Undefined reference to rcl_logging functions #476
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 18.04
- Installation type:
- source
- Version or commit hash:
- master
- Client library (if applicable):
- rclcpp
Steps to reproduce issue
#include "rclcpp/rclcpp.hpp"
#include "rcl/logging_rosout.h"
#include <rcl/logging.h>
using namespace std::chrono_literals;
class LoggerNode : public rclcpp::Node
{
public:
LoggerNode()
: Node("logger_node")
{
//auto allocator = rcl_get_default_allocator();
//rcl_ret_t status = rcl_logging_rosout_init(&allocator);
rcutils_logging_set_output_handler(rcl_logging_rosout_output_handler);
auto timer_callback =
[this]() -> void {
RCLCPP_INFO(this->get_logger(), "Hello World");
};
timer_ = this->create_wall_timer(500ms, timer_callback);
}
private:
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<LoggerNode>());
rclcpp::shutdown();
return 0;
}
Expected behavior
I create a node with a custom logging output handler (in this case it should only log to rosout topic).
Actual behavior
The above code doesn't build as I get a linker error:
undefined reference to `rcl_logging_rosout_output_handler'
This function is marked as RCL_PUBLIC, so it should be accessible.
Note that if I comment the following line in rcl/CMakeLists.txt the compilation succeeds.
rcl_set_symbol_visibility_hidden(${PROJECT_NAME} LANGUAGE "C")
Additional notes
On the other hand, the function rcl_logging_rosout_init is marked as RCL_LOCAL, thus it's hidden and I can't use it in my code.
Assuming that the rcl_logging_rosout_output_handler has to be accessible somehow, there should also be a way for checking if it has already been initialized and to initialize it.
This issue is linked to
https://answers.ros.org/question/329532/ros2-how-to-programmatically-set-rosout-logging-handler/
https://discourse.ros.org/t/set-symbol-visibility-to-hidden-for-rmw-and-rcl-packages/7981/5?u=alsora