Re: icp_odometry with LOAM crash

Posted by huibuh on Sep 21, 2021; 1:26pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8592.html

Hi Mat
That's great news! To try out your FLOAM implementation, I removed flynneva/floam from my catkin package path and replaced it with wh200720041/floam. I then applied floam_as_library_support.patch and it compiled OK.

But when I pulled the latest rtabmap master branch and ran cmake and make, I get this error during linking:

[ 80%] Linking CXX executable ../../../bin/rtabmap-reprocess
../../../bin/librtabmap_core.so.0.20.14: undefined reference to `ceres::Problem::SetParameterBlockConstant(double const*)'
../../../bin/librtabmap_core.so.0.20.14: undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFuncti
on*, double* const*, int)'

I suppose this might be an issue with the ceres_solver version? I am using ceres_solver tag 2.0.0, as advised in the floam installation instructions. I also tried the latest ceres_solver master branch, but also get errors when compiling rtabmap. Which version of rtabmap/rtabmap_ros and ceres_solver/floam did you use when you tested?

Regards,
Heiko

P.S.: When I set WITH_FLOAM=OFF, rtabmap compiles without issues.