libusb_cam.so: undefined reference

[mistyk]

When i run catkin_make i've the following error, anyone have some advice for a newbie ? ;)

Thanks !

Log:

[100%] Linking CXX executable /home/jetson/catkin_ws/devel/lib/usb_cam/usb_cam_node
/usr/bin/ld: warning: libopencv_imgproc.so.3.2, needed by /home/jetson/catkin_ws/devel/lib/libusb_cam.so, may conflict with libopencv_imgproc.so.4.1
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_packet_from_data' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to sws_scale'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_frame_alloc' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to avcodec_close'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_frame_get_buffer' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_new_packet'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to avcodec_alloc_context3' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_log_set_level'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to avcodec_free_context' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_free'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to avcodec_open2' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to avcodec_send_packet'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to sws_getContext' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_image_get_buffer_size'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_parser_close' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_parser_init'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to avcodec_register_all' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to sws_freeContext'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to avcodec_receive_frame' /home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to av_image_copy_to_buffer'
/home/jetson/catkin_ws/devel/lib/libusb_cam.so: undefined reference to `avcodec_find_decoder'
collect2: error: ld returned 1 exit status
usb_cam/CMakeFiles/usb_cam_node.dir/build.make:144: recipe for target '/home/jetson/catkin_ws/devel/lib/usb_cam/usb_cam_node' failed
make[2]: *** [/home/jetson/catkin_ws/devel/lib/usb_cam/usb_cam_node] Error 1
CMakeFiles/Makefile2:4437: recipe for target 'usb_cam/CMakeFiles/usb_cam_node.dir/all' failed
make[1]: *** [usb_cam/CMakeFiles/usb_cam_node.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j2 -l2" failed

[chenkefeng030]

I reset to the 2020 version, and there is no problem.
hash code:3ce8ee1c47c03be37229bf5857ae9a309d8eb1e8

[twdragon]

@chenkefeng030 @mistyk you need to thoroughly check which version of FFMPEG/libavcodec you have. I see that some functions, av_packet_from_data, for example, are introduced in libavutil API from version 2.8 at least. It seems that your system is equipped with a very old version of libavcodec stack. Could you please send here the output of the command:

ffmpeg -version

Here is an output of APT on ffmpeg package from Ubuntu 22.04, so see the actual version here.

Package: ffmpeg
Version: 7:4.4.2-0ubuntu0.22.04.1
Priority: optional
Section: universe/video
Origin: Ubuntu
Maintainer: Ubuntu Developers <ubuntu-devel-discuss@lists.ubuntu.com>
Original-Maintainer: Debian Multimedia Maintainers <debian-multimedia@lists.debian.org>
Bugs: https://bugs.launchpad.net/ubuntu/+filebug
Installed-Size: 2.288 kB
Depends: libavcodec58 (= 7:4.4.2-0ubuntu0.22.04.1), libavdevice58 (= 7:4.4.2-0ubuntu0.22.04.1), libavfilter7 (= 7:4.4.2-0ubuntu0.22.04.1), libavformat58 (= 7:4.4.2-0ubuntu0.22.04.1), libavutil56 (= 7:4.4.2-0ubuntu0.22.04.1), libc6 (>= 2.35), libpostproc55 (= 7:4.4.2-0ubuntu0.22.04.1), libsdl2-2.0-0 (>= 2.0.12), libswresample3 (= 7:4.4.2-0ubuntu0.22.04.1), libswscale5 (= 7:4.4.2-0ubuntu0.22.04.1)
Suggests: ffmpeg-doc
Homepage: https://ffmpeg.org/
Task: ubuntustudio-video, ubuntustudio-audio, ubuntukylin-desktop, ubuntu-mate-desktop, ubuntu-budgie-desktop, ubuntu-budgie-desktop-raspi
Download-Size: 1.696 kB
APT-Sources: http://ftp.arnes.si/pub/mirrors/ubuntu jammy-updates/universe amd64 Packages

[mistyk]

@twdragon i'm on Jetson nano with bionic, this is my version with latest ffmpeg for bionic

ffmpeg version 3.4.11-0ubuntu0.1 Copyright (c) 2000-2022 the FFmpeg developers
built with gcc 7 (Ubuntu/Linaro 7.5.0-3ubuntu1~18.04)
configuration: --prefix=/usr --extra-version=0ubuntu0.1 --toolchain=hardened --libdir=/usr/lib/aarch64-linux-gnu --incdir=/usr/include/aarch64-linux-gnu --enable-gpl --disable-stripping --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librubberband --enable-librsvg --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libopencv --enable-libx264 --enable-shared
libavutil 55. 78.100 / 55. 78.100
libavcodec 57.107.100 / 57.107.100
libavformat 57. 83.100 / 57. 83.100
libavdevice 57. 10.100 / 57. 10.100
libavfilter 6.107.100 / 6.107.100
libavresample 3. 7. 0 / 3. 7. 0
libswscale 4. 8.100 / 4. 8.100
libswresample 2. 9.100 / 2. 9.100
libpostproc 54. 7.100 / 54. 7.100

[mistyk]

I reset to the 2020 version, and there is no problem. hash code:3ce8ee1c47c03be37229bf5857ae9a309d8eb1e8

I've don't found this release, have you got links ?
Thanks!

[chenkefeng030]

I reset to the 2020 version, and there is no problem. hash code:3ce8ee1c47c03be37229bf5857ae9a309d8eb1e8

I've don't found this release, have you got links ? Thanks!

Maybe this is not the best solution，you can enter the following command under your local repository:
git reset --hard 3ce8ee1.
I use jetson xavier nx and no problem.

[twdragon]

@mistyk @chenkefeng030 I investigated the issue, it is a misspelled name of libavcodec library in the linker list of CMakeLists.txt. I will fix it very soon!

[twdragon]

The issue reproduced for Melodic, investigation restarted.

[mistyk]

@twdragon keep me informed ! Thanks you

[twdragon]

@mistyk I examined libavcodec header files shipped with Ubuntu 18.04, 20.04 nd 22.04, so I will try to track and integrate the changes I discovered from there

[mistyk]

@twdragon Thanks you ! i'm waiting for you to update my ROS ;) keep me in touch !

[joker-wutong]

我也遇到了同样的问题：

[ 75%] Linking CXX executable /home/agilex/idrive_ws/devel/lib/usb_cam/usb_cam_node
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_packet_from_data'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `sws_scale'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_frame_alloc'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `avcodec_close'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_frame_get_buffer'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_new_packet'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `avcodec_alloc_context3'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_log_set_level'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `avcodec_free_context'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_free'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `avcodec_open2'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `avcodec_send_packet'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `sws_getContext'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_image_get_buffer_size'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_parser_close'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_parser_init'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `avcodec_register_all'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `sws_freeContext'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `avcodec_receive_frame'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `av_image_copy_to_buffer'
/home/agilex/idrive_ws/devel/lib/libusb_cam.so: undefined reference to `avcodec_find_decoder'

i'm on Jetson nano with melodic, this is my version with latest ffmpeg for bionic

ffmpeg version 3.4.11-0ubuntu0.1 Copyright (c) 2000-2022 the FFmpeg developers
built with gcc 7 (Ubuntu/Linaro 7.5.0-3ubuntu1~18.04)
configuration: --prefix=/usr --extra-version=0ubuntu0.1 --toolchain=hardened --libdir=/usr/lib/aarch64-linux-gnu --incdir=/usr/include/aarch64-linux-gnu --enable-gpl --disable-stripping --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librubberband --enable-librsvg --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libopencv --enable-libx264 --enable-shared
libavutil      55. 78.100 / 55. 78.100
libavcodec     57.107.100 / 57.107.100
libavformat    57. 83.100 / 57. 83.100
libavdevice    57. 10.100 / 57. 10.100
libavfilter     6.107.100 /  6.107.100
libavresample   3.  7.  0 /  3.  7.  0
libswscale      4.  8.100 /  4.  8.100
libswresample   2.  9.100 /  2.  9.100
libpostproc    54.  7.100 / 54.  7.100

怎么解决啊，各位全栈工程师们，技术大佬啊，求教！
help！！！