Build error when a static OpenIGTLink library is used.

[tokjun]

When the ROS-IGTL-Bridge is built with a static OpenIGTLink library, the following error occurs:

[ 37%] Linking CXX shared library /home/junichi/catkin_ws/devel/lib/libros_igtl_bridge_lib.so
/usr/bin/ld: /home/junichi/igtdev/igtl/OpenIGTLink-build/lib/libOpenIGTLink.a(igtlClientSocket.cxx.o): relocation R_X86_64_32 against `_ZTVN4igtl12ClientSocketE' can not be used when making a shared object; recompile with -fPIC
/home/junichi/igtdev/igtl/OpenIGTLink-build/lib/libOpenIGTLink.a: error adding symbols: Bad value
collect2: error: ld returned 1 exit status
ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/build.make:546: recipe for target '/home/junichi/catkin_ws/devel/lib/libros_igtl_bridge_lib.so' failed
make[2]: *** [/home/junichi/catkin_ws/devel/lib/libros_igtl_bridge_lib.so] Error 1
CMakeFiles/Makefile2:670: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/all' failed
make[1]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1 -l1" failed

[tokjun]

libOpenIGTLink.a seems to have PIC information. Since this error occurs when igtlClientSocket.cxx.o is being linked, it might come from some external library linked to OpenIGTLink.

[Matteo-0]

I got same error, how to solve it?

[tokjun]

You can avoid this error by building the OpenIGTLink library as a shared object. You need to turn the BUILD_SHARED_LIBS option ON when you configure the OpenIGTLink library with CMake. This instruction works for my environment.

[abhinavazad]

I am still getting the same error, even after following the instructions carefully.

[ 90%] Built target ros_igtl_bridge_generate_messages
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/ros_igtl_bridge.cpp: In member function ‘virtual void ROS_IGTL_Bridge::IGTLThread()’:
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/ros_igtl_bridge.cpp:245:87: error: no matching function for call to ‘igtl::Socket::Receive(void*, igtl_uint64)’
rs = this->socket->Receive(headerMsg->GetPackPointer(), headerMsg->GetPackSize());
^
In file included from /home/abhi/igtl/OpenIGTLink/Source/igtlServerSocket.h:35:0,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/include/ros_igtl_bridge.h:21,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/ros_igtl_bridge.cpp:16:
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate: igtlUint64 igtl::Socket::Receive(void*, igtlUint64, bool&, int)
igtlUint64 Receive(void* data, igtlUint64 length, bool& timeout, int readFully=1);
^~~~~~~
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate expects 4 arguments, 2 provided
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_point.cpp: In member function ‘virtual int RIBConverterPoint::onIGTLMessage(igtl::MessageHeader*)’:
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_point.cpp:46:78: error: no matching function for call to ‘igtl::Socket::Receive(void*, igtl_uint64)’
socket->Receive(pointMsg->GetPackBodyPointer(), pointMsg->GetPackBodySize());
^
In file included from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_base.h:20:0,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter.h:22,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_point.h:17,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_point.cpp:14:
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate: igtlUint64 igtl::Socket::Receive(void*, igtlUint64, bool&, int)
igtlUint64 Receive(void* data, igtlUint64 length, bool& timeout, int readFully=1);
^~~~~~~
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate expects 4 arguments, 2 provided
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_transform.cpp: In member function ‘virtual int RIBConverterTransform::onIGTLMessage(igtl::MessageHeader*)’:
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_transform.cpp:49:78: error: no matching function for call to ‘igtl::Socket::Receive(void*, igtl_uint64)’
socket->Receive(transMsg->GetPackBodyPointer(), transMsg->GetPackBodySize());
^
In file included from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_base.h:20:0,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter.h:22,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_transform.h:17,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_transform.cpp:14:
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate: igtlUint64 igtl::Socket::Receive(void*, igtlUint64, bool&, int)
igtlUint64 Receive(void* data, igtlUint64 length, bool& timeout, int readFully=1);
^~~~~~~
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate expects 4 arguments, 2 provided
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_image.cpp: In member function ‘virtual int RIBConverterImage::onIGTLMessage(igtl::MessageHeader*)’:
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_image.cpp:47:74: error: no matching function for call to ‘igtl::Socket::Receive(void*, igtl_uint64)’
socket->Receive(imgMsg->GetPackBodyPointer(), imgMsg->GetPackBodySize());
^
In file included from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_base.h:20:0,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter.h:22,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_image.h:17,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_image.cpp:14:
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate: igtlUint64 igtl::Socket::Receive(void*, igtlUint64, bool&, int)
igtlUint64 Receive(void* data, igtlUint64 length, bool& timeout, int readFully=1);
^~~~~~~
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate expects 4 arguments, 2 provided
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_string.cpp: In member function ‘virtual int RIBConverterString::onIGTLMessage(igtl::MessageHeader*)’:
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_string.cpp:49:80: error: no matching function for call to ‘igtl::Socket::Receive(void*, igtl_uint64)’
socket->Receive(stringMsg->GetPackBodyPointer(), stringMsg->GetPackBodySize());
^
In file included from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_base.h:20:0,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter.h:22,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_string.h:17,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_string.cpp:14:
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate: igtlUint64 igtl::Socket::Receive(void*, igtlUint64, bool&, int)
igtlUint64 Receive(void* data, igtlUint64 length, bool& timeout, int readFully=1);
^~~~~~~
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate expects 4 arguments, 2 provided
ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/build.make:254: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/ros_igtl_bridge.cpp.o' failed
make[2]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/ros_igtl_bridge.cpp.o] Error 1
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_polydata.cpp: In member function ‘virtual int RIBConverterPolyData::onIGTLMessage(igtl::MessageHeader*)’:
/home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_polydata.cpp:62:84: error: no matching function for call to ‘igtl::Socket::Receive(void*, igtl_uint64)’
socket->Receive(polyDataMsg->GetPackBodyPointer(), polyDataMsg->GetPackBodySize());
^
In file included from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_base.h:20:0,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter.h:22,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_polydata.h:17,
from /home/abhi/catkin_ws_igtl/src/ROS-IGTL-Bridge/src/rib_converter_polydata.cpp:14:
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate: igtlUint64 igtl::Socket::Receive(void*, igtlUint64, bool&, int)
igtlUint64 Receive(void* data, igtlUint64 length, bool& timeout, int readFully=1);
^~~~~~~
/home/abhi/igtl/OpenIGTLink/Source/igtlSocket.h:92:14: note: candidate expects 4 arguments, 2 provided
ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/build.make:230: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_transform.cpp.o' failed
make[2]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_transform.cpp.o] Error 1
ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/build.make:110: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_image.cpp.o' failed
make[2]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_image.cpp.o] Error 1
ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/build.make:158: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_point.cpp.o' failed
make[2]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_point.cpp.o] Error 1
ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/build.make:206: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_string.cpp.o' failed
make[2]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_string.cpp.o] Error 1
ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/build.make:182: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_polydata.cpp.o' failed
make[2]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_polydata.cpp.o] Error 1
CMakeFiles/Makefile2:553: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/all' failed
make[1]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:479: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_test.dir/all' failed
make[1]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_test.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

[tokjun]

@abhiazadz - This is probably related to the following change in the socket API of the OpenIGTLink library.

openigtlink/OpenIGTLink@b463c7f#diff-0e570ca6fabe24f94e52c1833f3ffd25567022beb826fa16891f3322051bc221

I think we need to update ROS-IGTL-Bridge. I'll let you now once it is fixed.

[tokjun]

I fixed the code to make it work with the latest OpenIGTLink library. @abhiazadz let us know if you still see the same errors.

[abhinavazad]

Thanks for your quick response @tokjun. I tried it again from scratch and got a similar error but the error message is much shorter.

[ 98%] Building CXX object ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/rib_converter_transform.cpp.o
[ 98%] Building CXX object ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/src/ros_igtl_bridge.cpp.o
[ 98%] Built target ros_igtl_bridge_generate_messages_py
Scanning dependencies of target ros_igtl_bridge_generate_messages
[ 98%] Built target ros_igtl_bridge_generate_messages
CMakeFiles/Makefile2:8086: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/all' failed
make[1]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_lib.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:8049: recipe for target 'ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_test.dir/all' failed
make[1]: *** [ROS-IGTL-Bridge/CMakeFiles/ros_igtl_bridge_test.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

[abhinavazad]

I fixed the code to make it work with the latest OpenIGTLink library. @abhiazadz let us know if you still see the same errors.

Can you please help with the upcoming error?

[tokjun]

Sorry for my delayed response. I'm not 100% sure, but I would try without -j and -l options.