catkin | A CMake-based build system that is used to build | Build Tool library

The reason why this does not work is that your code gets compiled and is then placed inside the catkin_ws/devel/lib/ folder (lib not include!). Then when you launch the code it will look only in paths relative to the executable. This means you would actually have to place it inside the catkin_ws/devel/lib/ folder. The problem with that is though that as soon as you clean the workspace all of these directories will be deleted and you would have to re-copy all the files to it after each catkin clean.

For this purpose the ROS C++ API has though functions that allow you to browse the folder of a given package inside the catkin_ws/src folder or display all available packages when including the header file ros/package.h:

For msg you should use:

I have solved the problems. These errors caused by lacking of set_target_properties(XX PROPERTIES LINKER_LANGUAGE C++) after every add_library().

Here's the key issue and the part that will be most helpful to other readers of this question. Catkin configures CMake to build shared libraries by default but CUDA separable compilation and nvlink only work with static libraries. You need to set your CUDA libraries (in your case, those in cwru_davinci_kinematics) to be static, always. You can do that by adding the STATIC keyword to the add_library call, as in:

catkin workspace is not linked to any other places, just delete your catkin_ws directory, also if you have added it ~/.bashrc you can remove it as follows:

1. Open bashrc from any editor

   nano ~/.bashrc

2. Remove entries similar to follows:

   source /opt/ros/melodic/setup.bash

   source ~/catkin_workspace/devel/setup.bash

I hope you already remove ROS packages, if it not clear let us know, I will update answer for that as well

Eureka! I found a solution although it's not an ideal one. As mentioned in the question, I noticed that libvdo_slam.so was not listed as a shared library when running $ readelf . So I manually added -lvdo_slam in the CMakeList.txt so it looks like:

Maybe your camera isn't getting picked up. You are using cv_camera_node meaning that the default topic will be cv_camera but orb_slam2 requires just camera. To solve this, go into the cv_camera_node.cpp which will look like this:

Installing packages or even running update commands in your .gitlab-ci.yml is generally against best practices for a CI/CD container because each and every job that runs will have to do the same thing, costing a lot of time as you run more pipelines. If you can't find an existing Docker image that has the packages you need (so as an example, python3 and git), you can create your own images. If you need to extend the image from your job, ros:foxy-ros-base-focal, create a Dockerfile file with the following contents:

It seems that you are calling the test before sourcing your ROS environment. You need change that around: