ROS クラスをincludeするとbuild時にエラーが出る

Errors     << controller:make /home/name/catkin_ws/logs/controller/build.make.001.log           
/usr/bin/ld: CMakeFiles/param_test.dir/src/main.cpp.o: in function `NodeInfo::wheel_callback()':
/home/name/catkin_ws/src/2023/controller/src/main.cpp:39: undefined reference to `NITNC::Serial::Transmit(unsigned char*, unsigned char)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/param_test.dir/build.make:101: /home/name/catkin_ws/devel/.private/controller/lib/controller/param_test] エラー 1
make[1]: *** [CMakeFiles/Makefile2:150: CMakeFiles/param_test.dir/all] エラー 2
make: *** [Makefile:141: all] エラー 2

#include <ros/ros.h>
#include "serial.hpp"

using namespace NITNC;

class NodeInfo
{
    public:
        ros::NodeHandle nh;
        ros::NodeHandle pnh;
        ros::Timer timer;
        Serial MySerial;

        void timer_callback(const ros::TimerEvent& e);
        void wheel_callback();
        void mechanical_callback();

        NodeInfo()
        {
            timer = nh.createTimer( ros::Duration( 0.1 ), &NodeInfo::timer_callback, this );

        }

};

void NodeInfo::wheel_callback()
{
    int x,y = 0;
    uint8_t tx_x,tx_y = 0;
    pnh.getParam("param_test/wheel/x",x);
    pnh.getParam("param_test/wheel/y",y);

    ROS_INFO( "wheel:\nx : %d\ny : %d", x, y);

    tx_x = x+50;
    tx_y = y+50;

    uint8_t tx_data[ 8 ] = { 0, tx_x, tx_y, 0, 0, 0, 0, 0 };
    MySerial.Transmit( tx_data,sizeof( tx_data ) );

}


void NodeInfo::mechanical_callback()
{

}
void NodeInfo::timer_callback(const ros::TimerEvent& e)
{
    wheel_callback();
    mechanical_callback();
}

int main( int argc, char** argv )
{
    ros::init( argc, argv, "main");
    NodeInfo node_info;
    // node_info.MySerial.Init( B38400 );

    ros::spin();
    return 0;
}

#pragma once

#include <ros/ros.h>
#include <termios.h>
#include <fcntl.h>
#include <unistd.h>

namespace NITNC
{
    class Serial
    {
        private:

            struct serial_info
            {
                int fd = 0;
                std::string device_name = "/dev/ttyACM0";
            };
            serial_info info;

        public:
        
            void Init( speed_t BAUDRATE );

            void Transmit(uint8_t* pData, uint8_t size );

            bool CheckSerial( int wait_sec );
    };
}

#include "serial.hpp"
#include <fcntl.h>
#include <termios.h>

namespace NITNC
{

    void Serial::Init( speed_t BAUDRATE )
        {
            info.fd = open(
                info.device_name.c_str() ,
                O_RDWR | O_NOCTTY | O_NONBLOCK 
                );

            if( info.fd <= 0 )
            {
                ROS_ERROR("faild to open device file.");
                bool result = CheckSerial(10);
                if(result)
                {
                    info.fd = open(
                        info.device_name.c_str() ,
                        O_RDWR | O_NOCTTY | O_NONBLOCK 
                        );
                    ROS_INFO("succeced to open device file.");
                }
                else
                {
                    ROS_INFO("shutdown...");
                    ros::shutdown();
                }
            }
            else
            {
                ROS_INFO("succeced to open device file.");
            }

            struct termios conf_tio;
            //open serial
            fcntl(info.fd, F_SETFL,0);
            tcgetattr(info.fd,&conf_tio);

            // speed_t BAUDRATE = B38400;
            cfsetispeed(&conf_tio, BAUDRATE);
            cfsetospeed(&conf_tio, BAUDRATE);

            conf_tio.c_lflag &= ~(ECHO | ICANON);
            conf_tio.c_cc[VMIN]=0;
            conf_tio.c_cc[VTIME]=0;
            tcsetattr(info.fd,TCSANOW,&conf_tio);
        }

    void Serial::Transmit(uint8_t* pData, uint8_t size )
    {
        {
            std::string data;

            for( int i = 0; i < size; i++ )
            {
                data += pData[ i ];
            }

            int result = write( info.fd, data.c_str(), data.size() );
            if(result >= 1)
            {
                ROS_INFO("succceced to write data.");
            }
            else
            {
                ROS_WARN("faild to write data.");
            }
        }
    }


    bool Serial::CheckSerial( int wait_sec )
    {
        for(int i = 0; i < wait_sec ;i++)
        {
            int check_result = open(
                info.device_name.c_str() ,
                O_RDWR | O_NOCTTY | O_NONBLOCK 
                );

            if( check_result >= 0 )
            {
                return true;
            }
            else
            {
                ROS_WARN("please connect serial port. count : %d",i);
            }
            sleep( 1 );
        }
        ROS_ERROR("faild to connect serial");
        return false;
    }
}

cmake_minimum_required(VERSION 3.0.2)
project(controller)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES controller
#  CATKIN_DEPENDS roscpp std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
  ${catkin_INCLUDE_DIRS}
  ../packages/serial
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/controller.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide

file( GLOB SERIAL ../packages/*.cpp)


add_executable(
  param_test
  src/main.cpp
  ${SERIAL}
  )

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(param_test
  ${catkin_LIBRARIES}
  ${SERIAL}
)

set(CMAKE_BUILD_TYPE Debug)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_controller.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)