Invoking “make -j12 -l12“ failed

在学习ROS官方教程Writing a Simple Publisher and Subscriber (C++)的时候运行catkin_make出现了以下错误：

Base path: /home/free/catkin_ws
Source space: /home/free/catkin_ws/src
Build space: /home/free/catkin_ws/build
Devel space: /home/free/catkin_ws/devel
Install space: /home/free/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/free/catkin_ws/build"
####
####
#### Running command: "make -j12 -l12" in "/home/free/catkin_ws/build"
####
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target _beginner_tutorials_generate_messages_check_deps_Num
[  0%] Built target _beginner_tutorials_generate_messages_check_deps_AddTwoInts
[ 58%] Built target beginner_tutorials_generate_messages_py
[ 64%] Built target beginner_tutorials_generate_messages_eus
[ 58%] Built target beginner_tutorials_generate_messages_lisp
[ 58%] Built target beginner_tutorials_generate_messages_cpp
[ 76%] Built target beginner_tutorials_generate_messages_nodejs
[ 76%] Built target beginner_tutorials_generate_messages
[ 82%] Linking CXX executable /home/free/catkin_ws/devel/lib/beginner_tutorials/talker
[ 88%] Linking CXX executable /home/free/catkin_ws/devel/lib/beginner_tutorials/listener
/usr/bin/ld: CMakeFiles/listener.dir/src/listener.cpp.o: relocation R_X86_64_32 against `.rodata' can not be used when making a PIE object; recompile with -fPIC
/usr/bin/ld: 最后的链结失败: 输出不可表示的节
collect2: error: ld returned 1 exit status
beginner_tutorials/CMakeFiles/listener.dir/build.make:112: recipe for target '/home/free/catkin_ws/devel/lib/beginner_tutorials/listener' failed
make[2]: *** [/home/free/catkin_ws/devel/lib/beginner_tutorials/listener] Error 1
CMakeFiles/Makefile2:1344: recipe for target 'beginner_tutorials/CMakeFiles/listener.dir/all' failed
make[1]: *** [beginner_tutorials/CMakeFiles/listener.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
/usr/bin/ld: CMakeFiles/talker.dir/src/talker.cpp.o: relocation R_X86_64_32 against `.rodata' can not be used when making a PIE object; recompile with -fPIC
/usr/bin/ld: 最后的链结失败: 输出不可表示的节
collect2: error: ld returned 1 exit status
beginner_tutorials/CMakeFiles/talker.dir/build.make:112: recipe for target '/home/free/catkin_ws/devel/lib/beginner_tutorials/talker' failed
make[2]: *** [/home/free/catkin_ws/devel/lib/beginner_tutorials/talker] Error 1
CMakeFiles/Makefile2:1381: recipe for target 'beginner_tutorials/CMakeFiles/talker.dir/all' failed
make[1]: *** [beginner_tutorials/CMakeFiles/talker.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

找了很久的原因，最后发现最后的错误的原因是gcc和g++的版本不对，更改gcc和g++5.5.0后成功编译.

安装gcc、g++ 5.5.0版本流程：

sudo add-apt-repository ppa:ubuntu-toolchain-r/test 
sudo apt-get update 
sudo apt-get install gcc-5
sudo apt-get install g++-5

更改gcc与g++版本 

cd /usr/bin 
sudo rm gcc 
sudo ln -s gcc-5 gcc 
sudo rm g++ 
sudo ln -s g++-5 g++

最后、检查是否修改成功

gcc --version
g++ --version

重新编译：

catkin_make clean   #清除前面的编译
catkin_make