How do I link c++ shared memory in ROS?

Asked 1 months ago, Updated 1 months ago, 354 views

I am currently working on developing a test program for ROS using melodic on Ubuntu 18.04, and I am still a beginner, but I am searching for Google.I'm trying to work with the GUI app in shared memory by obtaining (C++) a program that I can refer to from others and adding a shm_open() function to it.However, the following error appears in catkin_make.I assume that the target_link_libraries failed because I have included it.

[96%] Built target img_node
/usr/bin/ld:CMakeFiles/parking_control.dir/src/parking_control.cpp.o: Undefined reference to symbol '[email protected]@GLIBC_2.2.5'
//lib/x86_64-linux-gnu/ adding symbols:DSO missing from command line
collect2:error:ld returned1 exit status
carrier/carrier_parking/CMakeFiles/parking_control.dir/build.make:495:recipe for target'/home/texeng/catkin_ws/develop/lib/carrier_parking/parking_control'failed
make[2]:***[/home/texeng/catkin_ws/develop/lib/carrier_parking/parking_control] Error 1
CMakeFiles/Makefile2:6774: recipe for target'carrier/carrier_parking/CMakeFiles/parking_control.dir/all'failed
make[1]:***[carrier/carrier_parking/CMakeFiles/parking_control.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: ***[all] Error 2
Invoking "make-j8-l8" failed

Could you teach me how to link this shm_open()?
If you want to compile the original source code, you can compile it with "g++-o myshm mushm.cpp-lrt" and I don't know how to write this compilation option "-lrt" = RealtimeExtensions library in ROS CMakeLists.txt.I apologize for the inconvenience, but please let me know.

c++ linux cmake

2022-10-28 00:01

2 Answers

# Oira is an amateur cmake so I'm sorry if I'm wrong

According to, shm_open() should be in librt.a or, so


You can add rt to the end of target_link_libraries as shown in .

Huh? So, isn't add_library more handsome?(Not Tested)

2022-10-28 00:01

Thank you very much for teaching me.
It was solved by adding rt.
That's all.

2022-10-28 00:01

If you have any answers or tips

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