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“CMake 错误：CMake 无法确定目标的链接器语言” 当我 catkin_make ROS 工作空间时出现错误

     2023-02-17     65

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【中文标题】“CMake 错误：CMake 无法确定目标的链接器语言” 当我 catkin_make ROS 工作空间时出现错误【英文标题】："CMake Error: CMake can not determine linker language for target" The errors appeared when I catkin_make a ROS working space 【发布时间】：2021-04-15 12:20:49 【问题描述】：

当我 catkin_make 我的 ROS 工作空间时，它总是被错误完成：

CMake Error: CMake can not determine linker language for target: XX
CMake Error: Cannot determine link language for target "XX".

根据XX的信息，我发现错误可能位于其中一个ROS包中。包中有一个 CMakeList.txt 和一个 package.xml。 但我并不确切知道导致错误的原因，直到现在我还没有解决这个问题。下面我展示了这两个文件的确切代码。

CMakeList.txt

cmake_minimum_required(VERSION 3.0.2)
project(omnicopter_controller)

add_definitions(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs 
  mav_msgs 
  nav_msgs 
  sensor_msgs 
  cmake_modules 
  roscpp 
  rospy 
  std_msgs
)

find_package(Eigen3 REQUIRED)

catkin_package(
  INCLUDE_DIRS include $Eigen3_INCLUDE_DIRS
  LIBRARIES omnicopter_controller
  CATKIN_DEPENDS geometry_msgs mav_msgs nav_msgs roscpp sensor_msgs
  DEPENDS Eigen3
)

include_directories(
  include 
  $catkin_INCLUDE_DIRS
  $Eigen3_INCLUDE_DIRS
)

add_executable(omnicopter_position_controller_pub
  src/omnicopter_position_controller_pub.cpp
)
add_dependencies(omnicopter_position_controller_pub $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_position_controller_pub
  $catkin_LIBRARIES
)

add_executable(omnicopter_position_controller_sub
  src/omnicopter_position_controller_sub.cpp
)
add_dependencies(omnicopter_position_controller_sub $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_position_controller_sub
  $catkin_LIBRARIES
)

add_executable(omnicopter_attitude_controller_pub
  src/omnicopter_attitude_controller_pub.cpp
)
add_dependencies(omnicopter_attitude_controller_pub $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_attitude_controller_pub
  $catkin_LIBRARIES
)

add_executable(omnicopter_attitude_controller_sub
  src/omnicopter_attitude_controller_sub.cpp
)
add_dependencies(omnicopter_attitude_controller_sub $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_attitude_controller_sub
  $catkin_LIBRARIES
)

add_executable(omnicopter_body_angular_velocity_controller_pub
  src/omnicopter_body_angular_velocity_controller_pub.cpp
)
add_dependencies(omnicopter_body_angular_velocity_controller_pub $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_body_angular_velocity_controller_pub
  $catkin_LIBRARIES
)

add_executable(omnicopter_body_angular_velocity_controller_sub
  src/omnicopter_body_angular_velocity_controller_sub.cpp
)
add_dependencies(omnicopter_body_angular_velocity_controller_sub $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_body_angular_velocity_controller_sub
  $catkin_LIBRARIES
)

add_executable(omnicopter_control_allocator_pub
  src/omnicopter_control_allocator_pub.cpp
)
add_dependencies(omnicopter_control_allocator_pub $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_control_allocator_pub
  $catkin_LIBRARIES
)

add_executable(omnicopter_control_allocator_sub
  src/omnicopter_control_allocator_sub.cpp
)
add_dependencies(omnicopter_control_allocator_sub $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_control_allocator_sub
  $catkin_LIBRARIES
)

add_library(omnicopter_position_controller
  include/omnicopter_controller/omnicopter_position_controller.h
)
add_dependencies(omnicopter_position_controller $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_position_controller
  $catkin_LIBRARIES
)

add_library(omnicopter_attitude_controller
  include/omnicopter_controller/omnicopter_attitude_controller.h
)
add_dependencies(omnicopter_attitude_controller $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_attitude_controller
  $catkin_LIBRARIES
)

add_library(omnicopter_body_angular_velocity_controller
  include/omnicopter_controller/omnicopter_body_angular_velocity_controller.h
)
add_dependencies(omnicopter_body_angular_velocity_controller $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_body_angular_velocity_controller
  $catkin_LIBRARIES
)

add_library(omnicopter_control_allocator
  include/omnicopter_controller/omnicopter_control_allocator.h
)
add_dependencies(omnicopter_control_allocator $$PROJECT_NAME_EXPORTED_TARGETS $catkin_EXPORTED_TARGETS)
target_link_libraries(omnicopter_control_allocator
  $catkin_LIBRARIES
)

package.xml

<?xml version="1.0"?>
<package format="2">
  <name>omnicopter_controller</name>
  <version>0.0.0</version>
  <description>The omnicopter_controller package</description>

  <maintainer email="hdl@todo.todo">hdl</maintainer>  

  <author>Dingliang Huang</author>

  <license>TODO</license> 
  
  <buildtool_depend>catkin</buildtool_depend> 


  <depend>rospy</depend>
  <depend>std_msgs</depend>
  <depend>cmake_modules</depend>
  <depend>dynamic_reconfigure</depend>
  <depend>geometry_msgs</depend>
  <depend>mav_msgs</depend>
  <depend>nav_msgs</depend>
  <depend>roscpp</depend>
  <depend>sensor_msgs</depend>

</package>

下面我显示了确切的错误。

错误：

CMake Error: CMake can not determine linker language for target: omnicopter_position_controller
CMake Error: Cannot determine link language for target "omnicopter_position_controller".
CMake Error: CMake can not determine linker language for target: omnicopter_attitude_controller
CMake Error: Cannot determine link language for target "omnicopter_attitude_controller".
CMake Error: CMake can not determine linker language for target: omnicopter_control_allocator
CMake Error: Cannot determine link language for target "omnicopter_control_allocator".
CMake Error: CMake can not determine linker language for target: omnicopter_body_angular_velocity_controller
CMake Error: Cannot determine link language for target "omnicopter_body_angular_velocity_controller".

我希望有人可以帮助我解决这些错误。我会很感激的。

【问题讨论】：

你为什么要制作没有源文件的库？ 感谢 cmets。我已经解决了这些问题。这些错误是由于在每个 add_library() 之后缺少 set_target_properties(XX PROPERTIES LINKER_LANGUAGE C++) 造成的 【参考方案1】：

我已经解决了这些问题。这些错误是由于在每个 add_library() 之后缺少 set_target_properties(XX PROPERTIES LINKER_LANGUAGE C++) 造成的。

【讨论】：