rtabmap 0.17.7 not building rtabmapviz

[Jacobmo]

I just updated rtabmap and rtabmap_ros and it did not create the rtabmapviz node

I did my best to trace the problem to the source and I found that it did not create the librtabmap_gui.so.0.17.7 file so the symlink is still pointing to the *.0.17.5 file for that one.

I did have to turn off building it with Qt because without it the build fails saying something about not finding the vtkGUISupportQt
`cannot find -lvtkGUISupportQt`

and I can't figure out how to get that to work. I did this with the previous version and it still worked I think so I don't know if it is this

in the mean time i have switched back to the apt installed version, but that doesn't seem to work as well.

Any help would be greatly appreciated.

Thanks,
Jacob

[matlabbe]

Hi,

If you updated rtabmap project, make sure to reinstall it. For rtabmap_ros, it should not build if cmake cannot find rtabmap 0.17.7. rtabmapviz won't be built if rtabmap has not been built with Qt support.

For vtkGUISupportQt, it should normally be installed with libvtk6-qt-dev:

/usr/lib/x86_64-linux-gnu/libvtkGUISupportQt-6.2.so

cheers,
Mathieu

[Jacobmo]

I just reinstalled libvtk6-qt-dev (it was already installed but i figured maybe there was a problem)
Is that just supposed to be done with sudo apt install libvtk6-qt-dev?

and I looked and the file /usr/lib/x86_64-linux-gnu/libvtkGUISupportQt-6.2.so does exist.

then I tried to rebuild it and it failed again. do you know of a way that I could manually point it to that file?

Or another way to make it work?

I did recently install Qt 5.11.2 and qtcreator 4.7.0 from the qt site. should either of those affect this?

[matlabbe]

If you installed another version of Qt, cleanup the build directory of rtabmap so that cmake is refreshed:

$ rm -rf rtabmap/build/*
$ cd rtabmap/build
$ cmake ..
$ make -j4

We should do the same if any other dependencies of rtabmap has been updated to make sure cmake is linking on the right libraries.

cheers,
Mathieu

[Jacobmo]

I tried that and it didn't work. I reinstalled the realsense package g20 and gtsam i also did the sudo apt remove ros-kinetic-rtabmap and rtabmap-ros. Then I reinstalled them. Didint work. I tried changing to libvtk5 instead of 6 and that broke something else.

are there other dependencies that i should rebuild? sorry to keep bugging you about this. It just wont build anymore always with the error cannot find -lvtkGUISupportQT.

It is also throwing warnings about pcl::SAC_SAMPLE_SIZE being deprecated. I dont know if that matters.

Another thing I thought of is I also installed cuda a few weeks ago. not sure if that could be causing some of this headache too

[matlabbe]

It looks that you are not alone with this problem, though I cannot reproduce it on my system or with docker.

The library "vtkGUISupportQt" is added by the linker here:
https://github.com/introlab/rtabmap/blob/a1079761e7d99f243204b84e762db35070498469/CMakeLists.txt#L252

Try removing it, though it was there to avoid a linker error.

cheers,
Mathieu

[matlabbe]

I checked on my system (Ubuntu 16.04) adding "MESSAGE(STATUS "PCL_LIBRARIES=${PCL_LIBRARIES}")" to cmake, and vtkGUISupportQt is already in the PCL dependencies.