catkin_make linking error

[Armanfidan]

catkin_make linking error

[themarpe]

We've discussed with @saching13 regarding this issue (just a bump)
Main issue seems to be that depthai-core was build as static library instead of shared. If you want to use a static library you should specify the -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake to create relocatable code that can be linked into a shared library at the end. (Also clear hunter cache rm -r ~/.hunter between, as -fPIC doesn't properly create a different cache than non -fPIC builds)

[Armanfidan]

Thank you! I had not realised that I'd built depthai-core as a static library, building it with this option did not work but I built it as a dynamic library and it successfully linked.

[saching13]

Sorry for the trouble.
Can you share the steps followed here, ROS version and OS here ?

[Armanfidan]

Hi again,
The Docker container has ROS Noetic and Ubuntu 20.04 Focal.
With rosdep installed and set up, I followed the following steps:

• Installed libopencv-dev and python3-vcstool
• Tried to execute sudo wget -qO- https://raw.githubusercontent.com/luxonis/depthai-ros/noetic-devel/install_dependencies.sh | sudo bash, which resulted in the following:

SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"
Failed to send reload request: No such file or directory

• This was caused by the command sudo udevadm control --reload-rules (udev doesn't work properly in Docker containers), so I followed the steps outlined by Brandon in luxonis/depthai#295 (comment)
• This time I got the error in luxonis/depthai-core#121 (comment) (This occurred when building XLink and was caused by the following lines in XLink.cmake:

if(NOT LIBUSB_INCLUDE_DIR OR NOT LIBUSB_LIBRARY)
        message(FATAL_ERROR "libusb is required")
endif()

• I tried to fix this by setting the variables LIBUSB_LIBRARY and LIBUSB_INCLUDE_DIR in my .bashrc and passing them to cmake when building XLink, but it kept occurring.
• When I ran sudo apt-get -y install cmake libusb-1.0-0-dev build-essential as outlined in the previous issue thread, this got resolved (But I assume I will run into problems when trying to connect the OAK, because udev is enabled in Docker).
• Now that the dependencies are installed, I kept following the steps on https://github.com/luxonis/depthai-ros. When I ran catkin_make, I bumped into the issue in #2, which turned out to be because I had not installed depthai-core.
• When I installed this, I ran the script again and I ran into the issue outlined here. I do not know how to proceed.