症状
以下のようなエラーがでた
CMakeFiles/pointcloudfilter.dir/src/pointcloudfilter.cpp.o: 関数 `rclcpp::create_subscription_factory<nav_msgs::msg::Odometry_<std::allocator<void> >, std::_Bind<void (PointCloudFilter::*(PointCloudFilter*, std::_Placeholder<1>))(std::shared_ptr<nav_msgs::msg::Odometry_<std::allocator<void> > >)>, std::allocator<void>, nav_msgs::msg::Odometry_<std::allocator<void> >, rclcpp::Subscription<nav_msgs::msg::Odometry_<std::allocator<void> >, std::allocator<void>, rclcpp::message_memory_strategy::MessageMemoryStrategy<nav_msgs::msg::Odometry_<std::allocator<void> >, std::allocator<void> > >, rclcpp::message_memory_strategy::MessageMemoryStrategy<nav_msgs::msg::Odometry_<std::allocator<void> >, std::allocator<void> > >(std::_Bind<void (PointCloudFilter::*(PointCloudFilter*, std::_Placeholder<1>))(std::shared_ptr<nav_msgs::msg::Odometry_<std::allocator<void> > >)>&&, rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void> > const&, rclcpp::message_memory_strategy::MessageMemoryStrategy<nav_msgs::msg::Odometry_<std::allocator<void> >, std::allocator<void> >::SharedPtr)::{lambda(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&)#1}::operator()(rclcpp::node_interfaces::NodeBaseInterface*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::QoS const&) const' 内:
pointcloudfilter.cpp:(.text._ZZN6rclcpp27create_subscription_factoryIN8nav_msgs3msg9Odometry_ISaIvEEESt5_BindIFM16PointCloudFilterFvSt10shared_ptrIS5_EEPS7_St12_PlaceholderILi1EEEES4_S5_NS_12SubscriptionIS5_S4_NS_23message_memory_strategy21MessageMemoryStrategyIS5_S4_EEEESK_EENS_19SubscriptionFactoryEOT0_RKNS_32SubscriptionOptionsWithAllocatorIT1_EENT4_9SharedPtrEENKUlPNS_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_3QoSEE_clESY_S16_S19_[_ZZN6rclcpp27create_subscription_factoryIN8nav_msgs3msg9Odometry_ISaIvEEESt5_BindIFM16PointCloudFilterFvSt10shared_ptrIS5_EEPS7_St12_PlaceholderILi1EEEES4_S5_NS_12SubscriptionIS5_S4_NS_23message_memory_strategy21MessageMemoryStrategyIS5_S4_EEEESK_EENS_19SubscriptionFactoryEOT0_RKNS_32SubscriptionOptionsWithAllocatorIT1_EENT4_9SharedPtrEENKUlPNS_15node_interfaces17NodeBaseInterfaceERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_3QoSEE_clESY_S16_S19_]+0x34): `rosidl_message_type_support_t const* rosidl_typesupport_cpp::get_message_type_support_handle<nav_msgs::msg::Odometry_<std::allocator<void> > >()' に対する定義されていない参照です
原因
だいたいCMakefileの記述漏れ
今回の場合はament_target_dependenciesにnav_msgsを追加していなかった