RTABMAP ros-hydro source install build error

[alexr]

Hi,

From the https://github.com/introlab/rtabmap_ros#rtabmap_ros I followed the instructions to install by source on a different system. I have ros-hydro installed on ubuntu 12.04 x64bit.

When running the command inside rtabmap/build
$ make -j4

I am getting the following errors. Can you check and tell me what is the problem here.

~/rtabmap/build$ make -j4
Scanning dependencies of target rtabmap_utilite
[  1%] [  1%] [  3%] [  3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsSender.cpp.o
Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsHandler.cpp.o
Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UFile.cpp.o
Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o
[  4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UDirectory.cpp.o
[  5%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UConversion.cpp.o
[  6%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/ULogger.cpp.o
[  6%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UThread.cpp.o
[  7%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UTimer.cpp.o
[  8%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UProcessInfo.cpp.o
Linking CXX shared library ../../../bin/librtabmap_utilite.so
[  8%] Built target rtabmap_utilite
Scanning dependencies of target imagesJoiner
Scanning dependencies of target uresourcegenerator
Scanning dependencies of target extractObject
[  9%] [  9%] Building CXX object utilite/resource_generator/CMakeFiles/uresourcegenerator.dir/main.cpp.o
Building CXX object tools/ImagesJoiner/CMakeFiles/imagesJoiner.dir/main.cpp.o
[ 10%] Building CXX object tools/ExtractObject/CMakeFiles/extractObject.dir/main.cpp.o
Linking CXX executable ../../../bin/uresourcegenerator
[ 10%] Built target uresourcegenerator
[ 11%] [Creating resources]
 Using namespace=rtabmap
 Using target directory=/home/rd/rtabmap/build/corelib/src
Input file "/home/rd/rtabmap/corelib/src/resources/DatabaseSchema.sql" size = 3405 bytes
Output file "/home/rd/rtabmap/build/corelib/src/DatabaseSchema_sql.h" size = 7025 bytes
Linking CXX executable ../../../bin/rtabmap-imagesJoiner
Scanning dependencies of target rtabmap_core
[ 11%] Built target imagesJoiner
[ 12%] [ 13%] [ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o
Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Statistics.cpp.o
Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RtabmapThread.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Memory.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriver.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriverSqlite3.cpp.o
Linking CXX executable ../../../bin/rtabmap-extractObject
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBReader.cpp.o
[ 17%] Built target extractObject
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Camera.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraRGBD.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/EpipolarGeometry.cpp.o
In file included from /home/rd/rtabmap/corelib/src/CameraThread.cpp:30:0:
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:139:31: error: ‘openni_wrapper’ was not declared in this scope
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:139:52: error: template argument 1 is invalid
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:140:28: error: ‘openni_wrapper’ was not declared in this scope
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:140:54: error: template argument 1 is invalid
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/rd/rtabmap/corelib/src/CameraRGBD.cpp:28:0:
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:139:31: error: ‘openni_wrapper’ was not declared in this scope
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:139:52: error: template argument 1 is invalid
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:140:28: error: ‘openni_wrapper’ was not declared in this scope
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:140:54: error: template argument 1 is invalid
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp: In destructor ‘virtual rtabmap::CameraOpenni::~CameraOpenni()’:
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:145:13: error: invalid use of incomplete type ‘struct pcl::Grabber’
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:57:8: error: forward declaration of ‘struct pcl::Grabber’
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:147:10: warning: possible problem detected in invocation of delete operator: [enabled by default]
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:147:10: warning: invalid use of incomplete type ‘struct pcl::Grabber’ [enabled by default]
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:57:8: warning: forward declaration of ‘struct pcl::Grabber’ [enabled by default]
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:147:10: note: neither the destructor nor the class-specific operator delete will be called, even if they are declared when the class is defined
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp: At global scope:
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:153:27: error: ‘openni_wrapper’ was not declared in this scope
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:153:48: error: template argument 1 is invalid
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:154:27: error: ‘openni_wrapper’ was not declared in this scope
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:154:53: error: template argument 1 is invalid
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp: In member function ‘void rtabmap::CameraOpenni::image_cb(const int&, const int&, float)’:
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:161:22: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:161:40: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:162:5: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:162:18: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:162:35: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:165:22: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:165:40: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:166:7: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:166:30: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:166:47: error: base operand of ‘->’ is not a pointer
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp: In member function ‘virtual bool rtabmap::CameraOpenni::init()’:
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:180:13: error: invalid use of incomplete type ‘struct pcl::Grabber’
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:57:8: error: forward declaration of ‘struct pcl::Grabber’
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:182:10: warning: possible problem detected in invocation of delete operator: [enabled by default]
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:182:10: warning: invalid use of incomplete type ‘struct pcl::Grabber’ [enabled by default]
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:57:8: warning: forward declaration of ‘struct pcl::Grabber’ [enabled by default]
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:182:10: note: neither the destructor nor the class-specific operator delete will be called, even if they are declared when the class is defined
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:188:20: error: expected type-specifier
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:188:20: error: cannot convert ‘int*’ to ‘pcl::Grabber*’ in assignment
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:188:20: error: expected ‘;’
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:191:29: error: ‘openni_wrapper’ was not declared in this scope
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:191:50: error: template argument 1 is invalid
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:192:55: error: type/value mismatch at argument 1 in template parameter list for ‘template<class T> class boost::shared_ptr’
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:192:55: error:   expected a type, got ‘openni_wrapper’
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:194:27: error: invalid use of incomplete type ‘struct pcl::Grabber’
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:57:8: error: forward declaration of ‘struct pcl::Grabber’
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:196:13: error: invalid use of incomplete type ‘struct pcl::Grabber’
/home/rd/rtabmap/corelib/src/../include/rtabmap/core/CameraRGBD.h:57:8: error: forward declaration of ‘struct pcl::Grabber’
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:198:30: error: expected unqualified-id before ‘&’ token
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:198:30: error: expected ‘)’ before ‘&’ token
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:198:30: error: expected ‘{’ before ‘&’ token
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:198:32: error: ‘ex’ was not declared in this scope
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:198:34: error: expected ‘;’ before ‘)’ token
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:922:1: error: expected ‘}’ at end of input
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:922:1: warning: no return statement in function returning non-void [-Wreturn-type]
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp: At global scope:
/home/rd/rtabmap/corelib/src/CameraRGBD.cpp:922:1: error: expected ‘}’ at end of input
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/CameraRGBD.cpp.o] Error 1
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [all] Error 2

I am stuck here. Should the ros package through sudo apt-get install ros-hydro-rtabmap-ros needs to be preinstalled before running this step. I just wanted the catkin version in my workspace. Please help me.

Thanks
Alex

[matlabbe]

Which version of PCL is installed? It looks like that OpenNI grabber of PCL is not installed (‘openni_wrapper’ was not declared in this scope).

[wosi]

 I met the same question,have you solved it? I don't know how to solve it,I have installed Opencv and PCL.