Linker Error. fastrtps 2.13.1 expects libfastcdr.so.1 as a dependency

[bshantam97]

Is there an already existing issue for this?

• I have searched the existing issues

Expected behavior

The expected behaviour should be that all the cdr functions should be available to fastrtps and there should be no linker error.

Current behavior

The current behaviour gives the following error
/usr/bin/ld: warning: libfastcdr.so.1, needed by /usr/local/lib/libfastrtps.so.2.13.1, not found (try using -rpath or -rpath-link)
/usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::deserializeArray(int*, unsigned long)' /usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::deserializeArray(char*, unsigned long)'
/usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::deserializeArray(short*, unsigned long)' /usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::setState(eprosima::fastcdr::Cdr::state&)'
/usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::serializeArray(int const*, unsigned long)' /usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::Cdr(eprosima::fastcdr::FastBuffer&, eprosima::fastcdr::Cdr::Endianness, eprosima::fastcdr::Cdr::CdrType)'
/usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::readWString[abi:cxx11](unsigned int&)' /usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::readString(unsigned int&)'
/usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::serializeArray(char const*, unsigned long)' /usr/bin/ld: /usr/local/lib/libfastrtps.so.2.13.1: undefined reference to eprosima::fastcdr::Cdr::serializeArray(short const*, unsigned long)'

Steps to reproduce

For fastdds
git clone --recursive https://github.com/eProsima/Fast-DDS.git
git checkout v2.13.1

For fastCDR
git clone --recursive https://github.com/eProsima/Fast-CDR.git
git checkout v2.1.3

Build both these libraries and then write a custom publisher and subscriber to run fastDDS.

Fast DDS version/commit

FastDDS: v2.13.1
FastCDR: v2.1.3

Platform/Architecture

Other. Please specify in Additional context section.

Transport layer

Default configuration, UDPv4 & SHM

Additional context

No response

XML configuration file

No response

Relevant log output

No response

Network traffic capture

No response

[Mario-DL]

Hi @bshantam97

Thanks for using Fast DDS. I could not reproduce the issue since it is most likely related with the build configuration of your application. If you are using cmake ensure that you are correctly linking against fastrtps, fastcdr and foonathan_memory with target_link_libraries() apart from having asio and tinyxml2 in your system.

In addition, ensure that the types are regenerated with the latest version of Fast DDS Gen

I am moving this to the proper support forum.

[bshantam97]

@Mario-DL Thank you for your response. I was able to solve this issue by setting the -Dfastcdr_DIR and -Dfoonathan_memory_DIR paths while configuring cmake. The full command I used was cmake ../ -Dfastcdr_DIR=path/to/fastcdr cmake configs -Dfastcdr_DIR=/path/to/foonathan_memory/cmake configs.
I had ROS2 installed so by default fastDDS was taking the default fastCDR installation in ROS2.
What I am thinking is that since fastDDS is backward compatible with fastCDR V1 since v2.12.1 the linker error technically should not have happened.