Cmake: undefined reference to `rclcpp::Node::Node(std::string const&, rclcpp::NodeOptions const&)'

Question

I'm working on a ROS2 Humble project. As always, I created the ament_cmake package, wrote a C++ node with Torch Scripts, and made Cmake - but I got this error: undefined reference to `rclcpp::Node::Node(std::string const&, rclcpp::NodeOptions const&)'. As far as I understand, it's all about the linker - for some reason it doesn't see the ROS methods. I've tried a lot, but I still don't fully understand what the problem is. Colcon build throws an error every time it is run. Here is my Cmake file:

cmake_minimum_required(VERSION 3.10)
project(tinker_publisher_udp)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# Find ROS 2 packages
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

find_package(CUDAToolkit REQUIRED)
include_directories(${CUDAToolkit_INCLUDE_DIRS})

set(Torch_DIR "/home/user1/libtorch/libtorch/share/cmake/Torch")
list(APPEND CMAKE_PREFIX_PATH "${libtorch_path}")
find_package(Torch REQUIRED)

add_executable(tinker_publisher_udp src/tinker_publisher_udp.cpp)

ament_target_dependencies(tinker_publisher_udp
    rclcpp
    
)

include_directories(
    ${Torch_INCLUDE_DIRS}
)

target_link_libraries(tinker_publisher_udp
    "${TORCH_LIBRARIES}"
    rclcpp::rclcpp  # Ensure this line is present
)

install(TARGETS tinker_publisher_udp
    DESTINATION lib/${PROJECT_NAME}
)

find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

user1@desktop:~/my_test/LocomotionWithNP3O-masteroldx/ros2$ colcon build --packages-select tinker_publisher_udp
[0.312s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/user1/my_test/LocomotionWithNP3O-masteroldx/ros2/install/tinker_mujoco_sim' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.312s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/user1/my_test/LocomotionWithNP3O-masteroldx/ros2/install/test' in the environment variable AMENT_PREFIX_PATH doesn't exist
[0.313s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/user1/my_test/LocomotionWithNP3O-masteroldx/ros2/install/test' in the environment variable CMAKE_PREFIX_PATH doesn't exist
Starting >>> tinker_publisher_udp
--- stderr: tinker_publisher_udp                                
CMake Warning at /home/user1/libtorch/libtorch/share/cmake/Caffe2/public/cuda.cmake:140 (message):
  Failed to compute shorthash for libnvrtc.so
Call Stack (most recent call first):
  /home/user1/libtorch/libtorch/share/cmake/Caffe2/Caffe2Config.cmake:86 (include)
  /home/user1/libtorch/libtorch/share/cmake/Torch/TorchConfig.cmake:68 (find_package)
  CMakeLists.txt:17 (find_package)


CMake Warning (dev) at /usr/local/cmake-3.31.7/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:441 (message):
  The package name passed to `find_package_handle_standard_args` (nvtx3) does
  not match the name of the calling package (Caffe2).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /home/user1/libtorch/libtorch/share/cmake/Caffe2/public/cuda.cmake:178 (find_package_handle_standard_args)
  /home/user1/libtorch/libtorch/share/cmake/Caffe2/Caffe2Config.cmake:86 (include)
  /home/user1/libtorch/libtorch/share/cmake/Torch/TorchConfig.cmake:68 (find_package)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning at /home/user1/libtorch/libtorch/share/cmake/Caffe2/public/cuda.cmake:184 (message):
  Cannot find NVTX3, find old NVTX instead
Call Stack (most recent call first):
  /home/user1/libtorch/libtorch/share/cmake/Caffe2/Caffe2Config.cmake:86 (include)
  /home/user1/libtorch/libtorch/share/cmake/Torch/TorchConfig.cmake:68 (find_package)
  CMakeLists.txt:17 (find_package)


/usr/bin/ld: CMakeFiles/tinker_publisher_udp.dir/src/tinker_publisher_udp.cpp.o: in function `main':
tinker_publisher_udp.cpp:(.text+0x360): undefined reference to `rclcpp::shutdown(std::shared_ptr<rclcpp::Context>, std::string const&)'
/usr/bin/ld: CMakeFiles/tinker_publisher_udp.dir/src/tinker_publisher_udp.cpp.o: in function `rclcpp::ParameterTypeException::ParameterTypeException(rclcpp::ParameterType, rclcpp::ParameterType)':
tinker_publisher_udp.cpp:(.text._ZN6rclcpp22ParameterTypeExceptionC2ENS_13ParameterTypeES1_[_ZN6rclcpp22ParameterTypeExceptionC5ENS_13ParameterTypeES1_]+0x3e): undefined reference to `rclcpp::to_string(rclcpp::ParameterType)'
/usr/bin/ld: tinker_publisher_udp.cpp:(.text._ZN6rclcpp22ParameterTypeExceptionC2ENS_13ParameterTypeES1_[_ZN6rclcpp22ParameterTypeExceptionC5ENS_13ParameterTypeES1_]+0x50): undefined reference to `rclcpp::to_string(rclcpp::ParameterType)'
/usr/bin/ld: CMakeFiles/tinker_publisher_udp.dir/src/tinker_publisher_udp.cpp.o: in function `auto rclcpp::Node::declare_parameter<std::string>(std::string const&, std::string const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, bool)':
tinker_publisher_udp.cpp:(.text._ZN6rclcpp4Node17declare_parameterISsEEDaRKSsRKT_RKN14rcl_interfaces3msg20ParameterDescriptor_ISaIvEEEb[_ZN6rclcpp4Node17declare_parameterISsEEDaRKSsRKT_RKN14rcl_interfaces3msg20ParameterDescriptor_ISaIvEEEb]+0x69): undefined reference to `rclcpp::ParameterValue::ParameterValue(std::string const&)'
/usr/bin/ld: tinker_publisher_udp.cpp:(.text._ZN6rclcpp4Node17declare_parameterISsEEDaRKSsRKT_RKN14rcl_interfaces3msg20ParameterDescriptor_ISaIvEEEb[_ZN6rclcpp4Node17declare_parameterISsEEDaRKSsRKT_RKN14rcl_interfaces3msg20ParameterDescriptor_ISaIvEEEb]+0x90): undefined reference to `rclcpp::Node::declare_parameter(std::string const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, bool)'
/usr/bin/ld: CMakeFiles/tinker_publisher_udp.dir/src/tinker_publisher_udp.cpp.o: in function `auto rclcpp::Node::declare_parameter<int>(std::string const&, int const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, bool)':
tinker_publisher_udp.cpp:(.text._ZN6rclcpp4Node17declare_parameterIiEEDaRKSsRKT_RKN14rcl_interfaces3msg20ParameterDescriptor_ISaIvEEEb[_ZN6rclcpp4Node17declare_parameterIiEEDaRKSsRKT_RKN14rcl_interfaces3msg20ParameterDescriptor_ISaIvEEEb]+0x8a): undefined reference to `rclcpp::Node::declare_parameter(std::string const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, bool)'
/usr/bin/ld: CMakeFiles/tinker_publisher_udp.dir/src/tinker_publisher_udp.cpp.o: in function `RL_Tinymal_UDP::RL_Tinymal_UDP()':
tinker_publisher_udp.cpp:(.text._ZN14RL_Tinymal_UDPC2Ev[_ZN14RL_Tinymal_UDPC5Ev]+0xb7): undefined reference to `rclcpp::Node::Node(std::string const&, rclcpp::NodeOptions const&)'
/usr/bin/ld: tinker_publisher_udp.cpp:(.text._ZN14RL_Tinymal_UDPC2Ev[_ZN14RL_Tinymal_UDPC5Ev]+0x6a1): undefined reference to `rclcpp::Node::get_parameter(std::string const&) const'
/usr/bin/ld: tinker_publisher_udp.cpp:(.text._ZN14RL_Tinymal_UDPC2Ev[_ZN14RL_Tinymal_UDPC5Ev]+0x6b0): undefined reference to `rclcpp::Parameter::as_string() const'
/usr/bin/ld: tinker_publisher_udp.cpp:(.text._ZN14RL_Tinymal_UDPC2Ev[_ZN14RL_Tinymal_UDPC5Ev]+0x747): undefined reference to `rclcpp::Node::get_parameter(std::string const&) const'
/usr/bin/ld: tinker_publisher_udp.cpp:(.text._ZN14RL_Tinymal_UDPC2Ev[_ZN14RL_Tinymal_UDPC5Ev]+0x7e1): undefined reference to `rclcpp::Node::get_parameter(std::string const&) const'
/usr/bin/ld: tinker_publisher_udp.cpp:(.text._ZN14RL_Tinymal_UDPC2Ev[_ZN14RL_Tinymal_UDPC5Ev]+0x7f0): undefined reference to `rclcpp::Parameter::as_string() const'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/tinker_publisher_udp.dir/build.make:164: tinker_publisher_udp] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:153: CMakeFiles/tinker_publisher_udp.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< tinker_publisher_udp [25.1s, exited with code 2]

I tried to change Cmake, but it seemed to have no effect.

I also noticed one interesting feature that if you remove work with ROS2 or work with Torch from the node code and try colcon build again, everything will be copied.

What specifically distinguishes your question from the canonical question What is an undefined reference/unresolved external symbol error and how do I fix it? — JaMiT
– JaMiT, Commented Apr 19 at 21:39
So, I finally solved the problem of TorchLib and ROS 2. The problem was the incompatibility of the ABI Pre-cx11 version of LibTorch and Ros 2. robotics.stackexchange.com/questions/95875/… Download the cx11 ABI, not the Prec x 11 version of LibTorch, and then Cmake can do its job. Here is another link that can be useful to those who have the same error. stackoverflow.com/questions/61438764/… — RevoLutioNs
– RevoLutioNs, Commented Apr 22 at 1:05

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Cmake: undefined reference to `rclcpp::Node::Node(std::string const&, rclcpp::NodeOptions const&)'

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