Re: Compiling in ROS-Indigo with PCL-1.7.2: Undefined reference to...

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Compiling-in-ROS-Indigo-with-PCL-1-7-2-Undefined-reference-to-tp386p400.html

Yes, ROS installs PCL 1.7.1-3 (libpcl-1.7-all): the packages ros-indigo-perception-pcl, ros-indigo-pcl-ros and ros-indigo-pcl-conversions installed by ROS depend on it. I just noticed that you don't have to remove libpcl-1.7-all already installed by ROS, you should only remove the pcl ROS packages and build them again in your workspace (they will link on the first pcl found, which is the one in /usr/local/lib instead of the one in /usr/lib).

In summary to use 1.7.2:

Build/Install PCL 1.7.2 (in /usr/local by default):
$ git clone https://github.com/PointCloudLibrary/pcl.git pcl-1.7.2
$ cd pcl-1.7.2
$ git checkout tags/pcl-1.7.2
$ mkdir build
$ cmake ..
$ make
$ sudo make install

Remove indigo pcl packages:
$ sudo apt-get remove ros-indigo-perception-pcl ros-indigo-pointcloud-to-laserscan ros-indigo-pcl-ros ros-indigo-pcl-conversions

Build indigo pcl packages:
$ roscd
$ cd ../src
$ git clone -b indigo-devel https://github.com/ros-perception/pcl_conversions.git
$ git clone -b indigo-devel https://github.com/ros-perception/perception_pcl.git

$ cd ..
$ catkin_make

Now you can follow the RTAB-Map's installation instructions. Everything should be linked on your PCL 1.7.2 built from source.

cheers