build error ubuntu 20.04 ROS Noetic (LOAM)
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Hi Mathieu,
I am building rtabmap on ROS noetic and getting the following error for LOAM odometry. Can you help me with this error. /home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp: In member function ‘std::vector<pcl::PointCloud<pcl::PointXYZI> > rtabmap::OdometryLOAM::segmentScanRings(const pcl::PointCloud<pcl::PointXYZ>&)’:
/home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:139:28: warning: ‘bool pcl_isfinite(T&&) [with T = float&]’ is deprecated: use std::isfinite instead of pcl_isfinite [-Wdeprecated-declarations]
139 | if (!pcl_isfinite(point.x) ||
| ^
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
from /home/arav/catkin_ws/src/loam_velodyne/include/loam_velodyne/BasicScanRegistration.h:6,
from /home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/odometry/OdometryLOAM.h:34,
from /home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:28:
/usr/include/pcl-1.10/pcl/pcl_macros.h:142:6: note: declared here
142 | bool pcl_isfinite (T&& x) { return std::isfinite (std::forward<T> (x)); }
| ^~~~~~~~~~~~
/home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:139:28: warning: ‘bool pcl_isfinite(T&&) [with T = float&]’ is deprecated: use std::isfinite instead of pcl_isfinite [-Wdeprecated-declarations]
139 | if (!pcl_isfinite(point.x) ||
| ^
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
from /home/arav/catkin_ws/src/loam_velodyne/include/loam_velodyne/BasicScanRegistration.h:6,
from /home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/odometry/OdometryLOAM.h:34,
from /home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:28:
/usr/include/pcl-1.10/pcl/pcl_macros.h:142:6: note: declared here
142 | bool pcl_isfinite (T&& x) { return std::isfinite (std::forward<T> (x)); }
| ^~~~~~~~~~~~
/home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:140:26: warning: ‘bool pcl_isfinite(T&&) [with T = float&]’ is deprecated: use std::isfinite instead of pcl_isfinite [-Wdeprecated-declarations]
140 | !pcl_isfinite(point.y) ||
| ^
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
from /home/arav/catkin_ws/src/loam_velodyne/include/loam_velodyne/BasicScanRegistration.h:6,
from /home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/odometry/OdometryLOAM.h:34,
from /home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:28:
/usr/include/pcl-1.10/pcl/pcl_macros.h:142:6: note: declared here
142 | bool pcl_isfinite (T&& x) { return std::isfinite (std::forward<T> (x)); }
| ^~~~~~~~~~~~
/home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:140:26: warning: ‘bool pcl_isfinite(T&&) [with T = float&]’ is deprecated: use std::isfinite instead of pcl_isfinite [-Wdeprecated-declarations]
140 | !pcl_isfinite(point.y) ||
| ^
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
from /home/arav/catkin_ws/src/loam_velodyne/include/loam_velodyne/BasicScanRegistration.h:6,
from /home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/odometry/OdometryLOAM.h:34,
from /home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:28:
/usr/include/pcl-1.10/pcl/pcl_macros.h:142:6: note: declared here
142 | bool pcl_isfinite (T&& x) { return std::isfinite (std::forward<T> (x)); }
| ^~~~~~~~~~~~
/home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:141:26: warning: ‘bool pcl_isfinite(T&&) [with T = float&]’ is deprecated: use std::isfinite instead of pcl_isfinite [-Wdeprecated-declarations]
141 | !pcl_isfinite(point.z)) {
| ^
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
from /home/arav/catkin_ws/src/loam_velodyne/include/loam_velodyne/BasicScanRegistration.h:6,
from /home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/odometry/OdometryLOAM.h:34,
from /home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:28:
/usr/include/pcl-1.10/pcl/pcl_macros.h:142:6: note: declared here
142 | bool pcl_isfinite (T&& x) { return std::isfinite (std::forward<T> (x)); }
| ^~~~~~~~~~~~
/home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:141:26: warning: ‘bool pcl_isfinite(T&&) [with T = float&]’ is deprecated: use std::isfinite instead of pcl_isfinite [-Wdeprecated-declarations]
141 | !pcl_isfinite(point.z)) {
| ^
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
from /home/arav/catkin_ws/src/loam_velodyne/include/loam_velodyne/BasicScanRegistration.h:6,
from /home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/odometry/OdometryLOAM.h:34,
from /home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:28:
/usr/include/pcl-1.10/pcl/pcl_macros.h:142:6: note: declared here
142 | bool pcl_isfinite (T&& x) { return std::isfinite (std::forward<T> (x)); }
| ^~~~~~~~~~~~
/home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp: In member function ‘virtual rtabmap::Transform rtabmap::OdometryLOAM::computeTransform(rtabmap::SensorData&, const rtabmap::Transform&, rtabmap::OdometryInfo*)’:
/home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:286:169: error: no matching function for call to ‘rtabmap::LaserScan::backwardCompatibility(rtabmap::LaserScan, int, float, rtabmap::Transform)’
286 | serScanRaw().rangeMax(), data.laserScanRaw().localTransform());
| ^
In file included from /home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/SensorData.h:38,
from /home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/Odometry.h:34,
from /home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/odometry/OdometryLOAM.h:31,
from /home/arav/extra_lib/rtabmap/corelib/src/odometry/OdometryLOAM.cpp:28:
/home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/LaserScan.h:58:19: note: candidate: ‘static rtabmap::LaserScan rtabmap::LaserScan::backwardCompatibility(const cv::Mat&, int, int, const rtabmap::Transform&)’
58 | static LaserScan backwardCompatibility(
| ^~~~~~~~~~~~~~~~~~~~~
/home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/LaserScan.h:59:20: note: no known conversion for argument 1 from ‘rtabmap::LaserScan’ to ‘const cv::Mat&’
59 | const cv::Mat & oldScanFormat,
| ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/LaserScan.h:63:19: note: candidate: ‘static rtabmap::LaserScan rtabmap::LaserScan::backwardCompatibility(const cv::Mat&, float, float, float, float, float, const rtabmap::Transform&)’
63 | static LaserScan backwardCompatibility(
| ^~~~~~~~~~~~~~~~~~~~~
/home/arav/extra_lib/rtabmap/corelib/src/../include/rtabmap/core/LaserScan.h:63:19: note: candidate expects 7 arguments, 4 provided
[ 10%] Building C object corelib/src/CMakeFiles/rtabmap_core.dir/rtflann/ext/lz4.c.o
[ 10%] Building C object corelib/src/CMakeFiles/rtabmap_core.dir/rtflann/ext/lz4hc.c.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/FlannIndex.cpp.o
In file included from /home/arav/extra_lib/rtabmap/corelib/src/rtflann/util/params.h:33,
from /home/arav/extra_lib/rtabmap/corelib/src/rtflann/flann.hpp:42,
from /home/arav/extra_lib/rtabmap/corelib/src/FlannIndex.cpp:31:
/home/arav/extra_lib/rtabmap/corelib/src/rtflann/util/any.h: In member function ‘virtual void rtflann::anyimpl::big_any_policy<T>::static_delete(void**)’:
/home/arav/extra_lib/rtabmap/corelib/src/rtflann/util/any.h:81:9: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
81 | if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
| ^~
/home/arav/extra_lib/rtabmap/corelib/src/rtflann/util/any.h:81:55: note: ...this statement, but the latter is misleadingly indented as if it were guarded by the ‘if’
81 | if (* x) delete (* reinterpret_cast<T**>(x)); *x = NULL;
| ^
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1067: corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryLOAM.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:2771: corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make: *** [Makefile:163: all] Error 2
The cmake output is as follows: CMake Warning (dev) at CMakeLists.txt:4 (PROJECT):
Policy CMP0048 is not set: project() command manages VERSION variables.
Run "cmake --help-policy CMP0048" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.
The following variable(s) would be set to empty:
CMAKE_PROJECT_VERSION
CMAKE_PROJECT_VERSION_MAJOR
CMAKE_PROJECT_VERSION_MINOR
CMAKE_PROJECT_VERSION_PATCH
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Deprecation Warning at CMakeLists.txt:67 (cmake_policy):
The OLD behavior for policy CMP0043 will be removed from a future version
of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- The imported target "vtkParseOGLExt" references the file
"/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "pvtk" references the file
"/usr/bin/pvtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).
-- Found Sqlite3: /usr/include /usr/lib/x86_64-linux-gnu/libsqlite3.so
-- Found OpenMP
-- Found OpenCV: /usr/local/include;/usr/local/include/opencv
-- Found PCL: /usr/include/pcl-1.10;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu
-- Found ZLIB: /usr/include
-- Could NOT find Qt5Svg (missing: Qt5Svg_DIR)
CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:39 (message):
Failed to find Qt5 component "Svg" config file at
"/usr/lib/x86_64-linux-gnu/cmake/Qt5Svg/Qt5SvgConfig.cmake"
Call Stack (most recent call first):
CMakeLists.txt:289 (FIND_PACKAGE)
-- VTK_RENDERING_BACKEND=OpenGL2
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
CMake Warning (dev) at /usr/share/cmake-3.16/Modules/FindOpenGL.cmake:275 (message):
Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
available. Run "cmake --help-policy CMP0072" for policy details. Use the
cmake_policy command to set the policy and suppress this warning.
FindOpenGL found both a legacy GL library:
OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so
and GLVND libraries for OpenGL and GLX:
OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so
OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
/usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
/usr/local/lib/cmake/g2o/g2oConfig.cmake:4 (find_dependency)
CMakeLists.txt:427 (FIND_PACKAGE)
This warning is for project developers. Use -Wno-dev to suppress it.
-- Found g2o (targets)
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Found cvsba: /usr/local/include
-- Found Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono atomic
CMake Warning (dev) at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1287 (if):
Policy CMP0054 is not set: Only interpret if() arguments as variables or
keywords when unquoted. Run "cmake --help-policy CMP0054" for policy
details. Use the cmake_policy command to set the policy and suppress this
warning.
Quoted variables like "chrono" will no longer be dereferenced when the
policy is set to NEW. Since the policy is not set the OLD behavior will be
used.
Call Stack (most recent call first):
/usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
/usr/local/share/libpointmatcher/cmake/libpointmatcherConfig.cmake:10 (find_package)
CMakeLists.txt:460 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
-- Found Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono chrono atomic
-- Found libpointmatcher: /usr/local/include;/usr/include/eigen3
-- Found Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono atomic
-- Found Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono timer chrono atomic chrono
-- Using CATKIN_DEVEL_PREFIX: /home/arav/extra_lib/rtabmap/build/devel
-- Using CMAKE_PREFIX_PATH: /home/arav/catkin_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/arav/catkin_ws/devel;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.5", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/arav/extra_lib/rtabmap/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.5")
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found loam_velodyne: /home/arav/catkin_ws/src/loam_velodyne/include;/usr/include/eigen3;/usr/include/pcl-1.10;/usr/include;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu;/usr/include/ni;/usr/include/openni2;/opt/ros/noetic/include;/opt/ros/noetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp
-- Found CUDA: /usr/local/cuda-11.2 (found suitable version "11.2", minimum required is "11.1")
-- Found ZED sdk: /usr/local/zed/include
-- Found CUDA: /usr/local/cuda-11.2 (found version "11.2")
-- Found CUDA: /usr/local/cuda-11.2/include
-- Found octomap 1.9.7: /opt/ros/noetic/include
-- Architecture: x86_64
-- Found Pthreads
-- --------------------------------------------
-- Info :
-- RTAB-Map Version = 0.20.11
-- CMAKE_VERSION = 3.16.3
-- CMAKE_INSTALL_PREFIX = /usr/local
-- CMAKE_BUILD_TYPE = Release
-- CMAKE_INSTALL_LIBDIR = lib
-- BUILD_APP = ON
-- BUILD_TOOLS = ON
-- BUILD_EXAMPLES = ON
-- BUILD_SHARED_LIBS = ON
-- CMAKE_CXX_FLAGS = -fmessage-length=0 -fopenmp -std=c++14
-- FLANN_KDTREE_MEM_OPT = OFF
-- PCL_DEFINITIONS = -DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0
-- PCL_VERSION = 1.10.0
--
-- Optional dependencies ('*' affects some default parameters) :
-- *With OpenCV 3.4.8 xfeatures2d = YES, nonfree = NO (License: BSD)
-- With Qt 5.12.8 = YES (License: Open Source or Commercial)
-- With VTK 7.1 = YES (License: BSD)
-- With external SQLite3 = YES (License: Public Domain)
-- With ORB OcTree = YES (License: GPLv3)
-- With SupertPoint = NO (WITH_TORCH=OFF)
-- With Python3 = NO (WITH_PYTHON=OFF)
-- With Madgwick = YES (License: GPL)
-- With FastCV = NO (FastCV not found)
-- With PDAL = NO (PDAL not found)
--
-- Solvers:
-- With TORO = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
-- *With g2o = YES (License: BSD)
-- *With GTSAM = YES (License: BSD)
-- *With Ceres = YES (License: BSD)
-- With VERTIGO = YES (License: GPLv3)
-- With cvsba = YES (License: GPLv2)
-- *With libpointmatcher = YES (License: BSD)
-- With CCCoreLib = NO (CCCoreLib not found)
--
-- Reconstruction Approaches:
-- With OCTOMAP = YES (License: BSD)
-- With CPUTSDF = NO (CPUTSDF not found)
-- With OpenChisel = NO (open_chisel not found)
-- With AliceVision = NO (WITH_ALICE_VISION=OFF)
--
-- Camera Drivers:
-- With Freenect = NO (libfreenect not found)
-- With OpenNI2 = YES (License: Apache v2)
-- With Freenect2 = NO (libfreenect2 not found)
-- With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
-- With Kinect for Azure = NO (Kinect for Azure SDK not found)
-- With dc1394 = YES (License: LGPL)
-- With FlyCapture2/Triclops = NO (Point Grey SDK not found)
-- With ZED = YES
-- With ZEDOC = NO (ZED Open Capture not found)
-- With RealSense = NO (librealsense not found)
-- With RealSense2 = NO (librealsense2 not found)
-- With MyntEyeS = NO (mynteye s sdk not found)
-- With DepthAI = NO (depthai-core not found)
--
-- Odometry Approaches:
-- With loam_velodyne = YES (License: BSD)
-- With libfovis = NO (libfovis not found)
-- With libviso2 = NO (libviso2 not found)
-- With dvo_core = NO (dvo_core not found)
-- With okvis = NO (okvis not found)
-- With msckf_vio = NO (WITH_MSCKF_VIO=OFF)
-- With VINS-Fusion = NO (VINS-Fusion not found)
-- With OpenVINS = NO (ov_msckf not found)
-- With ORB_SLAM = NO (WITH_G2O should be OFF as ORB_SLAM uses its own g2o version)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/arav/extra_lib/rtabmap/build
------
Alex
|
Administrator
|
Hi Alex,
this is fixed in this commit: https://github.com/introlab/rtabmap/commit/ae92ec40d74abde8925a6d047c281062319e430a cheers, Mathieu |
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