joonr7 / hesailidar_general_ros2 Goto Github PK
View Code? Open in Web Editor NEWROS2 driver for PandarXT PandarQT Pandar64 Pandar40P Pandar40M Pandar20A Pandar20B
License: Apache License 2.0
ROS2 driver for PandarXT PandarQT Pandar64 Pandar40P Pandar40M Pandar20A Pandar20B
License: Apache License 2.0
Hello, @joonr7 .
It would be better if you replace the default branch from master
branch to dashing-devel
branch.
I think merging dashing-devel
into the master
branch is also a good way, if you will not create any branches.
Thanks.
I want to know the author's cmake version
Hello, Junyoung. Nice to meet you here again.
Could you create a new branch for dashing ros2 version? I developed this driver for Dashing version.
It would be nice if the branch name is dashing-devel
.
https://github.com/harderthan/HesaiLidar_General_ROS2/tree/dashing-devel
Thanks.
Hi, @joonr7
I try to build this driver on Ubuntu20.04 for ROS2 galactic.
Boost version is 1.71.0
$ colcon build
and get this error
/usr/bin/ld: libPandarGeneralSDK.so: undefined reference to `boost::thread::native_handle()'
/usr/bin/ld: libPandarGeneralSDK.so: undefined reference to `typeinfo for boost::detail::thread_data_base'
/usr/bin/ld: libPandarGeneralSDK.so: undefined reference to `boost::detail::thread_data_base::~thread_data_base()'
/usr/bin/ld: libPandarGeneral.so: undefined reference to `boost::thread::detach()'
/usr/bin/ld: libPandarGeneralSDK.so: undefined reference to `boost::thread::join_noexcept()'
/usr/bin/ld: libPandarGeneralSDK.so: undefined reference to `boost::thread::start_thread_noexcept()'
/usr/bin/ld: libPandarGeneralSDK.so: undefined reference to `vtable for boost::detail::thread_data_base'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/hesai_lidar_node.dir/build.make:158: hesai_lidar_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:221: CMakeFiles/hesai_lidar_node.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed <<< hesai_lidar [1.99s, exited with code 2]
Summary: 0 packages finished [2.08s]
1 package failed: hesai_lidar
1 package had stderr output: hesai_lidar
I add link for libboost_thread.so and libboost_thread.a in /usr/lib/ , add this
set(CMAKE_CXX_FLAGS "${CAMKE_CXX_FLAGS} -L/usr/lib/x86_64-linux-gnu/ -lboost_thread")
or
set(CMAKE_CXX_FLAGS "${CAMKE_CXX_FLAGS} -L/usr/lib/ -lboost_thread")
both not working, still get the same error.
Is there any suggestions to build this ros2 driver correctly?
Thanks.
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