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CogRob / omnimapper

A Modular Multimodal Mapping Framework
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Build OmniMapper ROS error on Ubuntu14.04 #4

Closed LiliMeng closed 9 years ago

LiliMeng commented 10 years ago

Hi,

  Thanks so much for the previous suggestions on installing omnimapper on Ubuntu12.04. Since it doesn't support 12.04, I upgraded it to ubuntu14.04.

   The build procedure for OmniMapper base is pretty good. But there's some problem on building OmniMapper ROS. 

    Only adding export ROS_PACKAGE_PATH=/home/user/omnimapper/ros/:${ROS_PACKAGE_PATH} to the bashrc, you cannot find the omnimapper_ros by using $roscd omnimapper_ros. Since only add it to the package_path without building, it cannot be a ros package which could be found using $roscd.    So I just use the $cd omnimapper_ros, and $roscd omnimapper_ros,

But the following errors occurred:

[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['omnimapper_ros']
[ rosmake ] Logging to directory /home/meng/.ros/rosmake/rosmake_output-20141106-132020 [ rosmake ] Expanded args ['omnimapper_ros'] to: []
[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['omnimapper_ros'] [ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.

Could anyone provide some suggestions?

Thanks in advance!

atrevor commented 10 years ago

Hi Lili,

It looks like your ROS_PACKAGE_PATH is not set up correctly. Please see the last section of https://github.com/CognitiveRobotics/omnimapper/wiki/Installation-&-Dependencies . Specifically, verify that you have done:

export ROS_PACKAGE_PATH=/home/user/omnimapper/ros/:${ROS_PACKAGE_PATH}

modifying the path to reflect the correct path on your system.

LiliMeng commented 10 years ago

Thanks a lot ! Just changed it to export ROS_PACKAGE_PATH=/home/meng/workspace/omnimapper/ros:/home/meng/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks

It works now.

LiliMeng commented 10 years ago

It has some rosmake errors:

/home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp: In instantiation of ‘bool omnimapper::CanonicalScanMatcherPlugin::tryLoopClosure(gtsam::Symbol) [with LScanT = sensor_msgs::LaserScan_std::allocator]’: /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:543:28: required from here ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:498:94: warning: format ‘%d’ expects argument of type ‘int’, but argument 3 has type ‘std::size_t {aka long unsigned int}’ [-Wformat=]

make[3]: * [CMakeFiles/omnimapper_ros.dir/src/canonical_scan_matcher_plugin.cpp.o] Error 1 make[3]: Leaving directory `/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[2]: * [CMakeFiles/omnimapper_ros.dir/all] Error 2 make[2]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build'

atrevor commented 10 years ago

Please post the full compiler output -- the actual error is not included in the provided output.

LiliMeng commented 10 years ago

The following is the full output after $rosmake

[ rosmake ] rosmake starting...
[ rosmake ] No package specified. Building ['omnimapper_ros']
[ rosmake ] Packages requested are: ['omnimapper_ros']
[ rosmake ] Logging to directory /home/meng/.ros/rosmake/rosmake_output-20141106-142527 [ rosmake ] Expanded args ['omnimapper_ros'] to: ['omnimapper_ros']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-1] Starting >>> csm [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin No Makefile in package catkin [rosmake-3] Starting >>> cpp_common [ make ]
[rosmake-2] Starting >>> cmake_modules [ make ]
[rosmake-5] Starting >>> rosgraph [ make ]
[rosmake-4] Starting >>> rosclean [ make ]
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-6] Starting >>> angles [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg No Makefile in package genmsg [rosmake-4] Finished <<< rosclean ROS_NOBUILD in package rosclean No Makefile in package rosclean [rosmake-0] Starting >>> genlisp [ make ]
[rosmake-7] Starting >>> smclib [ make ]
[rosmake-4] Starting >>> genpy [ make ]
[rosmake-3] Finished <<< cpp_common ROS_NOBUILD in package cpp_common No Makefile in package cpp_common [rosmake-5] Finished <<< rosgraph ROS_NOBUILD in package rosgraph No Makefile in package rosgraph [rosmake-3] Starting >>> gencpp [ make ]
[rosmake-5] Starting >>> rostime [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp No Makefile in package genlisp [rosmake-0] Starting >>> roslang [ make ]
[rosmake-6] Finished <<< angles ROS_NOBUILD in package angles No Makefile in package angles [rosmake-6] Starting >>> xmlrpcpp [ make ]
[rosmake-4] Finished <<< genpy ROS_NOBUILD in package genpy No Makefile in package genpy [rosmake-4] Starting >>> rosparam [ make ]
[rosmake-2] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules No Makefile in package cmake_modules [rosmake-2] Starting >>> rospack [ make ]
[rosmake-7] Finished <<< smclib ROS_NOBUILD in package smclib No Makefile in package smclib [rosmake-3] Finished <<< gencpp ROS_NOBUILD in package gencpp No Makefile in package gencpp [rosmake-7] Starting >>> rosmaster [ make ]
[rosmake-6] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp No Makefile in package xmlrpcpp [rosmake-6] Starting >>> class_loader [ make ]
[rosmake-3] Starting >>> message_generation [ make ]
[rosmake-0] Finished <<< roslang ROS_NOBUILD in package roslang No Makefile in package roslang [rosmake-5] Finished <<< rostime ROS_NOBUILD in package rostime No Makefile in package rostime [rosmake-2] Finished <<< rospack ROS_NOBUILD in package rospack No Makefile in package rospack [rosmake-4] Finished <<< rosparam ROS_NOBUILD in package rosparam No Makefile in package rosparam [rosmake-5] Starting >>> roscpp_traits [ make ]
[rosmake-7] Finished <<< rosmaster ROS_NOBUILD in package rosmaster No Makefile in package rosmaster [rosmake-2] Starting >>> roslib [ make ]
[rosmake-3] Finished <<< message_generation ROS_NOBUILD in package message_generation No Makefile in package message_generation [rosmake-6] Finished <<< class_loader ROS_NOBUILD in package class_loader No Makefile in package class_loader [rosmake-2] Finished <<< roslib ROS_NOBUILD in package roslib No Makefile in package roslib [rosmake-5] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits No Makefile in package roscpp_traits [rosmake-2] Starting >>> roscpp_serialization [ make ]
[rosmake-5] Starting >>> rosunit [ make ]
[rosmake-5] Finished <<< rosunit ROS_NOBUILD in package rosunit No Makefile in package rosunit [rosmake-5] Starting >>> roslz4 [ make ]
[rosmake-2] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization No Makefile in package roscpp_serialization [rosmake-2] Starting >>> message_runtime [ make ]
[rosmake-5] Finished <<< roslz4 ROS_NOBUILD in package roslz4 No Makefile in package roslz4 [rosmake-2] Finished <<< message_runtime ROS_NOBUILD in package message_runtime No Makefile in package message_runtime [rosmake-2] Starting >>> std_msgs [ make ]
[rosmake-5] Starting >>> rosbuild [ make ]
[rosmake-0] Starting >>> rosbag_storage [ make ]
[rosmake-5] Finished <<< rosbuild ROS_NOBUILD in package rosbuild No Makefile in package rosbuild [rosmake-5] Starting >>> rosconsole [ make ]
[rosmake-2] Finished <<< std_msgs ROS_NOBUILD in package std_msgs No Makefile in package std_msgs [rosmake-2] Starting >>> rosgraph_msgs [ make ]
[rosmake-6] Starting >>> actionlib_msgs [ make ]
[rosmake-3] Starting >>> geometry_msgs [ make ]
[rosmake-7] Starting >>> bond [ make ]
[rosmake-0] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage No Makefile in package rosbag_storage [rosmake-2] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs No Makefile in package rosgraph_msgs [rosmake-5] Finished <<< rosconsole ROS_NOBUILD in package rosconsole No Makefile in package rosconsole [rosmake-5] Starting >>> pluginlib [ make ]
[rosmake-2] Starting >>> roscpp [ make ]
[rosmake-7] Finished <<< bond ROS_NOBUILD in package bond No Makefile in package bond [rosmake-6] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs No Makefile in package actionlib_msgs [rosmake-3] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs No Makefile in package geometry_msgs [rosmake-5] Finished <<< pluginlib ROS_NOBUILD in package pluginlib No Makefile in package pluginlib [rosmake-7] Starting >>> tf2_msgs [ make ]
[rosmake-2] Finished <<< roscpp ROS_NOBUILD in package roscpp No Makefile in package roscpp [rosmake-3] Starting >>> sensor_msgs [ make ]
[rosmake-6] Starting >>> visualization_msgs [ make ]
[rosmake-5] Starting >>> rosout [ make ]
[rosmake-2] Starting >>> rospy [ make ]
[rosmake-4] Starting >>> bondcpp [ make ]
[rosmake-2] Finished <<< rospy ROS_NOBUILD in package rospy No Makefile in package rospy [rosmake-6] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs No Makefile in package visualization_msgs [rosmake-5] Finished <<< rosout ROS_NOBUILD in package rosout No Makefile in package rosout [rosmake-3] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs No Makefile in package sensor_msgs [rosmake-7] Finished <<< tf2_msgs ROS_NOBUILD in package tf2_msgs5/61 Complete ] No Makefile in package tf2_msgs [rosmake-2] Starting >>> roslaunch [ make ]
[rosmake-4] Finished <<< bondcpp ROS_NOBUILD in package bondcpp No Makefile in package bondcpp [rosmake-0] Starting >>> tf2 [ make ]
[rosmake-7] Starting >>> nodelet [ make ]
[rosmake-2] Finished <<< roslaunch ROS_NOBUILD in package roslaunch No Makefile in package roslaunch [rosmake-2] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< tf2 ROS_NOBUILD in package tf2 No Makefile in package tf2 [rosmake-7] Finished <<< nodelet ROS_NOBUILD in package nodelet No Makefile in package nodelet [rosmake-0] Starting >>> tf2_py [ make ]
[rosmake-2] Finished <<< rostest ROS_NOBUILD in package rostest No Makefile in package rostest [rosmake-2] Starting >>> message_filters [ make ]
[rosmake-3] Starting >>> topic_tools [ make ]
[rosmake-0] Finished <<< tf2_py ROS_NOBUILD in package tf2_py No Makefile in package tf2_py [rosmake-2] Finished <<< message_filters ROS_NOBUILD in package message_filters No Makefile in package message_filters [rosmake-3] Finished <<< topic_tools ROS_NOBUILD in package topic_tools No Makefile in package topic_tools [rosmake-3] Starting >>> rosbag [ make ]
[rosmake-3] Finished <<< rosbag ROS_NOBUILD in package rosbag No Makefile in package rosbag [rosmake-3] Starting >>> rostopic [ make ]
[rosmake-0] Starting >>> rosmsg [ make ]
[rosmake-3] Finished <<< rostopic ROS_NOBUILD in package rostopic No Makefile in package rostopic [rosmake-3] Starting >>> rosnode [ make ]
[rosmake-0] Finished <<< rosmsg ROS_NOBUILD in package rosmsg No Makefile in package rosmsg [rosmake-0] Starting >>> rosservice [ make ]
[rosmake-3] Finished <<< rosnode ROS_NOBUILD in package rosnode No Makefile in package rosnode [rosmake-3] Starting >>> actionlib [ make ]
[rosmake-0] Finished <<< rosservice ROS_NOBUILD in package rosservice No Makefile in package rosservice [rosmake-0] Starting >>> roswtf [ make ]
[rosmake-3] Finished <<< actionlib ROS_NOBUILD in package actionlib No Makefile in package actionlib [rosmake-3] Starting >>> tf2_ros [ make ]
[rosmake-0] Finished <<< roswtf ROS_NOBUILD in package roswtf No Makefile in package roswtf [rosmake-3] Finished <<< tf2_ros ROS_NOBUILD in package tf2_ros No Makefile in package tf2_ros [rosmake-3] Starting >>> tf [ make ]
[rosmake-3] Finished <<< tf ROS_NOBUILD in package tf No Makefile in package tf [rosmake-0] Starting >>> interactive_markers [ make ]
[rosmake-3] Starting >>> laser_geometry [ make ]
[rosmake-0] Finished <<< interactive_markers ROS_NOBUILD in package interactive_markers No Makefile in package interactive_markers [rosmake-3] Finished <<< laser_geometry ROS_NOBUILD in package laser_geometry No Makefile in package laser_geometry [rosmake-1] Finished <<< csm [PASS] [ 3.04 seconds ]
[rosmake-1] Starting >>> omnimapper_ros [ make ]
[ rosmake ] Last 40 linesnimapper_ros: 21.4 sec ] [ 1 Active 60/61 Complete ] {------------------------------------------------------------------------------- ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:73:13: warning: ‘float omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::leafsize’ [-Wreorder] float leafsize; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:109:3: warning: when initialized here [-Wreorder] CanonicalScanMatcherPlugin::CanonicalScanMatcherPlugin (omnimapper::OmniMapperBase* mapper) : ^ In file included from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:1:0: /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:74:13: warning: ‘omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::scorethreshold’ will be initialized after [-Wreorder] float scorethreshold; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:69:14: warning: ‘double omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::transnoise’ [-Wreorder] double transnoise; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:109:3: warning: when initialized here [-Wreorder] CanonicalScanMatcherPlugin::CanonicalScanMatcherPlugin (omnimapper::OmniMapperBase* mapper) : ^ In file included from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:1:0: /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:88:12: warning: ‘omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::triggeredtime’ will be initialized after [-Wreorder] Time triggeredtime; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:55:29: warning: ‘tf::TransformListener omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::tflistener’ [-Wreorder] tf::TransformListener tflistener; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:109:3: warning: when initialized here [-Wreorder] CanonicalScanMatcherPlugin::CanonicalScanMatcherPlugin (omnimapper::OmniMapperBase* mapper) : ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp: In instantiation of ‘bool omnimapper::CanonicalScanMatcherPlugin::tryLoopClosure(gtsam::Symbol) [with LScanT = sensor_msgs::LaserScan_std::allocator]’: /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:543:28: required from here /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:498:94: warning: format ‘%d’ expects argument of type ‘int’, but argument 2 has type ‘std::size_t {aka long unsigned int}’ [-Wformat=] printf ("ADDED LOOP CLOSURE BETWEEN %d and %d!\n", sym.index (), closest_sym.index ()); ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:498:94: warning: format ‘%d’ expects argument of type ‘int’, but argument 3 has type ‘std::size_t {aka long unsigned int}’ [-Wformat=] make[3]: * [CMakeFiles/omnimapper_ros.dir/src/canonical_scan_matcher_plugin.cpp.o] Error 1 make[3]: Leaving directory `/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[2]: * [CMakeFiles/omnimapper_ros.dir/all] Error 2 make[2]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package omnimapper_ros written to: [ rosmake ] /home/meng/.ros/rosmake/rosmake_output-20141106-142527/omnimapper_ros/build_output.log [rosmake-1] Finished <<< omnimapper_ros [FAIL] [ 21.40 seconds ]
[ rosmake ] Halting due to failure in package omnimapper_ros. [ rosmake ] Waiting for other threads to complete. [ rosmake ] Results:
[ rosmake ] Built 61 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/meng/.ros/rosmake/rosmake_output-20141106-142527

atrevor commented 10 years ago

Hmm, I still didn't see the actual error. Could you: cd /home/meng/workspace/omnimapper/ros/omnimapper_ros/build make

and provide this output? Thanks!

LiliMeng commented 10 years ago

Thanks! I didn't see the rosmake errors too, it only displayed some warnings, but it has errors at last.

The following is the output using $make in the directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build

[ 0%] Built target rospack_genmsg_libexe [ 0%] Built target rosbuild_premsgsrvgen [ 17%] Built target ROSBUILD_gensrv_py [ 32%] Built target ROSBUILD_gensrv_cpp [ 46%] Built target ROSBUILD_gensrv_lisp [ 46%] Built target rospack_gensrv [ 46%] Built target rosbuild_precompile [ 50%] Building CXX object CMakeFiles/omnimapper_ros.dir/src/get_transform_functor_tf.cpp.o In file included from /usr/local/include/gtsam/geometry/Point3.h:24:0, from /usr/local/include/gtsam/geometry/Pose3.h:29, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/ros_tf_utils.h:3, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/get_transform_functor_tf.h:5, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/get_transform_functor_tf.cpp:1: /usr/local/include/gtsam/base/Matrix.h: In function ‘void gtsam::inplace_QR(MATRIX&)’: /usr/local/include/gtsam/base/Matrix.h:313:71: error: expected ‘;’ before ‘::’ token Eigen::internal::householder_qr_inplace_blocked<MATRIX, HCoeffsType>::run(A, hCoeffs, 48, temp.data()); ^ In file included from /usr/local/include/gtsam/geometry/Pose3.h:30:0, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/ros_tf_utils.h:3, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/get_transform_functor_tf.h:5, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/get_transform_functor_tf.cpp:1: /usr/local/include/gtsam/geometry/Rot3.h: In static member function ‘static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double)’: /usr/local/include/gtsam/geometry/Rot3.h:197:51: error: no matching function for call to ‘gtsam::Rot3::rodriguez(Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >&)’ { return rodriguez((Vector(3) << wx, wy, wz));} ^ /usr/local/include/gtsam/geometry/Rot3.h:197:51: note: candidates are: /usr/local/include/gtsam/geometry/Rot3.h:164:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&, double) static Rot3 rodriguez(const Vector& w, double theta); ^ /usr/local/include/gtsam/geometry/Rot3.h:164:17: note: candidate expects 2 arguments, 1 provided /usr/local/include/gtsam/geometry/Rot3.h:172:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Point3&, double) static Rot3 rodriguez(const Point3& w, double theta); ^ /usr/local/include/gtsam/geometry/Rot3.h:172:17: note: candidate expects 2 arguments, 1 provided /usr/local/include/gtsam/geometry/Rot3.h:180:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Unit3&, double) static Rot3 rodriguez(const Unit3& w, double theta); ^ /usr/local/include/gtsam/geometry/Rot3.h:180:17: note: candidate expects 2 arguments, 1 provided /usr/local/include/gtsam/geometry/Rot3.h:187:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&) static Rot3 rodriguez(const Vector& v); ^ /usr/local/include/gtsam/geometry/Rot3.h:187:17: note: no known conversion for argument 1 from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >’ to ‘const Vector& {aka const Eigen::Matrix<double, -1, 1>&}’ /usr/local/include/gtsam/geometry/Rot3.h:196:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double) static Rot3 rodriguez(double wx, double wy, double wz) ^ /usr/local/include/gtsam/geometry/Rot3.h:196:17: note: candidate expects 3 arguments, 1 provided In file included from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/ros_tf_utils.h:3:0, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/get_transform_functor_tf.h:5, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/get_transform_functortf.cpp:1: /usr/local/include/gtsam/geometry/Pose3.h: In static member function ‘static gtsam::Matrix gtsam::Pose3::wedge(double, double, double, double, double, double)’: /usr/local/include/gtsam/geometry/Pose3.h:226:28: error: could not convert ‘(&(&(&(&(&(&(&(&(&(&(&(&(&(& Eigen::DenseBase::operator<<(const Scalar&) [with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseBase::Scalar = double](%28 &0.0%29).Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((\ &(- wz))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& wy))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& vx))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& wz))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((* &(- wx))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& vy))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((* &(- wy))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& wx))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar_)(& vz))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0))’ from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, -1> >’ to ‘gtsam::Matrix {aka Eigen::Matrix<double, -1, -1>}’ 0., 0., 0., 0.); ^ make[2]: * [CMakeFiles/omnimapper_ros.dir/src/get_transform_functor_tf.cpp.o] Error 1 make[1]: * [CMakeFiles/omnimapper_ros.dir/all] Error 2 make: *\ [all] Error 2 make[1]: Leaving directory `/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package omnimapper_ros written to: [ rosmake ] /home/meng/.ros/rosmake/rosmake_output-20141110-180907/omnimapper_ros/build_output.log [rosmake-0] Finished <<< omnimapper_ros [FAIL] [ 8.83 seconds ]
[ rosmake ] Halting due to failure in package omnimapper_ros. [ rosmake ] Waiting for other threads to complete. [ rosmake ] Results:
[ rosmake ] Built 61 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/meng/.ros/rosmake/rosmake_output-20141110-180907

atrevor commented 9 years ago

Looks like you've not built against GTSAM's Eigen. Please re-read the last part of https://github.com/CognitiveRobotics/omnimapper/wiki/Installation-&-Dependencies , and make sure that you've modified the EIGEN_INCLUDE_DIRS to reflect the path to GTSAM's Eigen on your system.

LiliMeng commented 9 years ago

Thanks a lot! I have already changed the EIGEN_INCLUDE_DIRS, building omnimapper has no problem on the folder of omnimapper/build, only executing $rosmake under the directory of /omnimapper/ros/omnimapper_ros

Thanks :)

LiliMeng commented 9 years ago

Hi,

   Thanks for Carlos' help on compiling! It seems that it still have the following errors after changing Eigen directory and executing $rosmake. (There are no errors if just using $make -j4 in the build direcotry)

[ rosmake ] rosmake starting...
[ rosmake ] No package specified. Building ['omnimapper_ros']
[ rosmake ] Packages requested are: ['omnimapper_ros']
[ rosmake ] Logging to directory /home/meng/.ros/rosmake/rosmake_output-20141111-205306 [ rosmake ] Expanded args ['omnimapper_ros'] to: ['omnimapper_ros']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-1] Starting >>> csm [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin No Makefile in package catkin [rosmake-0] Starting >>> genmsg [ make ]
[rosmake-5] Starting >>> cpp_common [ make ]
[rosmake-3] Starting >>> cmake_modules [ make ]
[rosmake-2] Starting >>> rosclean [ make ]
[rosmake-4] Starting >>> rosgraph [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg No Makefile in package genmsg [rosmake-6] Starting >>> angles [ make ]
[rosmake-5] Finished <<< cpp_common ROS_NOBUILD in package cpp_common No Makefile in package cpp_common [rosmake-3] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules No Makefile in package cmake_modules [rosmake-5] Starting >>> rostime [ make ]
[rosmake-7] Starting >>> xmlrpcpp [ make ]
[rosmake-3] Starting >>> genlisp [ make ]
[rosmake-2] Finished <<< rosclean ROS_NOBUILD in package rosclean No Makefile in package rosclean [rosmake-0] Starting >>> genpy [ make ]
[rosmake-2] Starting >>> gencpp [ make ]
[rosmake-4] Finished <<< rosgraph ROS_NOBUILD in package rosgraph No Makefile in package rosgraph [rosmake-5] Finished <<< rostime ROS_NOBUILD in package rostime No Makefile in package rostime [rosmake-3] Finished <<< genlisp ROS_NOBUILD in package genlisp No Makefile in package genlisp [rosmake-6] Finished <<< angles ROS_NOBUILD in package angles No Makefile in package angles [rosmake-3] Starting >>> rospack [ make ]
[rosmake-7] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp No Makefile in package xmlrpcpp [rosmake-2] Finished <<< gencpp ROS_NOBUILD in package gencpp No Makefile in package gencpp [rosmake-5] Starting >>> roscpp_traits [ make ]
[rosmake-0] Finished <<< genpy ROS_NOBUILD in package genpy No Makefile in package genpy [rosmake-3] Finished <<< rospack ROS_NOBUILD in package rospack No Makefile in package rospack [rosmake-6] Starting >>> roslang [ make ]
[rosmake-5] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits No Makefile in package roscpp_traits [rosmake-7] Starting >>> roslib [ make ]
[rosmake-4] Starting >>> message_generation [ make ]
[rosmake-6] Finished <<< roslang ROS_NOBUILD in package roslang No Makefile in package roslang [rosmake-2] Starting >>> roscpp_serialization [ make ]
[rosmake-0] Starting >>> rosparam [ make ]
[rosmake-3] Starting >>> rosmaster [ make ]
[rosmake-5] Starting >>> smclib [ make ]
[rosmake-6] Starting >>> class_loader [ make ]
[rosmake-7] Finished <<< roslib ROS_NOBUILD in package roslib No Makefile in package roslib [rosmake-7] Starting >>> rosunit [ make ]
[rosmake-4] Finished <<< message_generation ROS_NOBUILD in package message_generation No Makefile in package message_generation [rosmake-2] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization No Makefile in package roscpp_serialization [rosmake-0] Finished <<< rosparam ROS_NOBUILD in package rosparam No Makefile in package rosparam [rosmake-3] Finished <<< rosmaster ROS_NOBUILD in package rosmaster No Makefile in package rosmaster [rosmake-6] Finished <<< class_loader ROS_NOBUILD in package class_loader No Makefile in package class_loader [rosmake-2] Starting >>> message_runtime [ make ]
[rosmake-5] Finished <<< smclib ROS_NOBUILD in package smclib No Makefile in package smclib [rosmake-7] Finished <<< rosunit ROS_NOBUILD in package rosunit No Makefile in package rosunit [rosmake-2] Finished <<< message_runtime ROS_NOBUILD in package message_runtime No Makefile in package message_runtime [rosmake-7] Starting >>> roslz4 [ make ]
[rosmake-4] Starting >>> std_msgs [ make ]
[rosmake-2] Starting >>> rosbuild [ make ]
[rosmake-2] Finished <<< rosbuild ROS_NOBUILD in package rosbuild No Makefile in package rosbuild [rosmake-2] Starting >>> rosconsole [ make ]
[rosmake-4] Finished <<< std_msgs ROS_NOBUILD in package std_msgs No Makefile in package std_msgs [rosmake-7] Finished <<< roslz4 ROS_NOBUILD in package roslz4 No Makefile in package roslz4 [rosmake-4] Starting >>> rosgraph_msgs [ make ]
[rosmake-7] Starting >>> actionlib_msgs [ make ]
[rosmake-0] Starting >>> rosbag_storage [ make ]
[rosmake-6] Starting >>> geometry_msgs [ make ]
[rosmake-3] Starting >>> bond [ make ]
[rosmake-2] Finished <<< rosconsole ROS_NOBUILD in package rosconsole No Makefile in package rosconsole [rosmake-2] Starting >>> pluginlib [ make ]
[rosmake-0] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage No Makefile in package rosbag_storage [rosmake-4] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs No Makefile in package rosgraph_msgs [rosmake-0] Starting >>> roscpp [ make ]
[rosmake-6] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs No Makefile in package geometry_msgs [rosmake-7] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs No Makefile in package actionlib_msgs [rosmake-3] Finished <<< bond ROS_NOBUILD in package bond No Makefile in package bond [rosmake-2] Finished <<< pluginlib ROS_NOBUILD in package pluginlib No Makefile in package pluginlib [rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp No Makefile in package roscpp [rosmake-2] Starting >>> rospy [ make ]
[rosmake-6] Starting >>> rosout [ make ]
[rosmake-0] Starting >>> tf2_msgs [ make ]
[rosmake-5] Starting >>> visualization_msgs [ make ]
[rosmake-3] Starting >>> bondcpp [ make ]
[rosmake-4] Starting >>> sensor_msgs [ make ]
[rosmake-2] Finished <<< rospy ROS_NOBUILD in package rospy No Makefile in package rospy [rosmake-0] Finished <<< tf2_msgs ROS_NOBUILD in package tf2_msgs No Makefile in package tf2_msgs [rosmake-3] Finished <<< bondcpp ROS_NOBUILD in package bondcpp No Makefile in package bondcpp [rosmake-0] Starting >>> tf2 [ make ]
[rosmake-3] Starting >>> nodelet [ make ]
[rosmake-6] Finished <<< rosout ROS_NOBUILD in package rosout No Makefile in package rosout [rosmake-5] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs No Makefile in package visualization_msgs [rosmake-6] Starting >>> roslaunch [ make ]
[rosmake-4] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs No Makefile in package sensor_msgs [rosmake-0] Finished <<< tf2 ROS_NOBUILD in package tf2 No Makefile in package tf2 [rosmake-6] Finished <<< roslaunch ROS_NOBUILD in package roslaunch No Makefile in package roslaunch [rosmake-6] Starting >>> rostest [ make ]
[rosmake-3] Finished <<< nodelet ROS_NOBUILD in package nodelet No Makefile in package nodelet [rosmake-0] Starting >>> tf2_py [ make ]
[rosmake-6] Finished <<< rostest ROS_NOBUILD in package rostest No Makefile in package rostest [rosmake-6] Starting >>> message_filters [ make ]
[rosmake-7] Starting >>> topic_tools [ make ]
[rosmake-0] Finished <<< tf2_py ROS_NOBUILD in package tf2_py No Makefile in package tf2_py [rosmake-6] Finished <<< message_filters ROS_NOBUILD in package message_filters No Makefile in package message_filters [rosmake-7] Finished <<< topic_tools ROS_NOBUILD in package topic_tools No Makefile in package topic_tools [rosmake-7] Starting >>> rosbag [ make ]
[rosmake-7] Finished <<< rosbag ROS_NOBUILD in package rosbag No Makefile in package rosbag [rosmake-7] Starting >>> rostopic [ make ]
[rosmake-4] Starting >>> rosmsg [ make ]
[rosmake-7] Finished <<< rostopic ROS_NOBUILD in package rostopic No Makefile in package rostopic [rosmake-7] Starting >>> rosnode [ make ]
[rosmake-4] Finished <<< rosmsg ROS_NOBUILD in package rosmsg No Makefile in package rosmsg [rosmake-4] Starting >>> rosservice [ make ]
[rosmake-7] Finished <<< rosnode ROS_NOBUILD in package rosnode No Makefile in package rosnode [rosmake-7] Starting >>> actionlib [ make ]
[rosmake-4] Finished <<< rosservice ROS_NOBUILD in package rosservice No Makefile in package rosservice [rosmake-0] Starting >>> roswtf [ make ]
[rosmake-7] Finished <<< actionlib ROS_NOBUILD in package actionlib No Makefile in package actionlib [rosmake-7] Starting >>> tf2_ros [ make ]
[rosmake-0] Finished <<< roswtf ROS_NOBUILD in package roswtf No Makefile in package roswtf [rosmake-7] Finished <<< tf2_ros ROS_NOBUILD in package tf2_ros No Makefile in package tf2_ros [rosmake-7] Starting >>> tf [ make ]
[rosmake-7] Finished <<< tf ROS_NOBUILD in package tf No Makefile in package tf [rosmake-7] Starting >>> interactive_markers [ make ]
[rosmake-2] Starting >>> laser_geometry [ make ]
[rosmake-7] Finished <<< interactive_markers ROS_NOBUILD in package interactive_markers No Makefile in package interactive_markers [rosmake-2] Finished <<< laser_geometry ROS_NOBUILD in package laser_geometry No Makefile in package laser_geometry [rosmake-1] Finished <<< csm [PASS] [ 1.41 seconds ]
[rosmake-1] Starting >>> omnimapper_ros [ make ]
[ rosmake ] Last 40 linesnimapper_ros: 21.3 sec ] [ 1 Active 60/61 Complete ] {------------------------------------------------------------------------------- ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:73:13: warning: ‘float omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::leafsize’ [-Wreorder] float leafsize; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:109:3: warning: when initialized here [-Wreorder] CanonicalScanMatcherPlugin::CanonicalScanMatcherPlugin (omnimapper::OmniMapperBase* mapper) : ^ In file included from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:1:0: /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:74:13: warning: ‘omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::scorethreshold’ will be initialized after [-Wreorder] float scorethreshold; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:69:14: warning: ‘double omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::transnoise’ [-Wreorder] double transnoise; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:109:3: warning: when initialized here [-Wreorder] CanonicalScanMatcherPlugin::CanonicalScanMatcherPlugin (omnimapper::OmniMapperBase* mapper) : ^ In file included from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:1:0: /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:88:12: warning: ‘omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::triggeredtime’ will be initialized after [-Wreorder] Time triggeredtime; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:55:29: warning: ‘tf::TransformListener omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::tflistener’ [-Wreorder] tf::TransformListener tflistener; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:109:3: warning: when initialized here [-Wreorder] CanonicalScanMatcherPlugin::CanonicalScanMatcherPlugin (omnimapper::OmniMapperBase* mapper) : ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp: In instantiation of ‘bool omnimapper::CanonicalScanMatcherPlugin::tryLoopClosure(gtsam::Symbol) [with LScanT = sensor_msgs::LaserScan_std::allocator]’: /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:543:28: required from here /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:498:94: warning: format ‘%d’ expects argument of type ‘int’, but argument 2 has type ‘std::size_t {aka long unsigned int}’ [-Wformat=] printf ("ADDED LOOP CLOSURE BETWEEN %d and %d!\n", sym.index (), closest_sym.index ()); ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:498:94: warning: format ‘%d’ expects argument of type ‘int’, but argument 3 has type ‘std::size_t {aka long unsigned int}’ [-Wformat=] make[3]: * [CMakeFiles/omnimapper_ros.dir/src/canonical_scan_matcher_plugin.cpp.o] Error 1 make[3]: Leaving directory `/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[2]: * [CMakeFiles/omnimapper_ros.dir/all] Error 2 make[2]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package omnimapper_ros written to: [ rosmake ] /home/meng/.ros/rosmake/rosmake_output-20141111-205306/omnimapper_ros/build_output.log [rosmake-1] Finished <<< omnimapper_ros [FAIL] [ 21.32 seconds ]
[ rosmake ] Halting due to failure in package omnimapper_ros. [ rosmake ] Waiting for other threads to complete. [ rosmake ] Results:
[ rosmake ] Built 61 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/meng/.ros/rosmake/rosmake_output-20141111-205306

atrevor commented 9 years ago

If make succeeds in the build directory, make / rosmake from the omnimapper_ros directory should also succeed. The provided output still doesn't include an error, so we can't help you debug it. Could you please post the output of both of the following:

roscd omnimapper_ros make

and

rosmake ominmapper_ros (maybe this is the above output?)

LiliMeng commented 9 years ago

Thanks a lot!:) The output of $roscd omnimapper_ros, $make is the following:

-- The imported target "vtkIOTCL" references the file "/usr/lib/libvtkIOTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkIOPythonD" references the file "/usr/lib/libvtkIOPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkIOJava" references the file "/usr/lib/jni/libvtkIOJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkRenderingTCL" references the file "/usr/lib/libvtkRenderingTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkRenderingPythonD" references the file "/usr/lib/libvtkRenderingPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkRenderingJava" references the file "/usr/lib/jni/libvtkRenderingJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/libvtkRenderingPythonTkWidgets.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkVolumeRenderingTCL" references the file "/usr/lib/libvtkVolumeRenderingTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkVolumeRenderingPythonD" references the file "/usr/lib/libvtkVolumeRenderingPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkVolumeRenderingJava" references the file "/usr/lib/jni/libvtkVolumeRenderingJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkHybridTCL" references the file "/usr/lib/libvtkHybridTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkHybridPythonD" references the file "/usr/lib/libvtkHybridPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkHybridJava" references the file "/usr/lib/jni/libvtkHybridJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkWidgetsTCL" references the file "/usr/lib/libvtkWidgetsTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkWidgetsPythonD" references the file "/usr/lib/libvtkWidgetsPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkWidgetsJava" references the file "/usr/lib/jni/libvtkWidgetsJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkParallelTCL" references the file "/usr/lib/libvtkParallelTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkParallelPythonD" references the file "/usr/lib/libvtkParallelPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkParallelJava" references the file "/usr/lib/jni/libvtkParallelJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkInfovisTCL" references the file "/usr/lib/libvtkInfovisTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkInfovisPythonD" references the file "/usr/lib/libvtkInfovisPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkInfovisJava" references the file "/usr/lib/jni/libvtkInfovisJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkGeovisTCL" references the file "/usr/lib/libvtkGeovisTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkGeovisPythonD" references the file "/usr/lib/libvtkGeovisPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkGeovisJava" references the file "/usr/lib/jni/libvtkGeovisJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkViewsTCL" references the file "/usr/lib/libvtkViewsTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkViewsPythonD" references the file "/usr/lib/libvtkViewsPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkViewsJava" references the file "/usr/lib/jni/libvtkViewsJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkChartsTCL" references the file "/usr/lib/libvtkChartsTCL.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkChartsPythonD" references the file "/usr/lib/libvtkChartsPythonD.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkChartsJava" references the file "/usr/lib/jni/libvtkChartsJava.so.5.8.0" but this file does not exist. Possible reasons include:

-- The imported target "vtkPythonCore" references the file "/usr/lib/libvtkPythonCore.so.5.8.0" but this file does not exist. Possible reasons include:

-- checking for module 'openni-dev' -- package 'openni-dev' not found -- looking for PCL_COMMON -- looking for PCL_KDTREE -- looking for PCL_OCTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_IO -- looking for PCL_2D -- looking for PCL_FEATURES -- looking for PCL_KEYPOINTS -- looking for PCL_GEOMETRY -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_GPU_CONTAINERS -- looking for PCL_GPU_UTILS -- looking for PCL_GPU_KINFU_LARGE_SCALE -- looking for PCL_GPU_OCTREE -- looking for PCL_GPU_KINFU -- looking for PCL_GPU_FEATURES -- looking for PCL_GPU_SEGMENTATION -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- looking for PCL_CUDA_COMMON -- looking for PCL_CUDA_FEATURES -- looking for PCL_CUDA_SEGMENTATION -- looking for PCL_CUDA_SAMPLE_CONSENSUS [rosbuild] Building package omnimapper_ros [rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost -- Using CATKIN_DEVEL_PREFIX: /home/meng/workspace/omnimapper/ros/omnimapper_ros/build/devel -- Using CMAKE_PREFIX_PATH: /home/meng/catkin_ws/devel;/opt/ros/indigo -- This workspace overlays: /home/meng/catkin_ws/devel;/opt/ros/indigo -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Skip enable_testing() for dry packages -- Using CATKIN_TEST_RESULTS_DIR: /home/meng/workspace/omnimapper/ros/omnimapper_ros/build/test_results -- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.6.9 -- Using these message generators: gencpp;genlisp;genpy [rosbuild] Including /opt/ros/indigo/share/roslisp/rosbuild/roslisp.cmake [rosbuild] Including /opt/ros/indigo/share/roscpp/rosbuild/roscpp.cmake

[rosbuild] Including /opt/ros/indigo/share/rospy/rosbuild/rospy.cmake

-- link dir='/usr/local/lib' -- link dir='/home/meng/workspace/omnimapper/ros/3rdparty/csm/lib' -- link dir='/opt/ros/indigo/lib' -- link dir='/home/meng/workspace/omnimapper/ros/omnimapper_ros/../../build' -- link dir='/home/meng/workspace/omnimapper/ros/omnimapper_ros/../../build/organized_segmentation_tools_dev' -- Configuring done -- Generating done -- Build files have been written to: /home/meng/workspace/omnimapper/ros/omnimapper_ros/build cd build && make make[1]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[2]: Entering directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' [ 0%] Built target rospack_genmsg_libexe make[3]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' [ 0%] Built target rosbuild_premsgsrvgen make[3]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' [ 17%] Built target ROSBUILD_gensrv_py make[3]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' [ 32%] Built target ROSBUILD_gensrv_lisp make[3]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' [ 46%] Built target ROSBUILD_gensrv_cpp make[3]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' [ 46%] Built target rospack_gensrv make[3]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' [ 46%] Built target rosbuild_precompile make[3]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[3]: Entering directory /home/meng/workspace/omnimapper/ros/omnimapper_ros/build' [ 50%] Building CXX object CMakeFiles/omnimapper_ros.dir/src/get_transform_functor_tf.cpp.o In file included from /usr/local/include/gtsam/geometry/Point3.h:24:0, from /usr/local/include/gtsam/geometry/Pose3.h:29, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/ros_tf_utils.h:3, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/get_transform_functor_tf.h:5, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/get_transform_functor_tf.cpp:1: /usr/local/include/gtsam/base/Matrix.h: In function ‘void gtsam::inplace_QR(MATRIX&)’: /usr/local/include/gtsam/base/Matrix.h:313:71: error: expected ‘;’ before ‘::’ token Eigen::internal::householder_qr_inplace_blocked<MATRIX, HCoeffsType>::run(A, hCoeffs, 48, temp.data()); ^ In file included from /usr/local/include/gtsam/geometry/Pose3.h:30:0, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/ros_tf_utils.h:3, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/get_transform_functor_tf.h:5, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/get_transform_functor_tf.cpp:1: /usr/local/include/gtsam/geometry/Rot3.h: In static member function ‘static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double)’: /usr/local/include/gtsam/geometry/Rot3.h:197:51: error: no matching function for call to ‘gtsam::Rot3::rodriguez(Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >&)’ { return rodriguez((Vector(3) << wx, wy, wz));} ^ /usr/local/include/gtsam/geometry/Rot3.h:197:51: note: candidates are: /usr/local/include/gtsam/geometry/Rot3.h:164:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&, double) static Rot3 rodriguez(const Vector& w, double theta); ^ /usr/local/include/gtsam/geometry/Rot3.h:164:17: note: candidate expects 2 arguments, 1 provided /usr/local/include/gtsam/geometry/Rot3.h:172:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Point3&, double) static Rot3 rodriguez(const Point3& w, double theta); ^ /usr/local/include/gtsam/geometry/Rot3.h:172:17: note: candidate expects 2 arguments, 1 provided /usr/local/include/gtsam/geometry/Rot3.h:180:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Unit3&, double) static Rot3 rodriguez(const Unit3& w, double theta); ^ /usr/local/include/gtsam/geometry/Rot3.h:180:17: note: candidate expects 2 arguments, 1 provided /usr/local/include/gtsam/geometry/Rot3.h:187:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&) static Rot3 rodriguez(const Vector& v); ^ /usr/local/include/gtsam/geometry/Rot3.h:187:17: note: no known conversion for argument 1 from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >’ to ‘const Vector& {aka const Eigen::Matrix<double, -1, 1>&}’ /usr/local/include/gtsam/geometry/Rot3.h:196:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double) static Rot3 rodriguez(double wx, double wy, double wz) ^ /usr/local/include/gtsam/geometry/Rot3.h:196:17: note: candidate expects 3 arguments, 1 provided In file included from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/ros_tf_utils.h:3:0, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/get_transform_functor_tf.h:5, from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/get_transform_functor_tf.cpp:1: /usr/local/include/gtsam/geometry/Pose3.h: In static member function ‘static gtsam::Matrix gtsam::Pose3::wedge(double, double, double, double, double, double)’: /usr/local/include/gtsam/geometry/Pose3.h:226:28: error: could not convert ‘(&(&(&(&(&(&(&(&(&(&(&(&(&(& Eigen::DenseBase<Derived>::operator<<(const Scalar&) [with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseBase<Derived>::Scalar = double]((* &0.0)).Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((* &(- wz))))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((*(const Scalar*)(& wy))))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((*(const Scalar*)(& vx))))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((*(const Scalar*)(& wz))))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((* &(- wx))))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((*(const Scalar*)(& vy))))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((* &(- wy))))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((*(const Scalar*)(& wx))))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((*(const Scalar*)(& vz))))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0)))->Eigen::CommaInitializer<MatrixType>::operator,<Eigen::Matrix<double, -1, -1> >((* &0.0))’ from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, -1> >’ to ‘gtsam::Matrix {aka Eigen::Matrix<double, -1, -1>}’ 0., 0., 0., 0.); ^ make[3]: *** [CMakeFiles/omnimapper_ros.dir/src/get_transform_functor_tf.cpp.o] Error 1 make[3]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[2]: * [CMakeFiles/omnimapper_ros.dir/all] Error 2 make[2]: Leaving directory `/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[1]: * [all] Error 2 make[1]: Leaving directory`/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make: *\ [all] Error 2

The $rosmake omnimapper_ros is the following:

[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['omnimapper_ros']
[ rosmake ] Logging to directory /home/meng/.ros/rosmake/rosmake_output-20141112-125405 [ rosmake ] Expanded args ['omnimapper_ros'] to: ['omnimapper_ros']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-1] Starting >>> csm [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin No Makefile in package catkin [rosmake-0] Starting >>> genmsg [ make ]
[rosmake-2] Starting >>> cpp_common [ make ]
[rosmake-3] Starting >>> cmake_modules [ make ]
[rosmake-2] Finished <<< cpp_common ROS_NOBUILD in package cpp_common No Makefile in package cpp_common [rosmake-4] Starting >>> rosgraph [ make ]
[rosmake-5] Starting >>> rosclean [ make ]
[rosmake-6] Starting >>> rostime [ make ]
[rosmake-3] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules No Makefile in package cmake_modules [rosmake-2] Starting >>> xmlrpcpp [ make ]
[rosmake-3] Starting >>> rospack [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg No Makefile in package genmsg [rosmake-4] Finished <<< rosgraph ROS_NOBUILD in package rosgraph No Makefile in package rosgraph [rosmake-7] Starting >>> angles [ make ]
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-4] Starting >>> rosparam [ make ]
[rosmake-5] Finished <<< rosclean ROS_NOBUILD in package rosclean No Makefile in package rosclean [rosmake-5] Starting >>> genpy [ make ]
[rosmake-6] Finished <<< rostime ROS_NOBUILD in package rostime No Makefile in package rostime [rosmake-4] Finished <<< rosparam ROS_NOBUILD in package rosparam No Makefile in package rosparam [rosmake-6] Starting >>> gencpp [ make ]
[rosmake-7] Finished <<< angles ROS_NOBUILD in package angles No Makefile in package angles [rosmake-7] Starting >>> roscpp_traits [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp No Makefile in package genlisp [rosmake-2] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp No Makefile in package xmlrpcpp [rosmake-4] Starting >>> roslang [ make ]
[rosmake-0] Starting >>> rosmaster [ make ]
[rosmake-2] Starting >>> smclib [ make ]
[rosmake-5] Finished <<< genpy ROS_NOBUILD in package genpy No Makefile in package genpy [rosmake-7] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits No Makefile in package roscpp_traits [rosmake-3] Finished <<< rospack ROS_NOBUILD in package rospack No Makefile in package rospack [rosmake-5] Starting >>> class_loader [ make ]
[rosmake-3] Starting >>> roslib [ make ]
[rosmake-7] Starting >>> roscpp_serialization [ make ]
[rosmake-6] Finished <<< gencpp ROS_NOBUILD in package gencpp No Makefile in package gencpp [rosmake-0] Finished <<< rosmaster ROS_NOBUILD in package rosmaster No Makefile in package rosmaster [rosmake-6] Starting >>> message_generation [ make ]
[rosmake-2] Finished <<< smclib ROS_NOBUILD in package smclib No Makefile in package smclib [rosmake-4] Finished <<< roslang ROS_NOBUILD in package roslang No Makefile in package roslang [rosmake-7] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization No Makefile in package roscpp_serialization [rosmake-7] Starting >>> message_runtime [ make ]
[rosmake-3] Finished <<< roslib ROS_NOBUILD in package roslib No Makefile in package roslib [rosmake-3] Starting >>> rosunit [ make ]
[rosmake-5] Finished <<< class_loader ROS_NOBUILD in package class_loader No Makefile in package class_loader [rosmake-7] Finished <<< message_runtime ROS_NOBUILD in package message_runtime No Makefile in package message_runtime [rosmake-6] Finished <<< message_generation ROS_NOBUILD in package message_generation No Makefile in package message_generation [rosmake-5] Starting >>> std_msgs [ make ]
[rosmake-3] Finished <<< rosunit ROS_NOBUILD in package rosunit No Makefile in package rosunit [rosmake-7] Starting >>> rosbuild [ make ]
[rosmake-3] Starting >>> roslz4 [ make ]
[rosmake-5] Finished <<< std_msgs ROS_NOBUILD in package std_msgs No Makefile in package std_msgs [rosmake-5] Starting >>> rosgraph_msgs [ make ]
[rosmake-0] Starting >>> actionlib_msgs [ make ]
[rosmake-7] Finished <<< rosbuild ROS_NOBUILD in package rosbuild No Makefile in package rosbuild [rosmake-7] Starting >>> rosconsole [ make ]
[rosmake-2] Starting >>> geometry_msgs [ make ]
[rosmake-3] Finished <<< roslz4 ROS_NOBUILD in package roslz4 No Makefile in package roslz4 [rosmake-4] Starting >>> bond [ make ]
[rosmake-5] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs No Makefile in package rosgraph_msgs [rosmake-0] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs No Makefile in package actionlib_msgs [rosmake-6] Starting >>> rosbag_storage [ make ]
[rosmake-7] Finished <<< rosconsole ROS_NOBUILD in package rosconsole No Makefile in package rosconsole [rosmake-7] Starting >>> roscpp [ make ]
[rosmake-3] Starting >>> pluginlib [ make ]
[rosmake-2] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs No Makefile in package geometry_msgs [rosmake-4] Finished <<< bond ROS_NOBUILD in package bond No Makefile in package bond [rosmake-2] Starting >>> tf2_msgs [ make ]
[rosmake-6] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage No Makefile in package rosbag_storage [rosmake-4] Starting >>> sensor_msgs [ make ]
[rosmake-6] Starting >>> visualization_msgs [ make ]
[rosmake-3] Finished <<< pluginlib ROS_NOBUILD in package pluginlib No Makefile in package pluginlib [rosmake-7] Finished <<< roscpp ROS_NOBUILD in package roscpp No Makefile in package roscpp [rosmake-7] Starting >>> rosout [ make ]
[rosmake-5] Starting >>> rospy [ make ]
[rosmake-0] Starting >>> bondcpp [ make ]
[rosmake-4] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs No Makefile in package sensor_msgs [rosmake-6] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs No Makefile in package visualization_msgs [rosmake-7] Finished <<< rosout ROS_NOBUILD in package rosout No Makefile in package rosout [rosmake-7] Starting >>> roslaunch [ make ]
[rosmake-0] Finished <<< bondcpp ROS_NOBUILD in package bondcpp No Makefile in package bondcpp [rosmake-5] Finished <<< rospy ROS_NOBUILD in package rospy No Makefile in package rospy [rosmake-7] Finished <<< roslaunch ROS_NOBUILD in package roslaunch No Makefile in package roslaunch [rosmake-7] Starting >>> rostest [ make ]
[rosmake-0] Starting >>> nodelet [ make ]
[rosmake-2] Finished <<< tf2_msgs ROS_NOBUILD in package tf2_msgs No Makefile in package tf2_msgs [rosmake-2] Starting >>> tf2 [ make ]
[rosmake-0] Finished <<< nodelet ROS_NOBUILD in package nodelet No Makefile in package nodelet [rosmake-7] Finished <<< rostest ROS_NOBUILD in package rostest No Makefile in package rostest [rosmake-7] Starting >>> message_filters [ make ]
[rosmake-5] Starting >>> topic_tools [ make ]
[rosmake-2] Finished <<< tf2 ROS_NOBUILD in package tf2 No Makefile in package tf2 [rosmake-6] Starting >>> tf2_py [ make ]
[rosmake-7] Finished <<< message_filters ROS_NOBUILD in package message_filters No Makefile in package message_filters [rosmake-5] Finished <<< topic_tools ROS_NOBUILD in package topic_tools No Makefile in package topic_tools [rosmake-5] Starting >>> rosbag [ make ]
[rosmake-6] Finished <<< tf2_py ROS_NOBUILD in package tf2_py No Makefile in package tf2_py [rosmake-5] Finished <<< rosbag ROS_NOBUILD in package rosbag No Makefile in package rosbag [rosmake-5] Starting >>> rostopic [ make ]
[rosmake-6] Starting >>> rosmsg [ make ]
[rosmake-6] Finished <<< rosmsg ROS_NOBUILD in package rosmsg No Makefile in package rosmsg [rosmake-6] Starting >>> rosservice [ make ]
[rosmake-5] Finished <<< rostopic ROS_NOBUILD in package rostopic No Makefile in package rostopic [rosmake-5] Starting >>> rosnode [ make ]
[rosmake-6] Finished <<< rosservice ROS_NOBUILD in package rosservice No Makefile in package rosservice [rosmake-5] Finished <<< rosnode ROS_NOBUILD in package rosnode No Makefile in package rosnode [rosmake-5] Starting >>> actionlib [ make ]
[rosmake-6] Starting >>> roswtf [ make ]
[rosmake-6] Finished <<< roswtf ROS_NOBUILD in package roswtf No Makefile in package roswtf [rosmake-5] Finished <<< actionlib ROS_NOBUILD in package actionlib No Makefile in package actionlib [rosmake-5] Starting >>> tf2_ros [ make ]
[rosmake-5] Finished <<< tf2_ros ROS_NOBUILD in package tf2_ros No Makefile in package tf2_ros [rosmake-5] Starting >>> tf [ make ]
[rosmake-5] Finished <<< tf ROS_NOBUILD in package tf No Makefile in package tf [rosmake-5] Starting >>> interactive_markers [ make ]
[rosmake-4] Starting >>> laser_geometry [ make ]
[rosmake-5] Finished <<< interactive_markers ROS_NOBUILD in package interactive_markers No Makefile in package interactive_markers [rosmake-4] Finished <<< laser_geometry ROS_NOBUILD in package laser_geometry No Makefile in package laser_geometry [rosmake-1] Finished <<< csm [PASS] [ 1.52 seconds ]
[rosmake-1] Starting >>> omnimapper_ros [ make ]
[ rosmake ] Last 40 linesnimapper_ros: 10.1 sec ] [ 1 Active 60/61 Complete ] {------------------------------------------------------------------------------- ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:73:13: warning: ‘float omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::leafsize’ [-Wreorder] float leafsize; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:109:3: warning: when initialized here [-Wreorder] CanonicalScanMatcherPlugin::CanonicalScanMatcherPlugin (omnimapper::OmniMapperBase* mapper) : ^ In file included from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:1:0: /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:74:13: warning: ‘omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::scorethreshold’ will be initialized after [-Wreorder] float scorethreshold; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:69:14: warning: ‘double omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::transnoise’ [-Wreorder] double transnoise; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:109:3: warning: when initialized here [-Wreorder] CanonicalScanMatcherPlugin::CanonicalScanMatcherPlugin (omnimapper::OmniMapperBase* mapper) : ^ In file included from /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:1:0: /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:88:12: warning: ‘omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::triggeredtime’ will be initialized after [-Wreorder] Time triggeredtime; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/include/omnimapper_ros/canonical_scan_matcher_plugin.h:55:29: warning: ‘tf::TransformListener omnimapper::CanonicalScanMatcherPlugin<sensormsgs::LaserScan<std::allocator > >::tflistener’ [-Wreorder] tf::TransformListener tflistener; ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:109:3: warning: when initialized here [-Wreorder] CanonicalScanMatcherPlugin::CanonicalScanMatcherPlugin (omnimapper::OmniMapperBase* mapper) : ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp: In instantiation of ‘bool omnimapper::CanonicalScanMatcherPlugin::tryLoopClosure(gtsam::Symbol) [with LScanT = sensor_msgs::LaserScan_std::allocator]’: /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:543:28: required from here /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:498:94: warning: format ‘%d’ expects argument of type ‘int’, but argument 2 has type ‘std::size_t {aka long unsigned int}’ [-Wformat=] printf ("ADDED LOOP CLOSURE BETWEEN %d and %d!\n", sym.index (), closest_sym.index ()); ^ /home/meng/workspace/omnimapper/ros/omnimapper_ros/src/canonical_scan_matcher_plugin.cpp:498:94: warning: format ‘%d’ expects argument of type ‘int’, but argument 3 has type ‘std::size_t {aka long unsigned int}’ [-Wformat=] make[3]: * [CMakeFiles/omnimapper_ros.dir/src/canonical_scan_matcher_plugin.cpp.o] Error 1 make[3]: Leaving directory `/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[2]: * [CMakeFiles/omnimapper_ros.dir/all] Error 2 make[2]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/meng/workspace/omnimapper/ros/omnimapper_ros/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package omnimapper_ros written to: [ rosmake ] /home/meng/.ros/rosmake/rosmake_output-20141112-125405/omnimapper_ros/build_output.log [rosmake-1] Finished <<< omnimapper_ros [FAIL] [ 10.09 seconds ]
[ rosmake ] Halting due to failure in package omnimapper_ros. [ rosmake ] Waiting for other threads to complete. [ rosmake ] Results:
[ rosmake ] Built 61 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/meng/.ros/rosmake/rosmake_output-20141112-125405

LiliMeng commented 9 years ago

Currently the EIGEN_INCLUDE_DIRS is where the Eigen of gtsam has been storaged /home/meng/workspace/gtsam-3.1.0/gtsam/3rdparty/Eigen

atrevor commented 9 years ago

hmm, the error is exactly the one I get if I build against the system Eigen, rather than GTSAM's Eigen. I set this by:

roscd omnimapper_ros cd build ccmake .. and manually edit EIGEN_INCLUDE_DIRS to the correct path, in your case /home/meng/workspace/gtsam-3.1.0/gtsam/3rdparty/Eigen

Could you confirm that the correct EIGEN_INCLUDE_DIRS is reflected via ccmake also? I'm not sure what else could be the issue.

LiliMeng commented 9 years ago

I see the problem! The Eigen directory has been changed in ~/workspace/omnimapper/build, but was not changed in ~/workspace/omnimapper/ros/omnimapper_ros/build, as in the latter directory, using $ccmake .., it shows that EIGEN_INCLUDE_DIRS is /usr/include/eigen3

Finally it works without any errors!!!

Thanks a lot to all of you! ! !:)

atrevor commented 9 years ago

Great, I'm glad to hear that it worked! Let us know if you have any further difficulties, and thanks for your patience with our slightly difficult build process.

Cheers, Alex