.cpp:(.text+0xa9e): undefined reference to
`tf::Transformer::getLatestCommonTime(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&, ros::Time&, std::basic_string<char, std::char_traits<char>,
std::allocator<char> >*) const'
rtt_tf-component.cpp:(.text+0xab8): undefined reference to
`tf::Transformer::lookupTransform(std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&, ros::Time const&, tf::StampedTransform&) const'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::broadcastTransformService(geometry_msgs::TransformStamped_<std::allocator<void>
> const&)':
rtt_tf-component.cpp:(.text+0xb74): undefined reference to
`tf::resolve(std::basic_string<char, std::char_traits<char>,
std::allocator<char> > const&, std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&)'
rtt_tf-component.cpp:(.text+0xb9f): undefined reference to
`tf::resolve(std::basic_string<char, std::char_traits<char>,
std::allocator<char> > const&, std::basic_string<char,
std::char_traits<char>, std::allocator<char> > const&)'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::updateHook()':
rtt_tf-component.cpp:(.text+0x1233): undefined reference to
`tf::Transformer::setTransform(tf::StampedTransform const&,
std::basic_string<char, std::char_traits<char>, std::allocator<char> >
const&)'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::RTT_TF(std::basic_string<char, std::char_traits<char>,
std::allocator<char> > const&)':
rtt_tf-component.cpp:(.text+0x145a): undefined reference to
`tf::Transformer::DEFAULT_CACHE_TIME'
rtt_tf-component.cpp:(.text+0x149c): undefined reference to
`tf::Transformer::Transformer(bool, ros::Duration)'
rtt_tf-component.cpp:(.text+0x27f8): undefined reference to
`tf::Transformer::~Transformer()'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o: In function
`rtt_tf::RTT_TF::~RTT_TF()':
rtt_tf-component.cpp:(.text._ZN6rtt_tf6RTT_TFD2Ev[_ZN6rtt_tf6RTT_TFD5Ev]+0x6d):
undefined reference to `tf::Transformer::~Transformer()'
rtt_tf-component.cpp:(.text._ZN6rtt_tf6RTT_TFD2Ev[_ZN6rtt_tf6RTT_TFD5Ev]+0xcb):
undefined reference to `tf::Transformer::~Transformer()'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o:(.data.rel.ro._ZTIN6rtt_tf6RTT_TFE[typeinfo
for rtt_tf::RTT_TF]+0x18): undefined reference to `typeinfo for
tf::Transformer'
CMakeFiles/rtt_tf.dir/rtt_tf-component.o:(.data.rel.ro._ZTVN6rtt_tf6RTT_TFE[vtable
for rtt_tf::RTT_TF]+0xd8): undefined reference to `tf::Transformer::ok()
const'
collect2: ld returned 1 exit status
make[3]: *** [librtt_tf-xenomai.so] Error 1
make[3]: Leaving directory
`/home/hwadong/cotesys-lwr4+/LWR_ROS_RT_Workspace/orocos/rtt_geometry/rtt_tf/build'
make[2]: *** [CMakeFiles/rtt_tf.dir/all] Error 2
Linking CXX executable tests/lookup_test-xenomai
/usr/bin/ld: cannot open output file tests/lookup_test-xenomai: No such
file or directory
collect2: ld returned 1 exit status
make[3]: *** [tests/lookup_test-xenomai] Error 1
make[3]: Leaving directory
`/home/hwadong/cotesys-lwr4+/LWR_ROS_RT_Workspace/orocos/rtt_geometry/rtt_tf/build'
make[2]: *** [CMakeFiles/tests/lookup_test.dir/all] Error 2
make[2]: Leaving directory
`/home/hwadong/cotesys-lwr4+/LWR_ROS_RT_Workspace/orocos/rtt_geometry/rtt_tf/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory
`/home/hwadong/cotesys-lwr4+/LWR_ROS_RT_Workspace/orocos/rtt_geometry/rtt_tf/build'

How can I fix it?

Matteo Saveriano

rtt_rosnode files to compile with OROCOS_TARGET=xenomai

Thanks,

Now it compiles rttros_node. However there is a similar problem in building rtt_tf.

I already tried to checkout the fuerte branch, how can I fix it?

Thanks again, Luca

mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..
[rosbuild] Building package rtt_tf
[rosbuild] Including /opt/ros/fuerte/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/fuerte/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/fuerte/share/rospy/rosbuild/rospy.cmake
Detected OROCOS_TARGET environment variable. Using: xenomai
Orocos-RTT found in /home/luca/Software/ros-stacks/orocos/orocos_toolchain/install/lib/cmake/orocos-rtt/orocos-rtt-xenomai-libraries.cmake
-- Found orocos-rtt 2.6.0 for the xenomai target. Available transports: corba mqueue
ROS_ROOT was detected, and ROS was found as a package, assuming catkin-style building.
[UseOrocos] Building package rtt_tf
-- checking for one of the modules 'tf;tf-xenomai'
[UseOrocos] tf does not provide a .pc file for exporting its build/link flags (or one of it 'Requires' dependencies was not found).
-- checking for one of the modules 'rtt_rosnode;rtt_rosnode-xenomai'
[UseOrocos] rtt_rosnode does not provide a .pc file for exporting its build/link flags (or one of it 'Requires' dependencies was not found).
-- checking for one of the modules 'rtt_geometry_msgs;rtt_geometry_msgs-xenomai'
[UseOrocos] rtt_geometry_msgs does not provide a .pc file for exporting its build/link flags (or one of it 'Requires' dependencies was not found).
[UseOrocos] Building component rtt_tf in library rtt_tf-xenomai
[rosbuild] Including /home/luca/Software/ros-stacks/orocos/rtt_ros_integration/rtt_rosnode/cmake/GenerateRTTtypekit.cmake
Detected OROCOS_TARGET environment variable. Using: xenomai
-- Found orocos-rtt 2.6.0 for the xenomai target. Available transports: corba mqueue
-- - Found requested orocos-rtt components: rtt-scripting rtt-marshalling
ROS_ROOT was detected, and ROS was found as a package, assuming catkin-style building.
[UseOrocos] Building package rtt_tf
-- checking for one of the modules 'tf;tf-xenomai'
[UseOrocos] tf does not provide a .pc file for exporting its build/link flags (or one of it 'Requires' dependencies was not found).
-- checking for one of the modules 'rtt_rosnode;rtt_rosnode-xenomai'
[UseOrocos] rtt_rosnode does not provide a .pc file for exporting its build/link flags (or one of it 'Requires' dependencies was not found).
-- checking for one of the modules 'rtt_geometry_msgs;rtt_geometry_msgs-xenomai'
[UseOrocos] rtt_geometry_msgs does not provide a .pc file for exporting its build/link flags (or one of it 'Requires' dependencies was not found).
[UseOrocos] Building typekit library rtt-tf-typekit
[UseOrocos] Building typekit library rtt-tf-ros-transport
[UseOrocos] Generating package version 1.0 (default version).
[UseOrocos] Generating package version 1.0 (default version).
[UseOrocos] Linking all targets with libraries from package 'ocl-taskbrowser'.
[UseOrocos] Linking all targets with libraries from package 'ocl-deployment'.
Building executable tests/broadcaster_test
Building executable tests/lookup_test
-- Configuring done
-- Generating done
CMake Warning:
  Manually-specified variables were not used by the project:
 
    CMAKE_TOOLCHAIN_FILE
 
 
-- Build files have been written to: /home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build
cd build && make -l2
make[1]: Entering directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
make[2]: Entering directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
make[3]: Entering directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
make[3]: Leaving directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
[ 25%] Built target rtt-tf-ros-transport
make[3]: Entering directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
make[3]: Leaving directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
[ 62%] Built target rtt-tf-typekit
make[3]: Entering directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
make[3]: Leaving directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
make[3]: Entering directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
Linking CXX shared library ../lib/librtt_tf-xenomai.so
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o: In function `tf::transformStampedTFToMsg(tf::StampedTransform const&, geometry_msgs::TransformStamped_<std::allocator<void> >&) [clone .constprop.1109]':
rtt_tf-component.cpp:(.text+0x6ae): undefined reference to `ros::console::g_initialized'
rtt_tf-component.cpp:(.text+0x6b8): undefined reference to `ros::console::initialize()'
rtt_tf-component.cpp:(.text+0x6e8): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::console::levels::Level)'
rtt_tf-component.cpp:(.text+0x70c): undefined reference to `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
rtt_tf-component.cpp:(.text+0x714): undefined reference to `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
rtt_tf-component.cpp:(.text+0x74b): undefined reference to `ros::console::print(ros::console::FilterBase*, log4cxx::Logger*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o: In function `rtt_tf::RTT_TF::lookupTransformAtTimeService(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)':
rtt_tf-component.cpp:(.text+0x9e5): undefined reference to `tf::Transformer::lookupTransform(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, tf::StampedTransform&) const'
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o: In function `rtt_tf::RTT_TF::lookupTransformService(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
rtt_tf-component.cpp:(.text+0xa9e): undefined reference to `tf::Transformer::getLatestCommonTime(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >*) const'
rtt_tf-component.cpp:(.text+0xab8): undefined reference to `tf::Transformer::lookupTransform(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, tf::StampedTransform&) const'
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o: In function `rtt_tf::RTT_TF::broadcastTransformService(geometry_msgs::TransformStamped_<std::allocator<void> > const&)':
rtt_tf-component.cpp:(.text+0xb74): undefined reference to `tf::resolve(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
rtt_tf-component.cpp:(.text+0xb9f): undefined reference to `tf::resolve(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o: In function `rtt_tf::RTT_TF::configureHook()':
rtt_tf-component.cpp:(.text+0xc85): undefined reference to `ros::NodeHandle::NodeHandle(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::map<std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&)'
rtt_tf-component.cpp:(.text+0xcd5): undefined reference to `ros::NodeHandle::searchParam(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const'
rtt_tf-component.cpp:(.text+0xd0a): undefined reference to `ros::NodeHandle::getParam(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const'
rtt_tf-component.cpp:(.text+0xd3f): undefined reference to `ros::DurationBase<ros::Duration>::fromSec(double)'
rtt_tf-component.cpp:(.text+0xe2e): undefined reference to `ros::NodeHandle::~NodeHandle()'
rtt_tf-component.cpp:(.text+0xeb8): undefined reference to `ros::NodeHandle::~NodeHandle()'
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o: In function `rtt_tf::RTT_TF::updateHook()':
rtt_tf-component.cpp:(.text+0x1233): undefined reference to `tf::Transformer::setTransform(tf::StampedTransform const&, std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o: In function `rtt_tf::RTT_TF::RTT_TF(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
rtt_tf-component.cpp:(.text+0x145a): undefined reference to `tf::Transformer::DEFAULT_CACHE_TIME'
rtt_tf-component.cpp:(.text+0x1482): undefined reference to `ros::DurationBase<ros::Duration>::fromSec(double)'
rtt_tf-component.cpp:(.text+0x149c): undefined reference to `tf::Transformer::Transformer(bool, ros::Duration)'
rtt_tf-component.cpp:(.text+0x27f8): undefined reference to `tf::Transformer::~Transformer()'
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o: In function `rtt_tf::RTT_TF::~RTT_TF()':
rtt_tf-component.cpp:(.text._ZN6rtt_tf6RTT_TFD2Ev[_ZN6rtt_tf6RTT_TFD5Ev]+0x6d): undefined reference to `tf::Transformer::~Transformer()'
rtt_tf-component.cpp:(.text._ZN6rtt_tf6RTT_TFD2Ev[_ZN6rtt_tf6RTT_TFD5Ev]+0xcb): undefined reference to `tf::Transformer::~Transformer()'
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o:(.data.rel.ro._ZTIN6rtt_tf6RTT_TFE[typeinfo for rtt_tf::RTT_TF]+0x18): undefined reference to `typeinfo for tf::Transformer'
CMakeFiles/rtt_tf.dir/rtt_tf-component.cpp.o:(.data.rel.ro._ZTVN6rtt_tf6RTT_TFE[vtable for rtt_tf::RTT_TF]+0xd8): undefined reference to `tf::Transformer::ok() const'
collect2: ld returned 1 exit status
make[3]: *** [../lib/librtt_tf-xenomai.so] Error 1
make[3]: Leaving directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
make[2]: *** [CMakeFiles/rtt_tf.dir/all] Error 2
make[2]: Leaving directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/luca/Software/ros-stacks/orocos/rtt_geometry/rtt_tf/build'
make: *** [all] Error 2