Undefined reference to symbol '_ZN5boost6system15system_categoryEv' #494

AldrichCabrera · 2017-12-27T22:00:12Z

Hello, I have a problem with the new ROS libopencv_calib3d3.so.3.3.1 just now after an Ubuntu update, I solved this problem deleting the build and devel folder to then compile the new libs but now the problem is other when I try to compile the ORB_SLAM2 with ROS obtaining the next problems:

aldrich98@raldrich98:~/catkin_ws/src/ORB_SLAM2$ ./build_ros.sh
Building ROS nodes
mkdir: cannot create directory ‘build’: File exists
[rosbuild] Building package ORB_SLAM2
[rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost

[ 0%] Built target rospack_genmsg_libexe
[ 0%] Built target rosbuild_precompile
[ 12%] Built target Mono_INEGI
[ 18%] Linking CXX executable ../Stereo
[ 25%] Linking CXX executable ../RGBD
[ 37%] Built target Mono_Extractor
[ 50%] Built target Mono
[ 56%] Linking CXX executable ../RGBD_fake
[ 75%] Built target MonoAR
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:217: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:217: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
/usr/bin/ld: CMakeFiles/RGBD_fake.dir/src/ros_rgbd_fake.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD_fake.dir/build.make:243: recipe for target '../RGBD_fake' failed
make[2]: *** [../RGBD_fake] Error 1
CMakeFiles/Makefile2:733: recipe for target 'CMakeFiles/RGBD_fake.dir/all' failed
make[1]: *** [CMakeFiles/RGBD_fake.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

jingresume · 2017-12-28T12:13:51Z

it's because the program can't find libboost_system.so and libboost_filesystem.so . Copy the two libs to ORB_SLAM2/lib , and then modify the CMakeLists.txt

     set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS} 
${Pangolin_LIBRARIES} 
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so 
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so 
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so 
++
${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so 
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so

and you can use locate boost_system boost_filesystem to find it

AldrichCabrera · 2017-12-28T19:43:38Z

I solved this problem adding this:

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

-lboost_system

teundeplanque · 2018-01-08T21:57:34Z

Did you add all the above to the end of the CMakeLists.txt? Did you also do anything else?
I am getting the exact same output as you got, but I have not been able to fix this yet.
Thank you!

AldrichCabrera · 2018-01-09T02:31:15Z

I only put -lboost_system inside set(LIBS...) Could show us the error? And your CMakeList.txt

teundeplanque · 2018-01-09T09:02:14Z

I get the following error:

teun@teun-VirtualBox:~/ORB_SLAM2$ ./build_ros.sh
Building ROS nodes
mkdir: cannot create directory ‘build’: File exists
[rosbuild] Building package ORB_SLAM2
[rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost
-- Using CATKIN_DEVEL_PREFIX: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.8
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
[rosbuild] Including /opt/ros/kinetic/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/kinetic/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/kinetic/share/rospy/rosbuild/rospy.cmake
Build type: Release
-- Using flag -std=c++11.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build
[ 0%] Built target rospack_genmsg_libexe
[ 0%] Built target rosbuild_precompile
[ 11%] Linking CXX executable ../RGBD
[ 22%] Linking CXX executable ../Stereo
[ 44%] Built target Mono
[ 77%] Built target MonoAR
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:216: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:216: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

I added -lboost_system to CMakeList.txt like this:

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/lib/libORB_SLAM2.so
-lboost_system
)

This is my whole CMakeList.txt:

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/lib/libORB_SLAM2.so
-lboost_system
)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

And added this to the end of the ~/.bashrc file
source /opt/ros/kinetic/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/teun/ORB_SLAM2/Examples/ROS

AldrichCabrera · 2018-01-09T17:28:33Z

Ok. In your first CmakeList.txt remove -lboost_system:

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/lib/libORB_SLAM2.so
)

In your second CmakeList should put this flag in these parts:

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/lib
-lboost_system
)

Remove -lboost_system here:

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/lib/libORB_SLAM2.so
)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/RGB-D
-lboost_system
)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/Stereo
-lboost_system
)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/Monocular
-lboost_system)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

I hope it works.

teundeplanque · 2018-01-09T21:46:04Z

I added the -lboost_system flags but continue to get the same error after changing my CMakeLists.txt file.
This is the updated CMakeLists.txt file (-lboost_system in bold):

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/lib
-lboost_system
)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/lib/libORB_SLAM2.so
)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/RGB-D
-lboost_system
)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/Stereo
-lboost_system
)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/Monocular
-lboost_system
)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

AldrichCabrera · 2018-01-10T22:06:49Z

Ok, I got confused. Remove all the flags in that CMakeList. I see that this CMakeList is the principal, you should do the changes in the ROS CMakeList. I think that is here: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt

It should have this:

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

teundeplanque · 2018-01-11T09:57:02Z

It is working now. :) Thank you very much for the support! I really appreciate your help AldrichCabrera.

ujur007 · 2018-07-04T17:11:17Z

@AldrichCabrera thank you

LuoJie996 · 2018-08-02T02:13:02Z

@AldrichCabrera Thank you!

MarcusFutterlieb · 2018-08-02T15:36:00Z

@AldrichCabrera Thank you

leticiahelenasp · 2018-08-23T00:38:48Z

@AldrichCabrera Thank you

TengFeiHan0 · 2018-08-29T02:41:44Z

@AldrichCabrera I have followed your instructions, but it doesn't work for me.

cmdraghici · 2018-09-03T18:15:32Z

@AldrichCabrera Thank you!!

ShettyHarapanahalli · 2018-09-21T08:32:34Z

Thanks you !!

cobnst · 2018-10-28T14:11:49Z

@AldrichCabrera Thank you！

…15system_categoryEv' raulmur#494 (comment) Changes to be committed: modified: Examples/ROS/ORB_SLAM2/CMakeLists.txt new file: build_ros.sh

gnykumar · 2019-01-15T07:13:24Z

it's because the program can't find libboost_system.so and libboost_filesystem.so . Copy the two libs to ORB_SLAM2/lib , and then modify the CMakeLists.txt
     set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS} 
${Pangolin_LIBRARIES} 
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so 
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so 
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so 
++
${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so 
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so
and you can use locate boost_system boost_filesystem to find it

I Tried this but face some more error

make[2]: *** No rule to make target '../../../../lib/libboost_filesystem.so', needed by '../Mono'. Stop.
make[2]: *** No rule to make target '../../../../lib/libboost_filesystem.so', needed by '../Stereo'. Stop.
CMakeFiles/Makefile2:718: recipe for target 'CMakeFiles/Mono.dir/all' failed
make[1]: *** [CMakeFiles/Mono.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
make[2]: *** No rule to make target '../../../../lib/libboost_filesystem.so', needed by '../RGBD'. Stop.
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[2]: *** No rule to make target '../../../../lib/libboost_filesystem.so', needed by '../MonoAR'. Stop.
CMakeFiles/Makefile2:820: recipe for target 'CMakeFiles/MonoAR.dir/all' failed
make[1]: *** [CMakeFiles/MonoAR.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

But below resolved

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

positron96 · 2019-04-11T07:14:29Z

Just adding -lboost_system to set(LIBS... directive in Examples/ROS/ORB_SLAM2/CMakeLists.txt worked for me!

kimkt0408 · 2019-05-16T09:35:55Z

Ok, I got confused. Remove all the flags in that CMakeList. I see that this CMakeList is the principal, you should do the changes in the ROS CMakeList. I think that is here: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt

It should have this:

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

@AldrichCabrera Thank you！

Thank you!!

Gentser · 2019-05-25T11:17:37Z

@AldrichCabrera, thank you so much! That really solved my problem :) 👍

xkaneiki · 2019-07-06T05:08:21Z

think you very much! I have spent the whole day on this !

CHOUUUUUUUUU · 2019-07-16T09:23:40Z

thx @AldrichCabrera , it help me a lot !

lijinglin-star · 2020-02-12T05:34:28Z

thx @AldrichCabrera ,it is very useful!

sahiedu · 2020-03-26T16:42:50Z

Fixed! Thanks @AldrichCabrera.

gidobot · 2020-06-09T21:16:58Z

Just a note if you want to use the cmake module for boost to link the library, modifying the cmake file at Examples/ROS/ORB_SLAM2/CMakeList.txt as follows worked for me (modifications are in bold):

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Boost REQUIRED COMPONENTS system)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${Boost_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
)

hdd0723 · 2020-09-25T07:01:16Z

Ok, I got confused. Remove all the flags in that CMakeList. I see that this CMakeList is the principal, you should do the changes in the ROS CMakeList. I think that is here: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt

It should have this:

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

Great！

ramithuh · 2021-01-27T13:59:19Z

Ok, I got confused. Remove all the flags in that CMakeList. I see that this CMakeList is the principal, you should do the changes in the ROS CMakeList. I think that is here: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt

It should have this:

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

Thank You! 🔥❤️

IMHinnG · 2021-09-12T04:19:46Z

remember to add -lboost_system under line 59 set(.....) such as
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system #Pay attention here
)

AlanWu857 · 2021-11-30T07:31:46Z

change this file:

/home/xxx/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeLists.txt

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

rosbuild_init()

IF(NOT ROS_BUILD_TYPE)
SET(ROS_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${ROS_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")

Check C++11 or C++0x support

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)

find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

find_package(Boost COMPONENTS filesystem system REQUIRED)#加在其他find_package下面
set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${Boost_LIBRARIES} #加的是这句
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system #需要添加到这个地方,一开始添加到了上面的set(LIBS),结果一直报错
)

Node for monocular camera

rosbuild_add_executable(Mono
src/ros_mono.cc
)

target_link_libraries(Mono
${LIBS}
)

Node for monocular camera (Augmented Reality Demo)

rosbuild_add_executable(MonoAR
src/AR/ros_mono_ar.cc
src/AR/ViewerAR.h
src/AR/ViewerAR.cc
)

target_link_libraries(MonoAR
${LIBS}
)

Node for stereo camera

rosbuild_add_executable(Stereo
src/ros_stereo.cc
)

target_link_libraries(Stereo
${LIBS}
)

Node for RGB-D camera

rosbuild_add_executable(RGBD
src/ros_rgbd.cc
)

target_link_libraries(RGBD
${LIBS}
)

eraserpencil mentioned this issue Jan 3, 2018

Can't build nodes for mono, stereo, RGB-D #498

Open

hayaalsh mentioned this issue Sep 4, 2018

error while loading shared libraries: libboost_system.so.1.54.0: cannot open shared object file: No such file or directory abhineet123/ORB_SLAM2#7

Open

Shengshu-Liu mentioned this issue Jul 12, 2022

Failed to compile ORB-SLAM2 UBUNTU 18.04 Shengshu-Liu/ORB_SLAM2_sparse_map_saving#1

Closed

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Undefined reference to symbol '_ZN5boost6system15system_categoryEv' #494

Undefined reference to symbol '_ZN5boost6system15system_categoryEv' #494

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Undefined reference to symbol '_ZN5boost6system15system_categoryEv' #494

Undefined reference to symbol '_ZN5boost6system15system_categoryEv' #494

Comments

AldrichCabrera commented Dec 27, 2017

jingresume commented Dec 28, 2017

AldrichCabrera commented Dec 28, 2017

teundeplanque commented Jan 8, 2018

AldrichCabrera commented Jan 9, 2018

teundeplanque commented Jan 9, 2018 • edited

AldrichCabrera commented Jan 9, 2018

teundeplanque commented Jan 9, 2018 • edited

AldrichCabrera commented Jan 10, 2018

teundeplanque commented Jan 11, 2018

ujur007 commented Jul 4, 2018

LuoJie996 commented Aug 2, 2018

MarcusFutterlieb commented Aug 2, 2018

leticiahelenasp commented Aug 23, 2018

TengFeiHan0 commented Aug 29, 2018

cmdraghici commented Sep 3, 2018

ShettyHarapanahalli commented Sep 21, 2018

cobnst commented Oct 28, 2018

gnykumar commented Jan 15, 2019

positron96 commented Apr 11, 2019

kimkt0408 commented May 16, 2019

Gentser commented May 25, 2019

xkaneiki commented Jul 6, 2019

CHOUUUUUUUUU commented Jul 16, 2019

lijinglin-star commented Feb 12, 2020

sahiedu commented Mar 26, 2020

gidobot commented Jun 9, 2020

hdd0723 commented Sep 25, 2020

ramithuh commented Jan 27, 2021

IMHinnG commented Sep 12, 2021

AlanWu857 commented Nov 30, 2021

change this file:

/home/xxx/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeLists.txt

Check C++11 or C++0x support

Node for monocular camera

Node for monocular camera (Augmented Reality Demo)

Node for stereo camera

Node for RGB-D camera

teundeplanque commented Jan 9, 2018 •

edited

teundeplanque commented Jan 9, 2018 •

edited