GeographicLib irary error, how can i resolve it in ubuntu melodic?

[rahulgupta582]

root1@root1-GP65-Leopard-9SD:~/workspace_test$ catkin_make
Base path: /home/root1/workspace_test
Source space: /home/root1/workspace_test/src
Build space: /home/root1/workspace_test/build
Devel space: /home/root1/workspace_test/devel
Install space: /home/root1/workspace_test/install

Running command: "make cmake_check_build_system" in "/home/root1/workspace_test/build"

Running command: "make -j12 -l12" in "/home/root1/workspace_test/build"

Scanning dependencies of target gps_waypoint
[ 0%] Built target nav_msgs_generate_messages_nodejs
[ 4%] Built target calibrate_heading
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[ 9%] Built target safety_node
[ 13%] Built target collect_gps_waypoints
[ 16%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/plot_gps_waypoints
[ 18%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous2
[ 20%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_mapping
[ 23%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous1
[ 25%] Building CXX object waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint.dir/src/gps_waypoint.cpp.o
[ 30%] Built target switch_controllers
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[ 37%] Built target actionlib_generate_messages_nodejs
[ 37%] Built target nav_msgs_generate_messages_eus
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[ 37%] Built target nav_msgs_generate_messages_cpp
[ 37%] Built target nav_msgs_generate_messages_py
CMakeFiles/plot_gps_waypoints.dir/src/plot_gps_waypoints.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, double&)': plot_gps_waypoints.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)'
plot_gps_waypoints.cpp:(.text+0xa1): undefined reference to GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)' collect2: error: ld returned 1 exit status waypoint_nav/outdoor_waypoint_nav/CMakeFiles/plot_gps_waypoints.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/plot_gps_waypoints' failed make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/plot_gps_waypoints] Error 1 CMakeFiles/Makefile2:1151: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/plot_gps_waypoints.dir/all' failed make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/plot_gps_waypoints.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 44%] Built target slam_gmapping_replay [ 51%] Built target slam_gmapping [ 51%] Built target _hector_mapping_nav_generate_messages_check_deps_HectorDebugInfo [ 51%] Built target _hector_mapping_nav_generate_messages_check_deps_HectorIterData CMakeFiles/gps_waypoint_mapping.dir/src/gps_waypoint_mapping.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, double&)':
gps_waypoint_mapping.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)' gps_waypoint_mapping.cpp:(.text+0xa1): undefined reference to GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&)'
collect2: error: ld returned 1 exit status
waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_mapping.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_mapping' failed
make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_mapping] Error 1
CMakeFiles/Makefile2:2361: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_mapping.dir/all' failed
make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_mapping.dir/all] Error 2
CMakeFiles/gps_waypoint_continuous2.dir/src/gps_waypoint_continuous2.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, double&)': gps_waypoint_continuous2.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)'
gps_waypoint_continuous2.cpp:(.text+0xa1): undefined reference to GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)' collect2: error: ld returned 1 exit status CMakeFiles/gps_waypoint_continuous1.dir/src/gps_waypoint_continuous1.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&, double&)':
gps_waypoint_continuous1.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)' gps_waypoint_continuous1.cpp:(.text+0xa1): undefined reference to GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&)'
collect2: error: ld returned 1 exit status
waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous2.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous2' failed
make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous2] Error 1
CMakeFiles/Makefile2:1225: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous2.dir/all' failed
make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous2.dir/all] Error 2
waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous1.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous1' failed
make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint_continuous1] Error 1
CMakeFiles/Makefile2:1262: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous1.dir/all' failed
make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint_continuous1.dir/all] Error 2
[ 53%] Linking CXX executable /home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint
CMakeFiles/gps_waypoint.dir/src/gps_waypoint.cpp.o: In function RobotLocalization::NavsatConversions::LLtoUTM(double, double, double&, double&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, double&)': gps_waypoint.cpp:(.text+0x64): undefined reference to GeographicLib::UTMUPS::Forward(double, double, int&, bool&, double&, double&, double&, double&, int, bool)'
gps_waypoint.cpp:(.text+0xa1): undefined reference to `GeographicLib::MGRS::Forward(int, bool, double, double, int, std::__cxx11::basic_string<char, std::char_traits, std::allocator >&)'
collect2: error: ld returned 1 exit status
waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint.dir/build.make:122: recipe for target '/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint' failed
make[2]: *** [/home/root1/workspace_test/devel/lib/outdoor_waypoint_nav/gps_waypoint] Error 1
CMakeFiles/Makefile2:2558: recipe for target 'waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint.dir/all' failed
make[1]: *** [waypoint_nav/outdoor_waypoint_nav/CMakeFiles/gps_waypoint.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

[memoryisthekey]

Hi! I was having the same issue.

I followed:

• GeographicLib issue #19 (comment)
• https://answers.ros.org/question/385142/undefined-reference-to-geographiclibutmupsforward/
• https://githubmemory.com/repo/cra-ros-pkg/robot_localization/issues/693

Below are my steps. I'm not sure all of them are needed but it did work for me:
I hope it helps.

1st Step: Geographic Lib (#19 (comment))

• Choose where you want the geographic lib in your computer
• git clone git://git.code.sourceforge.net/p/geographiclib/code ./geographiclib
• cd geographiclib
• mkdir build && cd build
• cmake .. && make
• sudo make install

2nd Step: Get robot_localization from src:

• You might need to uninstall robot_localization from the /opt/ros (I did at least but it might not be necessary)
• cd catkin_ws/src
• git clone https://github.com/cra-ros-pkg/robot_localization.git
• cd robot_localization/include/robot_localization
• In the files navsat_conversions.h_ and navsat_transform.h:
  • Change or Add #include <GeographicLib/MGRS.hpp> and #include <GeographicLib/UTMUPS.hpp> for the path installed in 1st Step:
    • #include "/**_your_path_**/geographiclib/include/GeographicLib/MGRS.hpp"
    • #include "/**_your_path_**/geographiclib/include/GeographicLib/UTMUPS.hpp"

3rd Step: CMakeLists.txt (of outdoor_waypoint_nav repository):

• Add robot_localization in find_package:
  • find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs tf roslib roslaunch robot_localization )

4th Step: package.xml (of outdoor_waypoint_nav repository):

• Add <build_depend>robot_localization</build_depend>

5th Step: waypoint_nav/outdoor_waypoint_nav/src

• Go through the .cpp files and change:
  *#include <robot_localization/navsat_conversions.h> to #include "/**_your_path_**/catkin_ws/src/robot_localization/include/robot_localization/navsat_conversions.h"
• I'm not sure this is needed but I added (to all .cpp files):
  • #include "/**_your_path_**/geographiclib/include/GeographicLib/MGRS.hpp"
  • #include "/**_your_path_**/geographiclib/include/GeographicLib/UTMUPS.hpp"

6th Step: catkin_make and everything should work

• cd catkin_ws
• catkin_make