ROS Lunar中使用libusb的旧C++程序编译报错问题咨询

Hey there! Let’s work through this problem step by step—running an old C++ joystick program in ROS Lunar that relies on libusb can be tricky, but we’ll get it sorted.

1. Fix the Header Include Path #

First off, your original include line #include "libusb/libusb.h" is likely the culprit here. On most systems (including Ubuntu Xenial, which ROS Lunar targets), the libusb-1.0 development headers live in /usr/include/libusb-1.0/.

So you’ll need to update your include to:

#include <libusb-1.0/libusb.h>

To double-check where your system stores the header, run this command in the terminal:

find /usr/include -name "libusb.h"

This should return something like /usr/include/libusb-1.0/libusb.h, confirming the correct path.

2. Correct Your CMakeLists.txt Configuration #

Since you mentioned your CMakeLists is causing compilation errors, here’s a standard, ROS-compatible setup to link libusb properly. Replace or update your existing config with this:

cmake_minimum_required(VERSION 2.8.3)
project(your_package_name)

# Use pkg-config to locate libusb-1.0
find_package(PkgConfig REQUIRED)
pkg_check_modules(LIBUSB REQUIRED libusb-1.0)

# ROS dependencies (adjust based on your package's needs)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  # add other ROS packages you depend on here
)

# Include directories for ROS and libusb
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${LIBUSB_INCLUDE_DIRS}
)

# Build your executable
add_executable(joystick_node src/your_program.cpp)

# Link against ROS libraries and libusb
target_link_libraries(joystick_node
  ${catkin_LIBRARIES}
  ${LIBUSB_LIBRARIES}
)

What each part does: #

• pkg_check_modules(LIBUSB REQUIRED libusb-1.0): This finds the libusb-1.0 library and its header paths using the system’s pkg-config files.
• ${LIBUSB_INCLUDE_DIRS}: Adds the libusb header directory to your include path, so the compiler can find the corrected header.
• ${LIBUSB_LIBRARIES}: Links your executable against the libusb shared library.

3. Install Missing Dependencies #

Make sure you have the libusb-1.0 development package installed on your system. Run this command:

sudo apt-get update && sudo apt-get install libusb-1.0-0-dev

ROS Lunar runs on Ubuntu 16.04 (Xenial), so this package is available in the default repos.

4. Handle USB Device Permissions (Critical for Runtime) #

Even if you compile successfully, you might hit permission issues when trying to read the joystick via USB. To avoid running your ROS node with sudo, create a udev rule:

1. Create a new rule file:

   sudo nano /etc/udev/rules.d/99-joystick-usb.rules
   

2. Add this line (replace xxxx and yyyy with your joystick’s vendor and product ID—find these with lsusb):

   SUBSYSTEM=="usb", ATTRS{idVendor}=="xxxx", ATTRS{idProduct}=="yyyy", MODE="0666"
   

3. Reload udev rules to apply changes:

   sudo udevadm control --reload-rules && sudo udevadm trigger
   

5. Debugging Tips #

If you still get compilation errors, share the exact error message (e.g., "header not found" or "undefined reference to libusb function")—that’ll help narrow things down. Common issues include:

• Forgetting to add ${LIBUSB_INCLUDE_DIRS} to include_directories
• Missing ${LIBUSB_LIBRARIES} in target_link_libraries
• Typing errors in the package name or file paths

内容的提问来源于stack exchange，提问作者G-Pereira