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Problems to install RTAB-Map in src folder of my workspace

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emontero

Problems to install RTAB-Map in src folder of my workspace

I am installing for the first time RTAB-Map from source, I have Realsense installed previously.
When I install RTAB-Map ros-pkg in the src folder of my Catkin workspace and do catkin_make. This does not compile. Above I show the error.

[ 64%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o
/home/elvia/camera_ws/src/rtabmap_ros/src/MapsManager.cpp: In member function ‘void MapsManager::publishMaps(const std::map<int, rtabmap::Transform>&, const ros::Time&, const string&)’:
/home/elvia/camera_ws/src/rtabmap_ros/src/MapsManager.cpp:1244:214: error: no matching function for call to ‘rtabmap::OctoMap::createCloud(int&, boost::shared_ptr<std::vector<int> >::element_type*, boost::shared_ptr<std::vector<int> >::element_type*, boost::shared_ptr<std::vector<int> >::element_type*, bool, boost::shared_ptr<std::vector<int> >::element_type*, int, bool&)’
oundIndices.get(), true, frontierIndices.get(),0,octomap_frontier_flood_fill_);
^
In file included from /home/elvia/camera_ws/src/rtabmap_ros/src/MapsManager.cpp:53:0:
/opt/ros/melodic/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/OctoMap.h:189:41: note: candidate: pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::OctoMap::createCloud(unsigned int, std::vector<int>*, std::vector<int>*, std::vector<int>*, bool, std::vector<int>*, std::vector<double, std::allocator<double> >*) const
pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
^~~~~~~~~~~
/opt/ros/melodic/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/OctoMap.h:189:41: note: candidate expects 7 arguments, 8 provided
rtabmap_ros/CMakeFiles/rtabmap_ros.dir/build.make:86: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o' failed
make[2]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o] Error 1
CMakeFiles/Makefile2:5022: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed

matlabbe

Re: Problems to install RTAB-Map in src folder of my workspace

Administrator

When building rtabmap_ros from source, you should also build rtabmap lib from source. Uninstall ros-melodic-rtabmap, and build rtabmap from source:

sudo apt remove ros-melodic-rtabmap
git clone https://github.com/introlab/rtabmap.git
cd rtabmap/build
cmake ..
make -j4
sudo make install