build ar_tag_based_localizer failed: undefined reference to `aruco::CameraParameters::operator=(aruco::CameraParameters const&)'

[hliu869]

when I build the project with command colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release，I got the error:
src/universe/autoware.universe/localization/ar_tag_based_localizer/include/ar_tag_based_localizer/utils.hpp:50:10: fatal error: aruco/aruco.h: No such file or directory 50 | #include <aruco/aruco.h> | ^~~~~~~~~~~~~~~
then I install the aruco with command rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO, and build again, but got error:

Starting >>> traffic_light_multi_camera_fusion
Starting >>> traffic_light_visualization
Finished <<< nebula_tests [1.57s]
--- stderr: ar_tag_based_localizer
/usr/bin/ld: CMakeFiles/ar_tag_based_localizer.dir/src/ar_tag_based_localizer_core.cpp.o: in function `ArTagBasedLocalizer::cam_info_callback(sensor_msgs::msg::CameraInfo_<std::allocator<void> > const&)':
ar_tag_based_localizer_core.cpp:(.text+0x47e): undefined reference to `aruco::CameraParameters::operator=(aruco::CameraParameters const&)'
/usr/bin/ld: CMakeFiles/ar_tag_based_localizer.dir/src/ar_tag_based_localizer_core.cpp.o: in function `ArTagBasedLocalizer::ArTagBasedLocalizer()':
ar_tag_based_localizer_core.cpp:(.text+0x8b9): undefined reference to `aruco::MarkerDetector::MarkerDetector()'
/usr/bin/ld: ar_tag_based_localizer_core.cpp:(.text+0x8c5): undefined reference to `aruco::CameraParameters::CameraParameters()'
/usr/bin/ld: CMakeFiles/ar_tag_based_localizer.dir/src/ar_tag_based_localizer_core.cpp.o: in function `ArTagBasedLocalizer::image_callback(std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)':
ar_tag_based_localizer_core.cpp:(.text+0x4def): undefined reference to `aruco::CameraParameters::CameraParameters(aruco::CameraParameters const&)'
/usr/bin/ld: ar_tag_based_localizer_core.cpp:(.text+0x4e14): undefined reference to `aruco::MarkerDetector::detect(cv::Mat const&, std::vector<aruco::Marker, std::allocator<aruco::Marker> >&, aruco::CameraParameters, float, bool, bool)'
/usr/bin/ld: ar_tag_based_localizer_core.cpp:(.text+0x5667): undefined reference to `aruco::Marker::draw(cv::Mat&, cv::Scalar_<double>, int, bool, bool) const'
/usr/bin/ld: ar_tag_based_localizer_core.cpp:(.text+0x574a): undefined reference to `aruco::CvDrawingUtils::draw3dAxis(cv::Mat&, aruco::Marker&, aruco::CameraParameters const&, int)'
/usr/bin/ld: CMakeFiles/ar_tag_based_localizer.dir/src/ar_tag_based_localizer_core.cpp.o: in function `ArTagBasedLocalizer::setup()':
ar_tag_based_localizer_core.cpp:(.text+0x6cf2): undefined reference to `aruco::MarkerDetector::setDetectionMode(aruco::DetectionMode, float)'
/usr/bin/ld: ar_tag_based_localizer_core.cpp:(.text+0x6ecf): undefined reference to `aruco::MarkerDetector::getParameters()'
/usr/bin/ld: ar_tag_based_localizer_core.cpp:(.text+0x8162): undefined reference to `aruco::MarkerDetector::setDetectionMode(aruco::DetectionMode, float)'
/usr/bin/ld: ar_tag_based_localizer_core.cpp:(.text+0x842b): undefined reference to `aruco::MarkerDetector::setDetectionMode(aruco::DetectionMode, float)'
/usr/bin/ld: CMakeFiles/ar_tag_based_localizer.dir/src/ar_tag_based_localizer_core.cpp.o: in function `ArTagBasedLocalizer::ArTagBasedLocalizer() [clone .cold]':
ar_tag_based_localizer_core.cpp:(.text.unlikely+0x21a): undefined reference to `aruco::MarkerDetector::~MarkerDetector()'
/usr/bin/ld: CMakeFiles/ar_tag_based_localizer.dir/src/ar_tag_based_localizer_core.cpp.o: in function `ArTagBasedLocalizer::~ArTagBasedLocalizer()':
ar_tag_based_localizer_core.cpp:(.text._ZN19ArTagBasedLocalizerD2Ev[_ZN19ArTagBasedLocalizerD5Ev]+0x4a): undefined reference to `aruco::MarkerDetector::~MarkerDetector()'
/usr/bin/ld: CMakeFiles/ar_tag_based_localizer.dir/src/ar_tag_based_localizer_core.cpp.o: in function `ArTagBasedLocalizer::~ArTagBasedLocalizer()':
ar_tag_based_localizer_core.cpp:(.text._ZN19ArTagBasedLocalizerD0Ev[_ZN19ArTagBasedLocalizerD5Ev]+0x4a): undefined reference to `aruco::MarkerDetector::~MarkerDetector()'
/usr/bin/ld: CMakeFiles/ar_tag_based_localizer.dir/src/utils.cpp.o: in function `ros_camera_info_to_aruco_cam_params(sensor_msgs::msg::CameraInfo_<std::allocator<void> > const&, bool)':
utils.cpp:(.text+0x61f): undefined reference to `aruco::CameraParameters::CameraParameters(cv::Mat, cv::Mat, cv::Size_<int>)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/ar_tag_based_localizer.dir/build.make:482: ar_tag_based_localizer] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/ar_tag_based_localizer.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ar_tag_based_localizer [1.13s, exited with code 2]
Aborted  <<< traffic_light_arbiter [1.01s]

how can I fix the problem? please help me , thank you very much!

[SakodaShintaro]

Thank you for your report.

ar_tag_based_localizer depends on the aruco library.

Run the following in the autoware directory and it should install.

rosdep update
source /opt/ros/humble/setup.bash
rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

After that,

rm -r build/ar_tag_based_localizer install/ar_tag_based_localizer

and then try to build again.

I hope this works out for you.

[SakodaShintaro]

Sorry, I overlooked that you had already run the following command

rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

However, it is important to then execute the following

rm -r build/ar_tag_based_localizer install/ar_tag_based_localizer

Thank you for your time and confirmation.

[hliu869]

Wow, it works, thank you so much.