Làm thế nào để liên kết Qt 5,9 trong ROS?

Question

Các CMakeList sau sản xuất lỗi đã được liệt kê dưới đây:

cmake_minimum_required(VERSION 2.8.12) 

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") 

set(CMAKE_INCLUDE_CURRENT_DIR ON) 
set(CMAKE_AUTOMOC ON) 
set(CMAKE_AUTORCC ON) 

project(draw_on_images) 

find_package(catkin REQUIRED COMPONENTS 
    roscpp 
    rospy 
    std_msgs 
) 

find_package(OpenCV 2.4.8 REQUIRED) 
find_package(Qt5 COMPONENTS Core Qml Quick REQUIRED) 


qt5_add_resources(RESOURCES qml.qrc) 

catkin_package(
    CATKIN_DEPENDS roscpp rospy std_msgs 
) 

include_directories(
    ${catkin_INCLUDE_DIRS} 
) 

add_executable(${PROJECT_NAME} ${RESOURCES} src/main.cpp src/draw_on_qimage.cpp src/provide_qpixmap_to_qml.cpp) 

qt5_use_modules(${PROJECT_NAME} Core Qml Quick) 

target_link_libraries(${PROJECT_NAME} Qt5::Core Qt5::Qml Qt5::Quick ${OpenCV_LIBS}) 

Con đường tôi chạy nó:

catkin_make -DCMAKE_PREFIX_PATH="/opt/Qt5.9.1/5.9.1/gcc_64/lib/" -DWITH_QT:BOOL=ON 

Có, tôi đã có nguồn gốc nó.

Lỗi:

Base path: /home/.../ros_workspace_test 
Source space: /home/.../ros_workspace_test/src 
Build space: /home/.../ros_workspace_test/build 
Devel space: /home/.../ros_workspace_test/devel 
Install space: /home/.../ros_workspace_test/install 
#### 
#### Running command: "cmake /home/.../ros_workspace_test/src -DCMAKE_PREFIX_PATH=/opt/Qt5.9.1/5.9.1/gcc_64/lib/ -DWITH_QT:BOOL=ON -DCATKIN_DEVEL_PREFIX=/home/.../ros_workspace_test/devel -DCMAKE_INSTALL_PREFIX=/home/.../ros_workspace_test/install -G Unix Makefiles" in "/home/.../ros_workspace_test/build" 
#### 
-- Using CATKIN_DEVEL_PREFIX: /home/.../ros_workspace_test/devel 
-- Using CMAKE_PREFIX_PATH: /opt/Qt5.9.1/5.9.1/gcc_64/lib/ 
-- Using PYTHON_EXECUTABLE: /usr/bin/python 
-- Using Debian Python package layout 
-- Using empy: /usr/bin/empy 
-- Using CATKIN_ENABLE_TESTING: ON 
-- Call enable_testing() 
-- Using CATKIN_TEST_RESULTS_DIR: /home/.../ros_workspace_test/build/test_results 
-- Found gtest sources under '/usr/src/gtest': gtests will be built 
-- Using Python nosetests: /usr/bin/nosetests-2.7 
-- catkin 0.6.19 
-- BUILD_SHARED_LIBS is on 
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 
-- ~~ traversing 1 packages in topological order: 
-- ~~ - draw_on_images 
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 
-- +++ processing catkin package: 'draw_on_images' 
-- ==> add_subdirectory(draw_on_images) 
-- Configuring done 
-- Generating done 
CMake Warning: 
    Manually-specified variables were not used by the project: 

    WITH_QT 


-- Build files have been written to: /home/.../ros_workspace_test/build 
#### 
#### Running command: "make -j4 -l4" in "/home/.../ros_workspace_test/build" 
#### 
[ 14%] Automoc for target draw_on_images 
[ 14%] Built target draw_on_images_automoc 
Linking CXX executable /home/.../ros_workspace_test/devel/lib/draw_on_images/draw_on_images 
CMakeFiles/draw_on_images.dir/src/main.cpp.o: In function `int qmlRegisterType<Draw_on_qimage>(char const*, int, int, char const*)': 
main.cpp:(.text._Z15qmlRegisterTypeI14Draw_on_qimageEiPKciiS2_[_Z15qmlRegisterTypeI14Draw_on_qimageEiPKciiS2_]+0x38): undefined reference to `Draw_on_qimage::staticMetaObject' 
main.cpp:(.text._Z15qmlRegisterTypeI14Draw_on_qimageEiPKciiS2_[_Z15qmlRegisterTypeI14Draw_on_qimageEiPKciiS2_]+0x1b6): undefined reference to `Draw_on_qimage::staticMetaObject' 
CMakeFiles/draw_on_images.dir/src/main.cpp.o: In function `Draw_on_qimage::~Draw_on_qimage()': 
main.cpp:(.text._ZN14Draw_on_qimageD2Ev[_ZN14Draw_on_qimageD5Ev]+0x13): undefined reference to `vtable for Draw_on_qimage' 
main.cpp:(.text._ZN14Draw_on_qimageD2Ev[_ZN14Draw_on_qimageD5Ev]+0x25): undefined reference to `vtable for Draw_on_qimage' 
CMakeFiles/draw_on_images.dir/src/main.cpp.o: In function `QMetaTypeIdQObject<Draw_on_qimage*, true>::qt_metatype_id()': 
main.cpp:(.text._ZN18QMetaTypeIdQObjectIP14Draw_on_qimageLb1EE14qt_metatype_idEv[_ZN18QMetaTypeIdQObjectIP14Draw_on_qimageLb1EE14qt_metatype_idEv]+0x2c): undefined reference to `Draw_on_qimage::staticMetaObject' 
CMakeFiles/draw_on_images.dir/src/main.cpp.o: In function `QtPrivate::MetaObjectForType<Draw_on_qimage*, true>::value()': 
main.cpp:(.text._ZN9QtPrivate17MetaObjectForTypeIP14Draw_on_qimageLb1EE5valueEv[_ZN9QtPrivate17MetaObjectForTypeIP14Draw_on_qimageLb1EE5valueEv]+0x7): undefined reference to `Draw_on_qimage::staticMetaObject' 
CMakeFiles/draw_on_images.dir/src/main.cpp.o:(.data.rel.ro._ZTVN11QQmlPrivate11QQmlElementI14Draw_on_qimageEE[_ZTVN11QQmlPrivate11QQmlElementI14Draw_on_qimageEE]+0x10): undefined reference to `Draw_on_qimage::metaObject() const' 
CMakeFiles/draw_on_images.dir/src/main.cpp.o:(.data.rel.ro._ZTVN11QQmlPrivate11QQmlElementI14Draw_on_qimageEE[_ZTVN11QQmlPrivate11QQmlElementI14Draw_on_qimageEE]+0x18): undefined reference to `Draw_on_qimage::qt_metacast(char const*)' 
CMakeFiles/draw_on_images.dir/src/main.cpp.o:(.data.rel.ro._ZTVN11QQmlPrivate11QQmlElementI14Draw_on_qimageEE[_ZTVN11QQmlPrivate11QQmlElementI14Draw_on_qimageEE]+0x20): undefined reference to `Draw_on_qimage::qt_metacall(QMetaObject::Call, int, void**)' 
CMakeFiles/draw_on_images.dir/src/main.cpp.o:(.data.rel.ro._ZTIN11QQmlPrivate11QQmlElementI14Draw_on_qimageEE[_ZTIN11QQmlPrivate11QQmlElementI14Draw_on_qimageEE]+0x10): undefined reference to `typeinfo for Draw_on_qimage' 
CMakeFiles/draw_on_images.dir/src/main.cpp.o: In function `Provide_QPixmap_to_QML::~Provide_QPixmap_to_QML()': 
main.cpp:(.text._ZN22Provide_QPixmap_to_QMLD2Ev[_ZN22Provide_QPixmap_to_QMLD5Ev]+0x13): undefined reference to `vtable for Provide_QPixmap_to_QML' 
main.cpp:(.text._ZN22Provide_QPixmap_to_QMLD2Ev[_ZN22Provide_QPixmap_to_QMLD5Ev]+0x25): undefined reference to `vtable for Provide_QPixmap_to_QML' 
CMakeFiles/draw_on_images.dir/src/draw_on_qimage.cpp.o: In function `Draw_on_qimage::Draw_on_qimage(QQuickPaintedItem*)': 
draw_on_qimage.cpp:(.text+0x4b): undefined reference to `vtable for Draw_on_qimage' 
draw_on_qimage.cpp:(.text+0x5d): undefined reference to `vtable for Draw_on_qimage' 
CMakeFiles/draw_on_images.dir/src/provide_qpixmap_to_qml.cpp.o: In function `Provide_QPixmap_to_QML::Provide_QPixmap_to_QML()': 
provide_qpixmap_to_qml.cpp:(.text+0x52): undefined reference to `vtable for Provide_QPixmap_to_QML' 
provide_qpixmap_to_qml.cpp:(.text+0x64): undefined reference to `vtable for Provide_QPixmap_to_QML' 
collect2: error: ld returned 1 exit status 
make[2]: *** [/home/.../ros_workspace_test/devel/lib/draw_on_images/draw_on_images] Error 1 
make[1]: *** [draw_on_images/CMakeFiles/draw_on_images.dir/all] Error 2 
make: *** [all] Error 2 
Invoking "make -j4 -l4" failed 

Làm thế nào để liên kết Qt 5.9 trong ROS?

Tôi đang sử dụng Ubuntu 14.

Answer 1

này là để thêm các tập tin tiêu đề để add_executable trong CMakelists.txt:

add_executable(${PROJECT_NAME} ${RESOURCES} 
           src/main.cpp 
           include/draw_on_images/draw_on_qimage.h src/draw_on_qimage.cpp 
           include/draw_on_images/provide_qpixmap_to_qml.h src/provide_qpixmap_to_qml.cpp) 

Answer 2

đoán của tôi là AUTOMOC CMake của thất bại trong trường hợp này. Xem tài liệu ở đây https://cmake.org/cmake/help/v3.0/prop_tgt/AUTOMOC.html Nó khẳng định rằng tệp tiêu đề của lớp của bạn Draw_on_qimage được đặt tên tương tự như tệp nguồn và có thể định vị bằng CMake.

Bạn có thể tránh AUTOMOC bằng cách thủ công chạy moc trên tiêu đề của bạn cho lớp QObject có nguồn gốc từ của bạn như giải pháp

QT5_WRAP_CPP(MOC_SOURCES <path of header file of your class Draw_on_qimage>) 

add_executable(${PROJECT_NAME} ${RESOURCES} src/main.cpp src/draw_on_qimage.cpp ${MOC_SOURCES} src/provide_qpixmap_to_qml.cpp