当使用gtest (C++)时，链接器无法找到对象引用

Question

我决定开始单元测试，并使用gtest编写了我的第一个单元测试。这是消息来源：

DetectorTests.cpp：

#include <gtest/gtest.h>

#include <ros_layer/utils/DetectorUtils.h>



class DetectorTests : public ::testing::Test {
 public:
  DetectorTests() {
  }

  bool initTestFixture() {
    return true;
  }

  virtual void SetUp() {
    ASSERT_TRUE(initTestFixture());
  }

  virtual void TearDown() {
  }

};

// Test where the robot does a vector operation
TEST_F(DetectorTests, testNoDetect) {
  // Parameters get set up here
  ros::NodeHandle privateNodeHandle("~");
  std::shared_ptr<ros_layer::DetectorUtils> distDetector = std::make_shared<ros_layer:DetectorUtils>(privateNodeHandle);

  // @to-do set up object parameters before running test
  ASSERT_FALSE(distDetector->checkReadings());
}

int main(int argc, char** argv) {

  ros::init(argc, argv, "detection_action_test");
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}

我的CMakeLists.txt有以下几行：

find_package(GTest REQUIRED)
catkin_add_gtest(detector-test test/DetectorTests.cpp)
target_link_libraries(detector-test ${catkin_LIBRARIES})

但是，当我使用参数运行CMake来运行测试时，我在链接时得到了这个错误：

In function `construct<ros_layer::DetectorUtils, ros::NodeHandle&>':
/code/include/c++/4.8/ext/new_allocator.h:120: undefined reference to `ros_layer::DetectorUtils::DetectorUtils(ros::NodeHandle&)'
CMakeFiles/detector-test.dir/test/DetectorTest.cpp.o: In function `destroy<ros_layer::DetectorUtils>':
/code/include/c++/4.8/ext/new_allocator.h:124: undefined reference to `ros_layer::DetectorUtils::~DetectorUtils()'

如果我删除所有与单元测试相关的代码，只编写c++并创建DetectorUtils对象，那么我就一点问题都没有了。是什么导致了这个错误，我该如何解决呢？

Answer 1

解决了。target_link_libraries在我的CMakeLists中需要有定义DetectorUtils的库。以下是更新的行：

target_link_libraries(dragging-test ROSLayerLibrary ${catkin_LIBRARIES})