hi! i have some question: cd /far-planner-with-yolo but [far-planner-with-yolo-complete]

The most important thing is:catkin_make question

Invoking "cmake" failed

> CMake Error at /usr/share/cmake-3.10/Modules/FindBoost.cmake:1947 (message):
>   Unable to find the requested Boost libraries.
> 
>   Boost version: 1.65.1
> 
>   Boost include path: /usr/include
> 
>   Could not find the following Boost libraries:
> 
>           boost_python37
> 
>   No Boost libraries were found.  You may need to set BOOST_LIBRARYDIR to the
>   directory containing Boost libraries or BOOST_ROOT to the location of
>   Boost.

I don't know how to solve it

Thanks

Yes, in a difficult environment, to solve this problem, but new problems have emerged! /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/vision_opencv/cv_bridge/CMakeLists.txt file have chang!

but ,

/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/src/detection.cpp: In member function ‘void Detection::ReadModel()’: /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/src/detection.cpp:96:15: error: ‘readNetFromDarknet’ was not declared in this scope m_model = readNetFromDarknet(modelConfig, modelWeights); ^~~~~~ /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/src/detection.cpp:97:13: error: ‘class cv::dnn::Net’ has no member named ‘setPreferableBackend’ m_model.setPreferableBackend(DNN_BACKEND_OPENCV); ^~~~~~~~ /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/src/detection.cpp:97:34: error: ‘DNN_BACKEND_OPENCV’ was not declared in this scope m_model.setPreferableBackend(DNN_BACKEND_OPENCV); ^~~~~~ /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/src/detection.cpp:98:13: error: ‘class cv::dnn::Net’ has no member named ‘setPreferableTarget’ m_model.setPreferableTarget(DNN_TARGET_OPENCL); ^~~~~~~ /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/src/detection.cpp:98:33: error: ‘DNN_TARGET_OPENCL’ was not declared in this scope m_model.setPreferableTarget(DNN_TARGET_OPENCL); ^~~~~ /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/src/detection.cpp: In member function ‘bool Detection::Detecting(cv::Mat)’: /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/src/detection.cpp:105:5: error: ‘blobFromImage’ was not declared in this scope blobFromImage(m_frame, m_blob, 1 / 255.0, Size(m_inpWidth, m_inpHeight)); ^~~~~ /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/src/detection.cpp:106:13: error: ‘class cv::dnn::Net’ has no member named ‘setInput’; did you mean ‘setNetInputs’? m_model.setInput(m_blob);


    m_model = readNetFromDarknet(modelConfig, modelWeights);
    m_model.setPreferableBackend(DNN_BACKEND_OPENCV);
    m_model.setPreferableTarget(DNN_TARGET_OPENCL);

in it?

please make sure your openCV version is right, above 3.3. and your ubuntu is 20.04 or 18.04 with ROS melodic or noetic, i have double check already the catkin_make is good to build 100%

lqz@lqz:~/下载/far-planner-with-yolo-complete-Noetic$ catkin_make Base path: /home/lqz/下载/far-planner-with-yolo-complete-Noetic Source space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/src Build space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/build Devel space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel Install space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/install Creating symlink "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/src/CMakeLists.txt" pointing to "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake"

Running command: "cmake /home/lqz/下载/far-planner-with-yolo-complete-Noetic/src -DCATKIN_DEVEL_PREFIX=/home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel -DCMAKE_INSTALL_PREFIX=/home/lqz/下载/far-planner-with-yolo-complete-Noetic/install -G Unix Makefiles" in "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/build"

-- The C compiler identification is GNU 9.4.0 -- The CXX compiler identification is GNU 9.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/noetic -- This workspace overlays: /opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Found PY_em: /usr/lib/python3/dist-packages/em.py
-- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/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 "3.8.10") -- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.10 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~ -- ~~ traversing 11 packages in topological order: -- ~~ - opencv_tests -- ~~ - vision_opencv (metapackage) -- ~~ - cv_bridge -- ~~ - image_geometry -- ~~ - goalpoint_rviz_plugin -- ~~ - teleop_rviz_plugin -- ~~ - visibility_graph_msg -- ~~ - boundary_handler -- ~~ - far_planner -- ~~ - graph_decoder -- ~~ - yolo -- ~~~~~~~~~~~~~ -- +++ processing catkin package: 'opencv_tests' -- ==> add_subdirectory(vision_opencv/opencv_tests) -- +++ processing catkin metapackage: 'vision_opencv' -- ==> add_subdirectory(vision_opencv/vision_opencv) -- +++ processing catkin package: 'cv_bridge' -- ==> add_subdirectory(vision_opencv/cv_bridge) -- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.8.so (found version "3.8.10") -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: python -- Found OpenCV: /usr/local (found suitable version "4.5.4", minimum required is "4") found components: opencv_core opencv_imgproc opencv_imgcodecs -- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.8.so (found suitable version "3.8.10", minimum required is "3.8") -- +++ processing catkin package: 'image_geometry' -- ==> add_subdirectory(vision_opencv/image_geometry) -- Found OpenCV: /usr/local (found version "4.5.4") -- +++ processing catkin package: 'goalpoint_rviz_plugin' -- ==> add_subdirectory(goalpoint_rviz_plugin) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Using Qt5 based on the rviz_QT_VERSION: 5.12.8 -- +++ processing catkin package: 'teleop_rviz_plugin' -- ==> add_subdirectory(teleop_rviz_plugin) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Using Qt5 based on the rviz_QT_VERSION: 5.12.8 -- +++ processing catkin package: 'visibility_graph_msg' -- ==> add_subdirectory(visibility_graph_msg) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- visibility_graph_msg: 2 messages, 0 services -- +++ processing catkin package: 'boundary_handler' -- ==> add_subdirectory(boundary_handler) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Checking for module 'eigen3' -- Found eigen3, version 3.3.7 -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex -- Checking for module 'flann' -- Found flann, version 1.9.1 -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.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.

-- Checking for module 'libusb-1.0' -- Found libusb-1.0, version 1.0.23 -- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so
-- Found OpenNI: /usr/lib/libOpenNI.so
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- Found OpenNI2: /usr/lib/libOpenNI2.so
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) WARNING io features related to pcap will be disabled WARNING io features related to png will be disabled -- Found libusb-1.0: /usr/include
WARNING io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so
-- 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) -- looking for PCL_COMMON -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
-- looking for PCL_KDTREE -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
-- looking for PCL_OCTREE -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
-- looking for PCL_SEARCH -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
-- looking for PCL_SAMPLE_CONSENSUS -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
-- looking for PCL_FILTERS -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
-- looking for PCL_2D -- Found PCL_2D: /usr/include/pcl-1.10
-- looking for PCL_GEOMETRY -- Found PCL_GEOMETRY: /usr/include/pcl-1.10
-- looking for PCL_IO -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
-- looking for PCL_FEATURES -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
-- looking for PCL_ML -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so
-- looking for PCL_SEGMENTATION -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
-- looking for PCL_VISUALIZATION -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
-- looking for PCL_SURFACE -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
-- looking for PCL_REGISTRATION -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
-- looking for PCL_KEYPOINTS -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
-- looking for PCL_TRACKING -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
-- looking for PCL_RECOGNITION -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
-- looking for PCL_STEREO -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so
-- looking for PCL_APPS -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so
-- looking for PCL_IN_HAND_SCANNER -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.10
-- looking for PCL_POINT_CLOUD_EDITOR -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.10
-- looking for PCL_OUTOFCORE -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
-- looking for PCL_PEOPLE -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN
-- +++ processing catkin package: 'far_planner' -- ==> add_subdirectory(far_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- 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.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) WARNING io features related to pcap will be disabled WARNING io features related to png will be disabled WARNING io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- 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) -- 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_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- +++ processing catkin package: 'graph_decoder' -- ==> add_subdirectory(graph_decoder) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'yolo' -- ==> add_subdirectory(yolo) -- Configuring done -- Generating done -- Build files have been written to: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/build

Running command: "make -j12 -l12" in "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/build"

Scanning dependencies of target std_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_nodejs Scanning dependencies of target sensor_msgs_generate_messages_cpp Scanning dependencies of target std_msgs_generate_messages_cpp Scanning dependencies of target geometry_msgs_generate_messages_eus Scanning dependencies of target std_msgs_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_nodejs Scanning dependencies of target sensor_msgs_generate_messages_eus Scanning dependencies of target geometry_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_eus Scanning dependencies of target geometry_msgs_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_eus [ 0%] Built target sensor_msgs_generate_messages_eus [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target sensor_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target sensor_msgs_generate_messages_nodejs [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target sensor_msgs_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_py Scanning dependencies of target geometry_msgs_generate_messages_nodejs Scanning dependencies of target tf2_msgs_generate_messages_cpp Scanning dependencies of target tf2_msgs_generate_messages_nodejs Scanning dependencies of target std_srvs_generate_messages_cpp Scanning dependencies of target geometry_msgs_generate_messages_cpp Scanning dependencies of target std_srvs_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_py Scanning dependencies of target rosgraph_msgs_generate_messages_nodejs Scanning dependencies of target actionlib_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_nodejs [ 0%] Built target tf2_msgs_generate_messages_nodejs [ 0%] Built target std_srvs_generate_messages_nodejs [ 0%] Built target tf2_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_cpp Scanning dependencies of target nav_msgs_generate_messages_eus [ 0%] Built target std_srvs_generate_messages_cpp [ 0%] Built target sensor_msgs_generate_messages_py [ 0%] Built target rosgraph_msgs_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_cpp [ 0%] Built target actionlib_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_py Scanning dependencies of target actionlib_generate_messages_nodejs Scanning dependencies of target visualization_msgs_generate_messages_cpp [ 0%] Built target nav_msgs_generate_messages_eus Scanning dependencies of target map_msgs_generate_messages_eus Scanning dependencies of target tf2_msgs_generate_messages_eus Scanning dependencies of target rviz_generate_messages_py Scanning dependencies of target roscpp_generate_messages_eus Scanning dependencies of target roscpp_generate_messages_cpp Scanning dependencies of target actionlib_generate_messages_lisp [ 0%] Built target visualization_msgs_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_eus [ 0%] Built target actionlib_generate_messages_nodejs [ 0%] Built target map_msgs_generate_messages_eus Scanning dependencies of target roscpp_generate_messages_lisp Scanning dependencies of target roscpp_generate_messages_py Scanning dependencies of target rviz_generate_messages_nodejs [ 0%] Built target rviz_generate_messages_py [ 0%] Built target roscpp_generate_messages_eus [ 0%] Built target roscpp_generate_messages_cpp Scanning dependencies of target roscpp_generate_messages_nodejs [ 0%] Built target actionlib_generate_messages_lisp Scanning dependencies of target rosgraph_msgs_generate_messages_cpp Scanning dependencies of target actionlib_generate_messages_eus [ 0%] Built target roscpp_generate_messages_lisp Scanning dependencies of target actionlib_msgs_generate_messages_lisp [ 0%] Built target roscpp_generate_messages_py Scanning dependencies of target actionlib_generate_messages_py [ 0%] Built target rviz_generate_messages_nodejs Scanning dependencies of target tf_generate_messages_py Scanning dependencies of target std_srvs_generate_messages_py [ 0%] Built target roscpp_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_nodejs Scanning dependencies of target rosgraph_msgs_generate_messages_eus [ 0%] Built target rosgraph_msgs_generate_messages_cpp Scanning dependencies of target tf_generate_messages_eus [ 0%] Built target actionlib_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_lisp [ 0%] Built target actionlib_generate_messages_py Scanning dependencies of target rosgraph_msgs_generate_messages_lisp [ 0%] Built target tf_generate_messages_py [ 0%] Built target rosgraph_msgs_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_nodejs [ 0%] Built target std_srvs_generate_messages_py Scanning dependencies of target map_msgs_generate_messages_nodejs Scanning dependencies of target rviz_generate_messages_lisp Scanning dependencies of target actionlib_msgs_generate_messages_eus [ 0%] Built target tf_generate_messages_eus Scanning dependencies of target tf2_msgs_generate_messages_lisp [ 0%] Built target rosgraph_msgs_generate_messages_lisp Scanning dependencies of target rviz_generate_messages_cpp Scanning dependencies of target tf2_msgs_generate_messages_py Scanning dependencies of target nav_msgs_generate_messages_cpp Scanning dependencies of target nav_msgs_generate_messages_nodejs Scanning dependencies of target rosgraph_msgs_generate_messages_py Scanning dependencies of target visualization_msgs_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_eus [ 0%] Built target rviz_generate_messages_lisp Scanning dependencies of target visualization_msgs_generate_messages_nodejs [ 0%] Built target map_msgs_generate_messages_nodejs Scanning dependencies of target visualization_msgs_generate_messages_lisp [ 0%] Built target tf2_msgs_generate_messages_lisp [ 0%] Built target rosgraph_msgs_generate_messages_py [ 0%] Built target visualization_msgs_generate_messages_eus [ 0%] Built target nav_msgs_generate_messages_cpp [ 0%] Built target rviz_generate_messages_cpp [ 0%] Built target nav_msgs_generate_messages_nodejs Scanning dependencies of target visualization_msgs_generate_messages_py Scanning dependencies of target tf_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_py Scanning dependencies of target map_msgs_generate_messages_cpp [ 0%] Built target visualization_msgs_generate_messages_nodejs [ 0%] Built target visualization_msgs_generate_messages_lisp Scanning dependencies of target rviz_generate_messages_eus Scanning dependencies of target map_msgs_generate_messages_lisp Scanning dependencies of target tf_generate_messages_lisp Scanning dependencies of target map_msgs_generate_messages_py Scanning dependencies of target tf_generate_messages_nodejs Scanning dependencies of target nav_msgs_generate_messages_lisp [ 0%] Built target visualization_msgs_generate_messages_py Scanning dependencies of target nav_msgs_generate_messages_py [ 0%] Built target tf_generate_messages_cpp [ 0%] Built target map_msgs_generate_messages_cpp Scanning dependencies of target std_srvs_generate_messages_eus Scanning dependencies of target std_srvs_generate_messages_lisp [ 0%] Built target rviz_generate_messages_eus [ 0%] Built target tf_generate_messages_lisp [ 0%] Built target map_msgs_generate_messages_py [ 0%] Built target map_msgs_generate_messages_lisp [ 0%] Built target tf_generate_messages_nodejs Scanning dependencies of target teleop_rviz_plugin_autogen [ 0%] Built target nav_msgs_generate_messages_py [ 0%] Built target nav_msgs_generate_messages_lisp Scanning dependencies of target _visibility_graph_msg_generate_messages_check_deps_Graph Scanning dependencies of target _visibility_graph_msg_generate_messages_check_deps_Node [ 0%] Built target std_srvs_generate_messages_eus Scanning dependencies of target nodelet_generate_messages_py [ 0%] Built target std_srvs_generate_messages_lisp Scanning dependencies of target topic_tools_generate_messages_nodejs Scanning dependencies of target nodelet_generate_messages_lisp [ 2%] Automatic MOC for target teleop_rviz_plugin Scanning dependencies of target nodelet_generate_messages_eus Scanning dependencies of target bond_generate_messages_lisp Scanning dependencies of target pcl_msgs_generate_messages_lisp Scanning dependencies of target pcl_msgs_generate_messages_nodejs Scanning dependencies of target pcl_ros_gencfg [ 2%] Built target nodelet_generate_messages_py Scanning dependencies of target dynamic_reconfigure_generate_messages_lisp [ 2%] Built target nodelet_generate_messages_lisp [ 2%] Built target pcl_msgs_generate_messages_lisp [ 2%] Built target nodelet_generate_messages_eus [ 2%] Built target bond_generate_messages_lisp [ 2%] Built target pcl_msgs_generate_messages_nodejs [ 2%] Built target pcl_ros_gencfg [ 2%] Built target topic_tools_generate_messages_nodejs Scanning dependencies of target topic_tools_generate_messages_py Scanning dependencies of target dynamic_reconfigure_generate_messages_py [ 2%] Built target dynamic_reconfigure_generate_messages_lisp Scanning dependencies of target dynamic_reconfigure_gencfg Scanning dependencies of target pcl_msgs_generate_messages_py Scanning dependencies of target nodelet_generate_messages_cpp Scanning dependencies of target dynamic_reconfigure_generate_messages_eus Scanning dependencies of target pcl_msgs_generate_messages_eus Scanning dependencies of target topic_tools_generate_messages_cpp [ 2%] Built target topic_tools_generate_messages_py [ 2%] Built target nodelet_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_py [ 2%] Built target pcl_msgs_generate_messages_py [ 2%] Built target dynamic_reconfigure_gencfg Scanning dependencies of target bond_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_eus [ 2%] Built target pcl_msgs_generate_messages_eus [ 2%] Built target topic_tools_generate_messages_cpp [ 2%] Built target _visibility_graph_msg_generate_messages_check_deps_Graph Scanning dependencies of target topic_tools_generate_messages_lisp Scanning dependencies of target nodelet_generate_messages_nodejs Scanning dependencies of target bond_generate_messages_eus Scanning dependencies of target bond_generate_messages_nodejs Scanning dependencies of target dynamic_reconfigure_generate_messages_nodejs Scanning dependencies of target bond_generate_messages_py [ 2%] Built target bond_generate_messages_cpp Scanning dependencies of target pcl_msgs_generate_messages_cpp [ 2%] Built target _visibility_graph_msg_generate_messages_check_deps_Node Scanning dependencies of target nodelet_topic_tools_gencfg [ 2%] Built target topic_tools_generate_messages_lisp [ 2%] Built target dynamic_reconfigure_generate_messages_nodejs [ 2%] Built target bond_generate_messages_eus [ 2%] Built target nodelet_generate_messages_nodejs [ 2%] Built target bond_generate_messages_nodejs Scanning dependencies of target dynamic_reconfigure_generate_messages_cpp Scanning dependencies of target topic_tools_generate_messages_eus [ 2%] Built target bond_generate_messages_py [ 2%] Built target pcl_msgs_generate_messages_cpp [ 2%] Built target nodelet_topic_tools_gencfg Scanning dependencies of target cv_bridge Scanning dependencies of target goalpoint_rviz_plugin_autogen Scanning dependencies of target visibility_graph_msg_generate_messages_nodejs Scanning dependencies of target image_geometry Scanning dependencies of target visibility_graph_msg_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_cpp [ 2%] Built target topic_tools_generate_messages_eus Scanning dependencies of target visibility_graph_msg_generate_messages_lisp Scanning dependencies of target visibility_graph_msg_generate_messages_eus Scanning dependencies of target visibility_graph_msg_generate_messages_py [ 4%] Generating Javascript code from visibility_graph_msg/Node.msg [ 6%] Generating Javascript code from visibility_graph_msg/Graph.msg [ 8%] Automatic MOC for target goalpoint_rviz_plugin [ 10%] Generating C++ code from visibility_graph_msg/Node.msg [ 12%] Generating C++ code from visibility_graph_msg/Graph.msg [ 14%] Generating Lisp code from visibility_graph_msg/Graph.msg [ 16%] Generating EusLisp code from visibility_graph_msg/Node.msg [ 18%] Generating Lisp code from visibility_graph_msg/Node.msg [ 20%] Generating Python from MSG visibility_graph_msg/Node [ 22%] Building CXX object vision_opencv/image_geometry/CMakeFiles/image_geometry.dir/src/pinhole_camera_model.cpp.o [ 25%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge.dir/cv_bridge.cpp.o [ 27%] Generating Python from MSG visibility_graph_msg/Graph [ 27%] Built target visibility_graph_msg_generate_messages_nodejs [ 29%] Building CXX object vision_opencv/image_geometry/CMakeFiles/image_geometry.dir/src/stereo_camera_model.cpp.o [ 29%] Built target visibility_graph_msg_generate_messages_lisp [ 31%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge.dir/rgb_colors.cpp.o [ 33%] Generating EusLisp code from visibility_graph_msg/Graph.msg [ 35%] Generating EusLisp manifest code for visibility_graph_msg [ 35%] Built target visibility_graph_msg_generate_messages_cpp [ 37%] Generating Python msg init.py for visibility_graph_msg [ 37%] Built target visibility_graph_msg_generate_messages_py [ 37%] Built target visibility_graph_msg_generate_messages_eus [ 37%] Built target teleop_rviz_plugin_autogen Scanning dependencies of target visibility_graph_msg_generate_messages Scanning dependencies of target graph_decoder Scanning dependencies of target boundary_handler Scanning dependencies of target far_planner [ 37%] Built target visibility_graph_msg_generate_messages Scanning dependencies of target teleop_rviz_plugin [ 39%] Building CXX object teleop_rviz_plugin/CMakeFiles/teleop_rviz_plugin.dir/teleop_rviz_plugin_autogen/mocs_compilation.cpp.o
[ 41%] Building CXX object teleop_rviz_plugin/CMakeFiles/teleop_rviz_plugin.dir/src/drive_widget.cpp.o [ 43%] Building CXX object teleop_rviz_plugin/CMakeFiles/teleop_rviz_plugin.dir/src/teleop_panel.cpp.o [ 45%] Building CXX object graph_decoder/CMakeFiles/graph_decoder.dir/src/decoder_node.cpp.o [ 47%] Building CXX object boundary_handler/CMakeFiles/boundary_handler.dir/src/graph_extractor.cpp.o [ 52%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/dynamic_graph.cpp.o [ 52%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/far_planner.cpp.o [ 54%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/planner_visualizer.cpp.o [ 54%] Built target goalpoint_rviz_plugin_autogen Scanning dependencies of target goalpoint_rviz_plugin [ 56%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/utility.cpp.o [ 58%] Building CXX object goalpoint_rviz_plugin/CMakeFiles/goalpoint_rviz_plugin.dir/goalpoint_rviz_plugin_autogen/mocs_compilation.cpp.o
[ 60%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libimage_geometry.so [ 60%] Built target image_geometry [ 62%] Building CXX object goalpoint_rviz_plugin/CMakeFiles/goalpoint_rviz_plugin.dir/src/goalpoint_tool.cpp.o [ 64%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/graph_planner.cpp.o [ 66%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libcv_bridge.so [ 66%] Built target cv_bridge Scanning dependencies of target cv_bridge_boost [ 68%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module.cpp.o [ 70%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module_opencv4.cpp.o [ 72%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libteleop_rviz_plugin.so [ 72%] Built target teleop_rviz_plugin Scanning dependencies of target yolo [ 75%] Building CXX object yolo/CMakeFiles/yolo.dir/src/detection.cpp.o [ 77%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/contour_detector.cpp.o [ 79%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/contour_graph.cpp.o [ 81%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libgoalpoint_rviz_plugin.so [ 81%] Built target goalpoint_rviz_plugin [ 83%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/map_handler.cpp.o [ 85%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/python3/dist-packages/cv_bridge/boost/cv_bridge_boost.so [ 85%] Built target cv_bridge_boost [ 87%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/scan_handler.cpp.o [ 89%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/boundary_handler/boundary_handler [ 91%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/graph_decoder/graph_decoder [ 93%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/yolo/yolo [ 93%] Built target boundary_handler [ 95%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/graph_msger.cpp.o [ 95%] Built target yolo [ 95%] Built target graph_decoder [ 97%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/terrain_planner.cpp.o [100%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/far_planner/far_planner [100%] Built target far_planner

lqz@lqz:~/下载/far-planner-with-yolo-complete-Noetic$ catkin_make Base path: /home/lqz/下载/far-planner-with-yolo-complete-Noetic Source space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/src Build space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/build Devel space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel Install space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/install Creating symlink "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/src/CMakeLists.txt" pointing to "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake"

Running command: "cmake /home/lqz/下载/far-planner-with-yolo-complete-Noetic/src -DCATKIN_DEVEL_PREFIX=/home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel -DCMAKE_INSTALL_PREFIX=/home/lqz/下载/far-planner-with-yolo-complete-Noetic/install -G Unix Makefiles" in "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/build"

-- The C compiler identification is GNU 9.4.0 -- The CXX compiler identification is GNU 9.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/noetic -- This workspace overlays: /opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Found PY_em: /usr/lib/python3/dist-packages/em.py -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/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 "3.8.10") -- Found Threads: TRUE -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.10 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~ -- ~~ traversing 11 packages in topological order: -- ~~ - opencv_tests -- ~~ - vision_opencv (metapackage) -- ~~ - cv_bridge -- ~~ - image_geometry -- ~~ - goalpoint_rviz_plugin -- ~~ - teleop_rviz_plugin -- ~~ - visibility_graph_msg -- ~~ - boundary_handler -- ~~ - far_planner -- ~~ - graph_decoder -- ~~ - yolo -- ~~~~~~~~~~~ -- +++ processing catkin package: 'opencv_tests' -- ==> add_subdirectory(vision_opencv/opencv_tests) -- +++ processing catkin metapackage: 'vision_opencv' -- ==> add_subdirectory(vision_opencv/vision_opencv) -- +++ processing catkin package: 'cv_bridge' -- ==> add_subdirectory(vision_opencv/cv_bridge) -- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.8.so (found version "3.8.10") -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: python -- Found OpenCV: /usr/local (found suitable version "4.5.4", minimum required is "4") found components: opencv_core opencv_imgproc opencv_imgcodecs -- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.8.so (found suitable version "3.8.10", minimum required is "3.8") -- +++ processing catkin package: 'image_geometry' -- ==> add_subdirectory(vision_opencv/image_geometry) -- Found OpenCV: /usr/local (found version "4.5.4") -- +++ processing catkin package: 'goalpoint_rviz_plugin' -- ==> add_subdirectory(goalpoint_rviz_plugin) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Using Qt5 based on the rviz_QT_VERSION: 5.12.8 -- +++ processing catkin package: 'teleop_rviz_plugin' -- ==> add_subdirectory(teleop_rviz_plugin) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Using Qt5 based on the rviz_QT_VERSION: 5.12.8 -- +++ processing catkin package: 'visibility_graph_msg' -- ==> add_subdirectory(visibility_graph_msg) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- visibility_graph_msg: 2 messages, 0 services -- +++ processing catkin package: 'boundary_handler' -- ==> add_subdirectory(boundary_handler) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Checking for module 'eigen3' -- Found eigen3, version 3.3.7 -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex -- Checking for module 'flann' -- Found flann, version 1.9.1 -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.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.
-- Checking for module 'libusb-1.0' -- Found libusb-1.0, version 1.0.23 -- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so -- Found OpenNI: /usr/lib/libOpenNI.so -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- Found OpenNI2: /usr/lib/libOpenNI2.so -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) WARNING io features related to pcap will be disabled WARNING io features related to png will be disabled -- Found libusb-1.0: /usr/include WARNING io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so -- 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) -- looking for PCL_COMMON -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so -- looking for PCL_KDTREE -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so -- looking for PCL_OCTREE -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so -- looking for PCL_SEARCH -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so -- looking for PCL_SAMPLE_CONSENSUS -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so -- looking for PCL_FILTERS -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so -- looking for PCL_2D -- Found PCL_2D: /usr/include/pcl-1.10 -- looking for PCL_GEOMETRY -- Found PCL_GEOMETRY: /usr/include/pcl-1.10 -- looking for PCL_IO -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so -- looking for PCL_FEATURES -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so -- looking for PCL_ML -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so -- looking for PCL_SEGMENTATION -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so -- looking for PCL_VISUALIZATION -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so -- looking for PCL_SURFACE -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so -- looking for PCL_REGISTRATION -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so -- looking for PCL_KEYPOINTS -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so -- looking for PCL_TRACKING -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so -- looking for PCL_RECOGNITION -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so -- looking for PCL_STEREO -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so -- looking for PCL_APPS -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so -- looking for PCL_IN_HAND_SCANNER -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.10 -- looking for PCL_POINT_CLOUD_EDITOR -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.10 -- looking for PCL_OUTOFCORE -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so -- looking for PCL_PEOPLE -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so -- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN -- +++ processing catkin package: 'far_planner' -- ==> add_subdirectory(far_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- 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.
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) WARNING io features related to pcap will be disabled WARNING io features related to png will be disabled WARNING io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- 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) -- 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_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- +++ processing catkin package: 'graph_decoder' -- ==> add_subdirectory(graph_decoder) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'yolo' -- ==> add_subdirectory(yolo) -- Configuring done -- Generating done -- Build files have been written to: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/build

Running command: "make -j12 -l12" in "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/build"

Scanning dependencies of target std_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_nodejs Scanning dependencies of target sensor_msgs_generate_messages_cpp Scanning dependencies of target std_msgs_generate_messages_cpp Scanning dependencies of target geometry_msgs_generate_messages_eus Scanning dependencies of target std_msgs_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_nodejs Scanning dependencies of target sensor_msgs_generate_messages_eus Scanning dependencies of target geometry_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_eus Scanning dependencies of target geometry_msgs_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_eus [ 0%] Built target sensor_msgs_generate_messages_eus [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target sensor_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target sensor_msgs_generate_messages_nodejs [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target sensor_msgs_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_py Scanning dependencies of target geometry_msgs_generate_messages_nodejs Scanning dependencies of target tf2_msgs_generate_messages_cpp Scanning dependencies of target tf2_msgs_generate_messages_nodejs Scanning dependencies of target std_srvs_generate_messages_cpp Scanning dependencies of target geometry_msgs_generate_messages_cpp Scanning dependencies of target std_srvs_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_py Scanning dependencies of target rosgraph_msgs_generate_messages_nodejs Scanning dependencies of target actionlib_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_nodejs [ 0%] Built target tf2_msgs_generate_messages_nodejs [ 0%] Built target std_srvs_generate_messages_nodejs [ 0%] Built target tf2_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_cpp Scanning dependencies of target nav_msgs_generate_messages_eus [ 0%] Built target std_srvs_generate_messages_cpp [ 0%] Built target sensor_msgs_generate_messages_py [ 0%] Built target rosgraph_msgs_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_cpp [ 0%] Built target actionlib_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_py Scanning dependencies of target actionlib_generate_messages_nodejs Scanning dependencies of target visualization_msgs_generate_messages_cpp [ 0%] Built target nav_msgs_generate_messages_eus Scanning dependencies of target map_msgs_generate_messages_eus Scanning dependencies of target tf2_msgs_generate_messages_eus Scanning dependencies of target rviz_generate_messages_py Scanning dependencies of target roscpp_generate_messages_eus Scanning dependencies of target roscpp_generate_messages_cpp Scanning dependencies of target actionlib_generate_messages_lisp [ 0%] Built target visualization_msgs_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_eus [ 0%] Built target actionlib_generate_messages_nodejs [ 0%] Built target map_msgs_generate_messages_eus Scanning dependencies of target roscpp_generate_messages_lisp Scanning dependencies of target roscpp_generate_messages_py Scanning dependencies of target rviz_generate_messages_nodejs [ 0%] Built target rviz_generate_messages_py [ 0%] Built target roscpp_generate_messages_eus [ 0%] Built target roscpp_generate_messages_cpp Scanning dependencies of target roscpp_generate_messages_nodejs [ 0%] Built target actionlib_generate_messages_lisp Scanning dependencies of target rosgraph_msgs_generate_messages_cpp Scanning dependencies of target actionlib_generate_messages_eus [ 0%] Built target roscpp_generate_messages_lisp Scanning dependencies of target actionlib_msgs_generate_messages_lisp [ 0%] Built target roscpp_generate_messages_py Scanning dependencies of target actionlib_generate_messages_py [ 0%] Built target rviz_generate_messages_nodejs Scanning dependencies of target tf_generate_messages_py Scanning dependencies of target std_srvs_generate_messages_py [ 0%] Built target roscpp_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_nodejs Scanning dependencies of target rosgraph_msgs_generate_messages_eus [ 0%] Built target rosgraph_msgs_generate_messages_cpp Scanning dependencies of target tf_generate_messages_eus [ 0%] Built target actionlib_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_lisp [ 0%] Built target actionlib_generate_messages_py Scanning dependencies of target rosgraph_msgs_generate_messages_lisp [ 0%] Built target tf_generate_messages_py [ 0%] Built target rosgraph_msgs_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_nodejs [ 0%] Built target std_srvs_generate_messages_py Scanning dependencies of target map_msgs_generate_messages_nodejs Scanning dependencies of target rviz_generate_messages_lisp Scanning dependencies of target actionlib_msgs_generate_messages_eus [ 0%] Built target tf_generate_messages_eus Scanning dependencies of target tf2_msgs_generate_messages_lisp [ 0%] Built target rosgraph_msgs_generate_messages_lisp Scanning dependencies of target rviz_generate_messages_cpp Scanning dependencies of target tf2_msgs_generate_messages_py Scanning dependencies of target nav_msgs_generate_messages_cpp Scanning dependencies of target nav_msgs_generate_messages_nodejs Scanning dependencies of target rosgraph_msgs_generate_messages_py Scanning dependencies of target visualization_msgs_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_eus [ 0%] Built target rviz_generate_messages_lisp Scanning dependencies of target visualization_msgs_generate_messages_nodejs [ 0%] Built target map_msgs_generate_messages_nodejs Scanning dependencies of target visualization_msgs_generate_messages_lisp [ 0%] Built target tf2_msgs_generate_messages_lisp [ 0%] Built target rosgraph_msgs_generate_messages_py [ 0%] Built target visualization_msgs_generate_messages_eus [ 0%] Built target nav_msgs_generate_messages_cpp [ 0%] Built target rviz_generate_messages_cpp [ 0%] Built target nav_msgs_generate_messages_nodejs Scanning dependencies of target visualization_msgs_generate_messages_py Scanning dependencies of target tf_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_py Scanning dependencies of target map_msgs_generate_messages_cpp [ 0%] Built target visualization_msgs_generate_messages_nodejs [ 0%] Built target visualization_msgs_generate_messages_lisp Scanning dependencies of target rviz_generate_messages_eus Scanning dependencies of target map_msgs_generate_messages_lisp Scanning dependencies of target tf_generate_messages_lisp Scanning dependencies of target map_msgs_generate_messages_py Scanning dependencies of target tf_generate_messages_nodejs Scanning dependencies of target nav_msgs_generate_messages_lisp [ 0%] Built target visualization_msgs_generate_messages_py Scanning dependencies of target nav_msgs_generate_messages_py [ 0%] Built target tf_generate_messages_cpp [ 0%] Built target map_msgs_generate_messages_cpp Scanning dependencies of target std_srvs_generate_messages_eus Scanning dependencies of target std_srvs_generate_messages_lisp [ 0%] Built target rviz_generate_messages_eus [ 0%] Built target tf_generate_messages_lisp [ 0%] Built target map_msgs_generate_messages_py [ 0%] Built target map_msgs_generate_messages_lisp [ 0%] Built target tf_generate_messages_nodejs Scanning dependencies of target teleop_rviz_plugin_autogen [ 0%] Built target nav_msgs_generate_messages_py [ 0%] Built target nav_msgs_generate_messages_lisp Scanning dependencies of target _visibility_graph_msg_generate_messages_check_deps_Graph Scanning dependencies of target _visibility_graph_msg_generate_messages_check_deps_Node [ 0%] Built target std_srvs_generate_messages_eus Scanning dependencies of target nodelet_generate_messages_py [ 0%] Built target std_srvs_generate_messages_lisp Scanning dependencies of target topic_tools_generate_messages_nodejs Scanning dependencies of target nodelet_generate_messages_lisp [ 2%] Automatic MOC for target teleop_rviz_plugin Scanning dependencies of target nodelet_generate_messages_eus Scanning dependencies of target bond_generate_messages_lisp Scanning dependencies of target pcl_msgs_generate_messages_lisp Scanning dependencies of target pcl_msgs_generate_messages_nodejs Scanning dependencies of target pcl_ros_gencfg [ 2%] Built target nodelet_generate_messages_py Scanning dependencies of target dynamic_reconfigure_generate_messages_lisp [ 2%] Built target nodelet_generate_messages_lisp [ 2%] Built target pcl_msgs_generate_messages_lisp [ 2%] Built target nodelet_generate_messages_eus [ 2%] Built target bond_generate_messages_lisp [ 2%] Built target pcl_msgs_generate_messages_nodejs [ 2%] Built target pcl_ros_gencfg [ 2%] Built target topic_tools_generate_messages_nodejs Scanning dependencies of target topic_tools_generate_messages_py Scanning dependencies of target dynamic_reconfigure_generate_messages_py [ 2%] Built target dynamic_reconfigure_generate_messages_lisp Scanning dependencies of target dynamic_reconfigure_gencfg Scanning dependencies of target pcl_msgs_generate_messages_py Scanning dependencies of target nodelet_generate_messages_cpp Scanning dependencies of target dynamic_reconfigure_generate_messages_eus Scanning dependencies of target pcl_msgs_generate_messages_eus Scanning dependencies of target topic_tools_generate_messages_cpp [ 2%] Built target topic_tools_generate_messages_py [ 2%] Built target nodelet_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_py [ 2%] Built target pcl_msgs_generate_messages_py [ 2%] Built target dynamic_reconfigure_gencfg Scanning dependencies of target bond_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_eus [ 2%] Built target pcl_msgs_generate_messages_eus [ 2%] Built target topic_tools_generate_messages_cpp [ 2%] Built target _visibility_graph_msg_generate_messages_check_deps_Graph Scanning dependencies of target topic_tools_generate_messages_lisp Scanning dependencies of target nodelet_generate_messages_nodejs Scanning dependencies of target bond_generate_messages_eus Scanning dependencies of target bond_generate_messages_nodejs Scanning dependencies of target dynamic_reconfigure_generate_messages_nodejs Scanning dependencies of target bond_generate_messages_py [ 2%] Built target bond_generate_messages_cpp Scanning dependencies of target pcl_msgs_generate_messages_cpp [ 2%] Built target _visibility_graph_msg_generate_messages_check_deps_Node Scanning dependencies of target nodelet_topic_tools_gencfg [ 2%] Built target topic_tools_generate_messages_lisp [ 2%] Built target dynamic_reconfigure_generate_messages_nodejs [ 2%] Built target bond_generate_messages_eus [ 2%] Built target nodelet_generate_messages_nodejs [ 2%] Built target bond_generate_messages_nodejs Scanning dependencies of target dynamic_reconfigure_generate_messages_cpp Scanning dependencies of target topic_tools_generate_messages_eus [ 2%] Built target bond_generate_messages_py [ 2%] Built target pcl_msgs_generate_messages_cpp [ 2%] Built target nodelet_topic_tools_gencfg Scanning dependencies of target cv_bridge Scanning dependencies of target goalpoint_rviz_plugin_autogen Scanning dependencies of target visibility_graph_msg_generate_messages_nodejs Scanning dependencies of target image_geometry Scanning dependencies of target visibility_graph_msg_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_cpp [ 2%] Built target topic_tools_generate_messages_eus Scanning dependencies of target visibility_graph_msg_generate_messages_lisp Scanning dependencies of target visibility_graph_msg_generate_messages_eus Scanning dependencies of target visibility_graph_msg_generate_messages_py [ 4%] Generating Javascript code from visibility_graph_msg/Node.msg [ 6%] Generating Javascript code from visibility_graph_msg/Graph.msg [ 8%] Automatic MOC for target goalpoint_rviz_plugin [ 10%] Generating C++ code from visibility_graph_msg/Node.msg [ 12%] Generating C++ code from visibility_graph_msg/Graph.msg [ 14%] Generating Lisp code from visibility_graph_msg/Graph.msg [ 16%] Generating EusLisp code from visibility_graph_msg/Node.msg [ 18%] Generating Lisp code from visibility_graph_msg/Node.msg [ 20%] Generating Python from MSG visibility_graph_msg/Node [ 22%] Building CXX object vision_opencv/image_geometry/CMakeFiles/image_geometry.dir/src/pinhole_camera_model.cpp.o [ 25%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge.dir/cv_bridge.cpp.o [ 27%] Generating Python from MSG visibility_graph_msg/Graph [ 27%] Built target visibility_graph_msg_generate_messages_nodejs [ 29%] Building CXX object vision_opencv/image_geometry/CMakeFiles/image_geometry.dir/src/stereo_camera_model.cpp.o [ 29%] Built target visibility_graph_msg_generate_messages_lisp [ 31%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge.dir/rgb_colors.cpp.o [ 33%] Generating EusLisp code from visibility_graph_msg/Graph.msg [ 35%] Generating EusLisp manifest code for visibility_graph_msg [ 35%] Built target visibility_graph_msg_generate_messages_cpp [ 37%] Generating Python msg init.py for visibility_graph_msg [ 37%] Built target visibility_graph_msg_generate_messages_py [ 37%] Built target visibility_graph_msg_generate_messages_eus [ 37%] Built target teleop_rviz_plugin_autogen Scanning dependencies of target visibility_graph_msg_generate_messages Scanning dependencies of target graph_decoder Scanning dependencies of target boundary_handler Scanning dependencies of target far_planner [ 37%] Built target visibility_graph_msg_generate_messages Scanning dependencies of target teleop_rviz_plugin [ 39%] Building CXX object teleop_rviz_plugin/CMakeFiles/teleop_rviz_plugin.dir/teleop_rviz_plugin_autogen/mocs_compilation.cpp.o [ 41%] Building CXX object teleop_rviz_plugin/CMakeFiles/teleop_rviz_plugin.dir/src/drive_widget.cpp.o [ 43%] Building CXX object teleop_rviz_plugin/CMakeFiles/teleop_rviz_plugin.dir/src/teleop_panel.cpp.o [ 45%] Building CXX object graph_decoder/CMakeFiles/graph_decoder.dir/src/decoder_node.cpp.o [ 47%] Building CXX object boundary_handler/CMakeFiles/boundary_handler.dir/src/graph_extractor.cpp.o [ 52%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/dynamic_graph.cpp.o [ 52%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/far_planner.cpp.o [ 54%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/planner_visualizer.cpp.o [ 54%] Built target goalpoint_rviz_plugin_autogen Scanning dependencies of target goalpoint_rviz_plugin [ 56%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/utility.cpp.o [ 58%] Building CXX object goalpoint_rviz_plugin/CMakeFiles/goalpoint_rviz_plugin.dir/goalpoint_rviz_plugin_autogen/mocs_compilation.cpp.o [ 60%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libimage_geometry.so [ 60%] Built target image_geometry [ 62%] Building CXX object goalpoint_rviz_plugin/CMakeFiles/goalpoint_rviz_plugin.dir/src/goalpoint_tool.cpp.o [ 64%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/graph_planner.cpp.o [ 66%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libcv_bridge.so [ 66%] Built target cv_bridge Scanning dependencies of target cv_bridge_boost [ 68%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module.cpp.o [ 70%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module_opencv4.cpp.o [ 72%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libteleop_rviz_plugin.so [ 72%] Built target teleop_rviz_plugin Scanning dependencies of target yolo [ 75%] Building CXX object yolo/CMakeFiles/yolo.dir/src/detection.cpp.o [ 77%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/contour_detector.cpp.o [ 79%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/contour_graph.cpp.o [ 81%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libgoalpoint_rviz_plugin.so [ 81%] Built target goalpoint_rviz_plugin [ 83%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/map_handler.cpp.o [ 85%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/python3/dist-packages/cv_bridge/boost/cv_bridge_boost.so [ 85%] Built target cv_bridge_boost [ 87%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/scan_handler.cpp.o [ 89%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/boundary_handler/boundary_handler [ 91%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/graph_decoder/graph_decoder [ 93%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/yolo/yolo [ 93%] Built target boundary_handler [ 95%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/graph_msger.cpp.o [ 95%] Built target yolo [ 95%] Built target graph_decoder [ 97%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/terrain_planner.cpp.o [100%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/far_planner/far_planner [100%] Built target far_planner

Thank you very much for your reply. You should be able to understand Chinese. It's very presumptuous of you to use some Chinese expressions for communication convenience

Thank you very much 我的问题再次解决，分享一些坎坷历程,，新问题：您好，我的相关环境： computer:intel nuc12 sys: ubuntu18.04 ros:medolic opencv4.7.0

是的，问题出自： opencv：应该是太新了，导致不兼容，我换了您推荐的版本，nice！ anaconda: 本来就问题多，我还不会.... cakin:编译的时候要添加一些东西，要不然有问题.

讽刺的是，我编译好了：运行 ./run.sh **###

RLException: error loading tag: file /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/config/default.yaml contains invalid YAML: while parsing a block mapping in "", line 1, column 1: cfg_path: [Absolute Path]/far-pl ... ^ expected , but found '' in "", line 1, column 26: cfg_path: [Absolute Path]/far-planner-with-yolo/src/yolo/ ... ^ XML is The traceback for the exception was written to the log file

/far-planner-with-yolo/src/yolo/config/default.yaml 文件有问题？它的构成非常容易： cfg_path: [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg weight_path: [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/config/yolov4-tiny.weights coconame_path: [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names

YOLO Params yolo

这个路径应该没有问题的？我不知道那个地方，我怀疑是launch文件的问题：detection.launch

改了很久，没有头绪，只有头发满地！感谢您的帮助！好人一身平安！

lqz@lqz:~/下载/far-planner-with-yolo-complete-Noetic$ catkin_make Base path: /home/lqz/下载/far-planner-with-yolo-complete-Noetic Source space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/src Build space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/build Devel space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel Install space: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/install Creating symlink "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/src/CMakeLists.txt" pointing to "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake"

Running command: "cmake /home/lqz/下载/far-planner-with-yolo-complete-Noetic/src -DCATKIN_DEVEL_PREFIX=/home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel -DCMAKE_INSTALL_PREFIX=/home/lqz/下载/far-planner-with-yolo-complete-Noetic/install -G Unix Makefiles" in "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/build"

-- The C compiler identification is GNU 9.4.0 -- The CXX compiler identification is GNU 9.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/noetic -- This workspace overlays: /opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Found PY_em: /usr/lib/python3/dist-packages/em.py -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/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 "3.8.10") -- Found Threads: TRUE -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.10 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~ -- ~~ traversing 11 packages in topological order: -- ~~ - opencv_tests -- ~~ - vision_opencv (metapackage) -- ~~ - cv_bridge -- ~~ - image_geometry -- ~~ - goalpoint_rviz_plugin -- ~~ - teleop_rviz_plugin -- ~~ - visibility_graph_msg -- ~~ - boundary_handler -- ~~ - far_planner -- ~~ - graph_decoder -- ~~ - yolo -- ~~~~~~~~~~~ -- +++ processing catkin package: 'opencv_tests' -- ==> add_subdirectory(vision_opencv/opencv_tests) -- +++ processing catkin metapackage: 'vision_opencv' -- ==> add_subdirectory(vision_opencv/vision_opencv) -- +++ processing catkin package: 'cv_bridge' -- ==> add_subdirectory(vision_opencv/cv_bridge) -- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.8.so (found version "3.8.10") -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: python -- Found OpenCV: /usr/local (found suitable version "4.5.4", minimum required is "4") found components: opencv_core opencv_imgproc opencv_imgcodecs -- Found PythonLibs: /usr/lib/x86_64-linux-gnu/libpython3.8.so (found suitable version "3.8.10", minimum required is "3.8") -- +++ processing catkin package: 'image_geometry' -- ==> add_subdirectory(vision_opencv/image_geometry) -- Found OpenCV: /usr/local (found version "4.5.4") -- +++ processing catkin package: 'goalpoint_rviz_plugin' -- ==> add_subdirectory(goalpoint_rviz_plugin) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Using Qt5 based on the rviz_QT_VERSION: 5.12.8 -- +++ processing catkin package: 'teleop_rviz_plugin' -- ==> add_subdirectory(teleop_rviz_plugin) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Using Qt5 based on the rviz_QT_VERSION: 5.12.8 -- +++ processing catkin package: 'visibility_graph_msg' -- ==> add_subdirectory(visibility_graph_msg) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- visibility_graph_msg: 2 messages, 0 services -- +++ processing catkin package: 'boundary_handler' -- ==> add_subdirectory(boundary_handler) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Checking for module 'eigen3' -- Found eigen3, version 3.3.7 -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex -- Checking for module 'flann' -- Found flann, version 1.9.1 -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.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.
-- Checking for module 'libusb-1.0' -- Found libusb-1.0, version 1.0.23 -- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so -- Found OpenNI: /usr/lib/libOpenNI.so -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- Found OpenNI2: /usr/lib/libOpenNI2.so -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) WARNING io features related to pcap will be disabled WARNING io features related to png will be disabled -- Found libusb-1.0: /usr/include WARNING io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so -- 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) -- looking for PCL_COMMON -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so -- looking for PCL_KDTREE -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so -- looking for PCL_OCTREE -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so -- looking for PCL_SEARCH -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so -- looking for PCL_SAMPLE_CONSENSUS -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so -- looking for PCL_FILTERS -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so -- looking for PCL_2D -- Found PCL_2D: /usr/include/pcl-1.10 -- looking for PCL_GEOMETRY -- Found PCL_GEOMETRY: /usr/include/pcl-1.10 -- looking for PCL_IO -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so -- looking for PCL_FEATURES -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so -- looking for PCL_ML -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so -- looking for PCL_SEGMENTATION -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so -- looking for PCL_VISUALIZATION -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so -- looking for PCL_SURFACE -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so -- looking for PCL_REGISTRATION -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so -- looking for PCL_KEYPOINTS -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so -- looking for PCL_TRACKING -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so -- looking for PCL_RECOGNITION -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so -- looking for PCL_STEREO -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so -- looking for PCL_APPS -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so -- looking for PCL_IN_HAND_SCANNER -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.10 -- looking for PCL_POINT_CLOUD_EDITOR -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.10 -- looking for PCL_OUTOFCORE -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so -- looking for PCL_PEOPLE -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so -- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN -- +++ processing catkin package: 'far_planner' -- ==> add_subdirectory(far_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- 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.
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) WARNING io features related to pcap will be disabled WARNING io features related to png will be disabled WARNING io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- 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) -- 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_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- +++ processing catkin package: 'graph_decoder' -- ==> add_subdirectory(graph_decoder) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'yolo' -- ==> add_subdirectory(yolo) -- Configuring done -- Generating done -- Build files have been written to: /home/lqz/下载/far-planner-with-yolo-complete-Noetic/build

Running command: "make -j12 -l12" in "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/build"

Scanning dependencies of target std_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_nodejs Scanning dependencies of target sensor_msgs_generate_messages_cpp Scanning dependencies of target std_msgs_generate_messages_cpp Scanning dependencies of target geometry_msgs_generate_messages_eus Scanning dependencies of target std_msgs_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_nodejs Scanning dependencies of target sensor_msgs_generate_messages_eus Scanning dependencies of target geometry_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_eus Scanning dependencies of target geometry_msgs_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_eus [ 0%] Built target sensor_msgs_generate_messages_eus [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target sensor_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target sensor_msgs_generate_messages_nodejs [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target sensor_msgs_generate_messages_lisp Scanning dependencies of target sensor_msgs_generate_messages_py Scanning dependencies of target geometry_msgs_generate_messages_nodejs Scanning dependencies of target tf2_msgs_generate_messages_cpp Scanning dependencies of target tf2_msgs_generate_messages_nodejs Scanning dependencies of target std_srvs_generate_messages_cpp Scanning dependencies of target geometry_msgs_generate_messages_cpp Scanning dependencies of target std_srvs_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_py Scanning dependencies of target rosgraph_msgs_generate_messages_nodejs Scanning dependencies of target actionlib_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_nodejs [ 0%] Built target tf2_msgs_generate_messages_nodejs [ 0%] Built target std_srvs_generate_messages_nodejs [ 0%] Built target tf2_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_cpp Scanning dependencies of target nav_msgs_generate_messages_eus [ 0%] Built target std_srvs_generate_messages_cpp [ 0%] Built target sensor_msgs_generate_messages_py [ 0%] Built target rosgraph_msgs_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_cpp [ 0%] Built target actionlib_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_py Scanning dependencies of target actionlib_generate_messages_nodejs Scanning dependencies of target visualization_msgs_generate_messages_cpp [ 0%] Built target nav_msgs_generate_messages_eus Scanning dependencies of target map_msgs_generate_messages_eus Scanning dependencies of target tf2_msgs_generate_messages_eus Scanning dependencies of target rviz_generate_messages_py Scanning dependencies of target roscpp_generate_messages_eus Scanning dependencies of target roscpp_generate_messages_cpp Scanning dependencies of target actionlib_generate_messages_lisp [ 0%] Built target visualization_msgs_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_eus [ 0%] Built target actionlib_generate_messages_nodejs [ 0%] Built target map_msgs_generate_messages_eus Scanning dependencies of target roscpp_generate_messages_lisp Scanning dependencies of target roscpp_generate_messages_py Scanning dependencies of target rviz_generate_messages_nodejs [ 0%] Built target rviz_generate_messages_py [ 0%] Built target roscpp_generate_messages_eus [ 0%] Built target roscpp_generate_messages_cpp Scanning dependencies of target roscpp_generate_messages_nodejs [ 0%] Built target actionlib_generate_messages_lisp Scanning dependencies of target rosgraph_msgs_generate_messages_cpp Scanning dependencies of target actionlib_generate_messages_eus [ 0%] Built target roscpp_generate_messages_lisp Scanning dependencies of target actionlib_msgs_generate_messages_lisp [ 0%] Built target roscpp_generate_messages_py Scanning dependencies of target actionlib_generate_messages_py [ 0%] Built target rviz_generate_messages_nodejs Scanning dependencies of target tf_generate_messages_py Scanning dependencies of target std_srvs_generate_messages_py [ 0%] Built target roscpp_generate_messages_nodejs Scanning dependencies of target actionlib_msgs_generate_messages_nodejs Scanning dependencies of target rosgraph_msgs_generate_messages_eus [ 0%] Built target rosgraph_msgs_generate_messages_cpp Scanning dependencies of target tf_generate_messages_eus [ 0%] Built target actionlib_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_lisp [ 0%] Built target actionlib_generate_messages_py Scanning dependencies of target rosgraph_msgs_generate_messages_lisp [ 0%] Built target tf_generate_messages_py [ 0%] Built target rosgraph_msgs_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_nodejs [ 0%] Built target std_srvs_generate_messages_py Scanning dependencies of target map_msgs_generate_messages_nodejs Scanning dependencies of target rviz_generate_messages_lisp Scanning dependencies of target actionlib_msgs_generate_messages_eus [ 0%] Built target tf_generate_messages_eus Scanning dependencies of target tf2_msgs_generate_messages_lisp [ 0%] Built target rosgraph_msgs_generate_messages_lisp Scanning dependencies of target rviz_generate_messages_cpp Scanning dependencies of target tf2_msgs_generate_messages_py Scanning dependencies of target nav_msgs_generate_messages_cpp Scanning dependencies of target nav_msgs_generate_messages_nodejs Scanning dependencies of target rosgraph_msgs_generate_messages_py Scanning dependencies of target visualization_msgs_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_eus [ 0%] Built target rviz_generate_messages_lisp Scanning dependencies of target visualization_msgs_generate_messages_nodejs [ 0%] Built target map_msgs_generate_messages_nodejs Scanning dependencies of target visualization_msgs_generate_messages_lisp [ 0%] Built target tf2_msgs_generate_messages_lisp [ 0%] Built target rosgraph_msgs_generate_messages_py [ 0%] Built target visualization_msgs_generate_messages_eus [ 0%] Built target nav_msgs_generate_messages_cpp [ 0%] Built target rviz_generate_messages_cpp [ 0%] Built target nav_msgs_generate_messages_nodejs Scanning dependencies of target visualization_msgs_generate_messages_py Scanning dependencies of target tf_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_py Scanning dependencies of target map_msgs_generate_messages_cpp [ 0%] Built target visualization_msgs_generate_messages_nodejs [ 0%] Built target visualization_msgs_generate_messages_lisp Scanning dependencies of target rviz_generate_messages_eus Scanning dependencies of target map_msgs_generate_messages_lisp Scanning dependencies of target tf_generate_messages_lisp Scanning dependencies of target map_msgs_generate_messages_py Scanning dependencies of target tf_generate_messages_nodejs Scanning dependencies of target nav_msgs_generate_messages_lisp [ 0%] Built target visualization_msgs_generate_messages_py Scanning dependencies of target nav_msgs_generate_messages_py [ 0%] Built target tf_generate_messages_cpp [ 0%] Built target map_msgs_generate_messages_cpp Scanning dependencies of target std_srvs_generate_messages_eus Scanning dependencies of target std_srvs_generate_messages_lisp [ 0%] Built target rviz_generate_messages_eus [ 0%] Built target tf_generate_messages_lisp [ 0%] Built target map_msgs_generate_messages_py [ 0%] Built target map_msgs_generate_messages_lisp [ 0%] Built target tf_generate_messages_nodejs Scanning dependencies of target teleop_rviz_plugin_autogen [ 0%] Built target nav_msgs_generate_messages_py [ 0%] Built target nav_msgs_generate_messages_lisp Scanning dependencies of target _visibility_graph_msg_generate_messages_check_deps_Graph Scanning dependencies of target _visibility_graph_msg_generate_messages_check_deps_Node [ 0%] Built target std_srvs_generate_messages_eus Scanning dependencies of target nodelet_generate_messages_py [ 0%] Built target std_srvs_generate_messages_lisp Scanning dependencies of target topic_tools_generate_messages_nodejs Scanning dependencies of target nodelet_generate_messages_lisp [ 2%] Automatic MOC for target teleop_rviz_plugin Scanning dependencies of target nodelet_generate_messages_eus Scanning dependencies of target bond_generate_messages_lisp Scanning dependencies of target pcl_msgs_generate_messages_lisp Scanning dependencies of target pcl_msgs_generate_messages_nodejs Scanning dependencies of target pcl_ros_gencfg [ 2%] Built target nodelet_generate_messages_py Scanning dependencies of target dynamic_reconfigure_generate_messages_lisp [ 2%] Built target nodelet_generate_messages_lisp [ 2%] Built target pcl_msgs_generate_messages_lisp [ 2%] Built target nodelet_generate_messages_eus [ 2%] Built target bond_generate_messages_lisp [ 2%] Built target pcl_msgs_generate_messages_nodejs [ 2%] Built target pcl_ros_gencfg [ 2%] Built target topic_tools_generate_messages_nodejs Scanning dependencies of target topic_tools_generate_messages_py Scanning dependencies of target dynamic_reconfigure_generate_messages_py [ 2%] Built target dynamic_reconfigure_generate_messages_lisp Scanning dependencies of target dynamic_reconfigure_gencfg Scanning dependencies of target pcl_msgs_generate_messages_py Scanning dependencies of target nodelet_generate_messages_cpp Scanning dependencies of target dynamic_reconfigure_generate_messages_eus Scanning dependencies of target pcl_msgs_generate_messages_eus Scanning dependencies of target topic_tools_generate_messages_cpp [ 2%] Built target topic_tools_generate_messages_py [ 2%] Built target nodelet_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_py [ 2%] Built target pcl_msgs_generate_messages_py [ 2%] Built target dynamic_reconfigure_gencfg Scanning dependencies of target bond_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_eus [ 2%] Built target pcl_msgs_generate_messages_eus [ 2%] Built target topic_tools_generate_messages_cpp [ 2%] Built target _visibility_graph_msg_generate_messages_check_deps_Graph Scanning dependencies of target topic_tools_generate_messages_lisp Scanning dependencies of target nodelet_generate_messages_nodejs Scanning dependencies of target bond_generate_messages_eus Scanning dependencies of target bond_generate_messages_nodejs Scanning dependencies of target dynamic_reconfigure_generate_messages_nodejs Scanning dependencies of target bond_generate_messages_py [ 2%] Built target bond_generate_messages_cpp Scanning dependencies of target pcl_msgs_generate_messages_cpp [ 2%] Built target _visibility_graph_msg_generate_messages_check_deps_Node Scanning dependencies of target nodelet_topic_tools_gencfg [ 2%] Built target topic_tools_generate_messages_lisp [ 2%] Built target dynamic_reconfigure_generate_messages_nodejs [ 2%] Built target bond_generate_messages_eus [ 2%] Built target nodelet_generate_messages_nodejs [ 2%] Built target bond_generate_messages_nodejs Scanning dependencies of target dynamic_reconfigure_generate_messages_cpp Scanning dependencies of target topic_tools_generate_messages_eus [ 2%] Built target bond_generate_messages_py [ 2%] Built target pcl_msgs_generate_messages_cpp [ 2%] Built target nodelet_topic_tools_gencfg Scanning dependencies of target cv_bridge Scanning dependencies of target goalpoint_rviz_plugin_autogen Scanning dependencies of target visibility_graph_msg_generate_messages_nodejs Scanning dependencies of target image_geometry Scanning dependencies of target visibility_graph_msg_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_cpp [ 2%] Built target topic_tools_generate_messages_eus Scanning dependencies of target visibility_graph_msg_generate_messages_lisp Scanning dependencies of target visibility_graph_msg_generate_messages_eus Scanning dependencies of target visibility_graph_msg_generate_messages_py [ 4%] Generating Javascript code from visibility_graph_msg/Node.msg [ 6%] Generating Javascript code from visibility_graph_msg/Graph.msg [ 8%] Automatic MOC for target goalpoint_rviz_plugin [ 10%] Generating C++ code from visibility_graph_msg/Node.msg [ 12%] Generating C++ code from visibility_graph_msg/Graph.msg [ 14%] Generating Lisp code from visibility_graph_msg/Graph.msg [ 16%] Generating EusLisp code from visibility_graph_msg/Node.msg [ 18%] Generating Lisp code from visibility_graph_msg/Node.msg [ 20%] Generating Python from MSG visibility_graph_msg/Node [ 22%] Building CXX object vision_opencv/image_geometry/CMakeFiles/image_geometry.dir/src/pinhole_camera_model.cpp.o [ 25%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge.dir/cv_bridge.cpp.o [ 27%] Generating Python from MSG visibility_graph_msg/Graph [ 27%] Built target visibility_graph_msg_generate_messages_nodejs [ 29%] Building CXX object vision_opencv/image_geometry/CMakeFiles/image_geometry.dir/src/stereo_camera_model.cpp.o [ 29%] Built target visibility_graph_msg_generate_messages_lisp [ 31%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge.dir/rgb_colors.cpp.o [ 33%] Generating EusLisp code from visibility_graph_msg/Graph.msg [ 35%] Generating EusLisp manifest code for visibility_graph_msg [ 35%] Built target visibility_graph_msg_generate_messages_cpp [ 37%] Generating Python msg init.py for visibility_graph_msg [ 37%] Built target visibility_graph_msg_generate_messages_py [ 37%] Built target visibility_graph_msg_generate_messages_eus [ 37%] Built target teleop_rviz_plugin_autogen Scanning dependencies of target visibility_graph_msg_generate_messages Scanning dependencies of target graph_decoder Scanning dependencies of target boundary_handler Scanning dependencies of target far_planner [ 37%] Built target visibility_graph_msg_generate_messages Scanning dependencies of target teleop_rviz_plugin [ 39%] Building CXX object teleop_rviz_plugin/CMakeFiles/teleop_rviz_plugin.dir/teleop_rviz_plugin_autogen/mocs_compilation.cpp.o [ 41%] Building CXX object teleop_rviz_plugin/CMakeFiles/teleop_rviz_plugin.dir/src/drive_widget.cpp.o [ 43%] Building CXX object teleop_rviz_plugin/CMakeFiles/teleop_rviz_plugin.dir/src/teleop_panel.cpp.o [ 45%] Building CXX object graph_decoder/CMakeFiles/graph_decoder.dir/src/decoder_node.cpp.o [ 47%] Building CXX object boundary_handler/CMakeFiles/boundary_handler.dir/src/graph_extractor.cpp.o [ 52%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/dynamic_graph.cpp.o [ 52%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/far_planner.cpp.o [ 54%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/planner_visualizer.cpp.o [ 54%] Built target goalpoint_rviz_plugin_autogen Scanning dependencies of target goalpoint_rviz_plugin [ 56%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/utility.cpp.o [ 58%] Building CXX object goalpoint_rviz_plugin/CMakeFiles/goalpoint_rviz_plugin.dir/goalpoint_rviz_plugin_autogen/mocs_compilation.cpp.o [ 60%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libimage_geometry.so [ 60%] Built target image_geometry [ 62%] Building CXX object goalpoint_rviz_plugin/CMakeFiles/goalpoint_rviz_plugin.dir/src/goalpoint_tool.cpp.o [ 64%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/graph_planner.cpp.o [ 66%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libcv_bridge.so [ 66%] Built target cv_bridge Scanning dependencies of target cv_bridge_boost [ 68%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module.cpp.o [ 70%] Building CXX object vision_opencv/cv_bridge/src/CMakeFiles/cv_bridge_boost.dir/module_opencv4.cpp.o [ 72%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libteleop_rviz_plugin.so [ 72%] Built target teleop_rviz_plugin Scanning dependencies of target yolo [ 75%] Building CXX object yolo/CMakeFiles/yolo.dir/src/detection.cpp.o [ 77%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/contour_detector.cpp.o [ 79%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/contour_graph.cpp.o [ 81%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/libgoalpoint_rviz_plugin.so [ 81%] Built target goalpoint_rviz_plugin [ 83%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/map_handler.cpp.o [ 85%] Linking CXX shared library /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/python3/dist-packages/cv_bridge/boost/cv_bridge_boost.so [ 85%] Built target cv_bridge_boost [ 87%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/scan_handler.cpp.o [ 89%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/boundary_handler/boundary_handler [ 91%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/graph_decoder/graph_decoder [ 93%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/yolo/yolo [ 93%] Built target boundary_handler [ 95%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/graph_msger.cpp.o [ 95%] Built target yolo [ 95%] Built target graph_decoder [ 97%] Building CXX object far_planner/CMakeFiles/far_planner.dir/src/terrain_planner.cpp.o [100%] Linking CXX executable /home/lqz/下载/far-planner-with-yolo-complete-Noetic/devel/lib/far_planner/far_planner [100%] Built target far_planner
Thank you very much for your reply. You should be able to understand Chinese. It's very presumptuous of you to use some Chinese expressions for communication convenience it seems like one of libraries

Thank you very much 我的问题再次解决，分享一些坎坷历程,，新问题：您好，我的相关环境： computer:intel nuc12 sys: ubuntu18.04 ros:medolic opencv4.7.0

是的，问题出自： opencv：应该是太新了，导致不兼容，我换了您推荐的版本，nice！ anaconda: 本来就问题多，我还不会用 cakin:编译的时候要添加一些东西，要不然有问题

讽刺的是，我编译好了：运行 ./run.sh **###

RLException: error loading tag: file /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/config/default.yaml contains invalid YAML: while parsing a block mapping in "", line 1, column 1: cfg_path: [Absolute Path]/far-pl ... ^ expected , but found '' in "", line 1, column 26: cfg_path: [Absolute Path]/far-planner-with-yolo/src/yolo/ ... ^ XML is The traceback for the exception was written to the log file

**

/far-planner-with-yolo/src/yolo/config/default.yaml 文件有问题？它的构成非常容易： cfg_path: [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg weight_path: [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/config/yolov4-tiny.weights coconame_path: [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names

YOLO Params yolo

hello, the path should be set to use "absolute path" in yolo "yolo/src/detection.cpp"

In the yolo/src/detection.cpp you can find this function, and please replace the path depending on your files. And re-catkin_make again ~

void Detection::ReadModel() { // set the absolute path for the coco.names, yolo-cfg and yolo-weights string classesFile = "/home/lqz/ros_ws/src/detection_pkg/data/coco.names"; string modelConfig = "/home/lqz/ros_ws/src/detection_pkg/data/yolov4-tiny.cfg"; string modelWeights = "/home/lqz/ros_ws/src/detection_pkg/data/yolov4-tiny.weights";

// std::string classesFile = ylparams.coconame; // ROS_INFO("this is:%s", classesFile.c_str()); // std::string modelConfig = ylparams.cfg; // std::string modelWeights = ylparams.weights; ifstream ifs(classesFile.c_str()); string line; while (getline(ifs, line)) { m_classes.push_back(line); }

m_model = readNetFromDarknet(modelConfig, modelWeights);
m_model.setPreferableBackend(DNN_BACKEND_OPENCV);
m_model.setPreferableTarget(DNN_TARGET_OPENCL);

}

"absolute path" in yolo "yolo/src/detection.cpp"，you can see：

string  classesFile = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names";
string  modelConfig = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg";
string  modelWeights = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights";

"absolute path" in yolo "yolo/src/detection.cpp"，you can see：

string  classesFile = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names";
string  modelConfig = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg";
string  modelWeights = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights";

yes, and please just remove "[absolute path]" in default.yaml, for example:

YOLO Params

Yolo/cfg_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg Yolo/weight_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights Yolo/coconame_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names

or you can remove it from detection.launch, like this:

<node pkg="yolo" type="yolo" name="yolo" output="screen">
</node>
<!-- <node type="rviz" name="decodeRiz" pkg="rviz" args="-d $(find graph_decoder)/rviz/decoder.rviz" /> -->

Direct use of instructions：catkin_make Errors may occur

/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]

define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }

using：catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6 -DPYTHON_LIBRARY=/usr/lib/python3.6/config-3.6m-x86_64-linux-gnu/libpython3.6.so

is ok!

[100%] Linking CXX executable /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/devel/lib/far_planner/far_planner [100%] Built target far_planner

Maybe it's because of my computer！

Direct use of instructions：catkin_make Errors may occur

/usr/include/python2.7/numpy/__multiarray_api.h:1537:144: error: return-statement with no value, in function returning ‘void*’ [-fpermissive]

define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }

using：catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6 -DPYTHON_LIBRARY=/usr/lib/python3.6/config-3.6m-x86_64-linux-gnu/libpython3.6.so

is ok!

[100%] Linking CXX executable /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/devel/lib/far_planner/far_planner [100%] Built target far_planner

Maybe it's because of my computer！

i have met this problem in 18.04 because the version of python is different between the system and ROS, you will note that ROS with python3 but system python2, I forgot how to select it, but you can search "how to change the primary python version in Ubuntu", it will help.

"absolute path" in yolo "yolo/src/detection.cpp"，you can see：
string  classesFile = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names";
string  modelConfig = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg";
string  modelWeights = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights";
yes, and please just remove "[absolute path]" in default.yaml, for example:

YOLO Params

Yolo/cfg_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg Yolo/weight_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights Yolo/coconame_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names

or you can remove it from detection.launch, like this:
<node pkg="yolo" type="yolo" name="yolo" output="screen">
</node>

JUST NOW:

default.yaml

Yolo/cfg_path : [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg Yolo/weight_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/config/yolov4-tiny.weights Yolo/coconame_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names

B UT,execute

source ./devel/setup.bash

roslaunch far_planner far_planner.launch

RLException: error loading tag: file /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/config/default.yaml contains invalid YAML: while parsing a block mapping in "", line 1, column 1: Yolo/cfg_path ... ^ expected , but found '' in "", line 1, column 58: ... : [Absolute Path]/home/add/autonomous_exploration ... ^ XML is The traceback for the exception was written to the log file

Still this question，thank you reply!

delete the [Absoluth Path]

Yolo/cfg_path : [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg

Yolo/cfg_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg

delete the [Absoluth Path] Yolo/cfg_path : [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg -> Yolo/cfg_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg lee @. … ------------------ Original ------------------ From: @.>; Date: 2023年5月30日(星期二) 晚上9:55 To: @.>; Cc: @.>; @.>; Subject: Re: [Leeable/far-planner-with-yolo-complete] catkin_make question (Issue #1) "absolute path" in yolo "yolo/src/detection.cpp"，you can see： string classesFile = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names"; string modelConfig = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg"; string modelWeights = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights"; yes, and please just remove "[absolute path]" in default.yaml, for example: YOLO Params Yolo/cfg_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg Yolo/weight_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights Yolo/coconame_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names or you can remove it from detection.launch, like this: <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  JUST NOW: default.yaml Yolo/cfg_path : [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg Yolo/weight_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/config/yolov4-tiny.weights Yolo/coconame_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names B UT,execute source ./devel/setup.bash roslaunch far_planner far_planner.launch RLException: error loading tag: file /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/config/default.yaml contains invalid YAML: while parsing a block mapping in "", line 1, column 1: Yolo/cfg_path ... ^ expected , but found '' in "", line 1, column 58: ... : [Absolute Path]/home/add/autonomous_exploration ... ^ XML is The traceback for the exception was written to the log file Still this question，thank you reply! — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: @.>

sorry,I'm too anxious

RLException: error loading tag: file /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/config/default.yaml contains invalid YAML: mapping values are not allowed here in "", line 2, column 41: ... ght_path : /home/add/autonomous_explorati ... ^ XML is The traceback for the exception was written to the log file

delete the [Absoluth Path] Yolo/cfg_path : [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg -> Yolo/cfg_path : /home/add/autonomous_exploration_developmentenvironment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg lee @.*** … ------------------ Original ------------------ From: @.>; Date: 2023年5月30日(星期二) 晚上9:55 To: _@_.>; Cc: @.>; _@_._>; Subject: Re: [Leeable/far-planner-with-yolo-complete] catkin_make question (Issue #1) "absolute path" in yolo "yolo/src/detection.cpp"，you can see： string classesFile = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names"; string modelConfig = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg"; string modelWeights = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights"; yes, and please just remove "[absolute path]" in default.yaml, for example: YOLO Params Yolo/cfg_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg Yolo/weight_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights Yolo/coconame_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names or you can remove it from detection.launch, like this: JUST NOW: default.yaml Yolo/cfg_path : [Absolute Path]/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg Yolo/weight_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/config/yolov4-tiny.weights Yolo/coconame_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names B UT,execute source ./devel/setup.bash roslaunch far_planner far_planner.launch RLException: error loading tag: file /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/config/default.yaml contains invalid YAML: while parsing a block mapping in "", line 1, column 1: Yolo/cfg_path ... ^ expected , but found '' in "", line 1, column 58: ... : [Absolute Path]/home/add/autonomousexploration ... ^ XML is The traceback for the exception was written to the log file Still this question，thank you reply! — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: @_.***>

sorry,I'm too anxious

RLException: error loading tag: file /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/config/default.yaml contains invalid YAML: mapping values are not allowed here in "", line 2, column 41: ... ght_path : /home/add/autonomous_explorati ... ^ XML is The traceback for the exception was written to the log file

ok, you can delete the
<rosparam command="load" file="$(find yolo)/config/default.yaml" /> in the detection.launch and check if it works

I was too careless ahead. I carefully checked and randomly cleaned up some sequences:

default.yaml

Yolo/cfg_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg Yolo/weight_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights Yolo/coconame_path : /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names

detection.launch
<launch>
<node pkg="yolo" type="yolo" name="yolo" output="screen">

</node>
<!-- <node type="rviz" name="decodeRiz" pkg="rviz" args="-d $(find graph_decoder)/rviz/decoder.rviz" /> -->


detection.cpp

>  string  classesFile = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/coco.names";
>     string  modelConfig = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.cfg";
>     string  modelWeights = "/home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/data/yolov4-tiny.weights";

run:

source ./devel/setup.bash roslaunch far_planner far_planner.launch



> RLException: error loading <rosparam> tag: 
>   file /home/add/autonomous_exploration_development_environment/far-planner-with-yolo/src/yolo/config/default.yaml contains invalid YAML:
> mapping values are not allowed here
>   in "<string>", line 2, column 41:
>      ... ght_path                        : /home/add/autonomous_explorati ... 
>                                          ^
> XML is <rosparam command="load" file="$(find yolo)/config/default.yaml"/>
> The traceback for the exception was written to the log file
>

it shows that your "path" is not obey the yaml standard. DO NOT USE ENTER OR LINE BREAK when one of the path is not completed, and do not use "#" to comment the command, you can use this  or just delete this line, and the launch will be: `

<!-- <node type="rviz" name="decodeRiz" pkg="rviz" args="-d $(find graph_decoder)/rviz/decoder.rviz" /> -->

and if it dosen't work, you can delete the defualt.yaml in the config file

it shows that your "path" is not obey the yaml standard. and do not use "#" to comment the command,  or just delete this line, and the launch will be: <launch> <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  </launch>

thank you!

Problem Solving！

BUT，in rviz 2023-05-30 22-26-16屏幕截图

it shows that your "path" is not obey the yaml standard. and do not use "#" to comment the command,  or just delete this line, and the launch will be: <launch> <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  </launch>

thank you!

Problem Solving！

BUT，in rviz

far planner is worked with CMU Autonomous Exploration， did you download it ? https://github.com/HongbiaoZ/autonomous_exploration_development_environment

it shows that your "path" is not obey the yaml standard. and do not use "#" to comment the command,  or just delete this line, and the launch will be: <launch> <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  </launch>

thank you! Problem Solving！ BUT，in rviz

far planner is worked with CMU Autonomous Exploration， did you download it ? https://github.com/HongbiaoZ/autonomous_explorati on_development_environment

yes

it shows that your "path" is not obey the yaml standard. and do not use "#" to comment the command,  or just delete this line, and the launch will be: <launch> <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  </launch>

thank you! Problem Solving！ BUT，in rviz

far planner is worked with CMU Autonomous Exploration， did you download it ? https://github.com/HongbiaoZ/autonomous_explorati on_development_environment

yes

run the environment first, and then run the far planner, is it works?

it shows that your "path" is not obey the yaml standard. and do not use "#" to comment the command,  or just delete this line, and the launch will be: <launch> <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  </launch>

thank you! Problem Solving！ BUT，in rviz

far planner is worked with CMU Autonomous Exploration， did you download it ? https://github.com/HongbiaoZ/autonomous_explorati on_development_environment

yes

run the environment first, and then run the far planner, is it works?

and please check that you already re-catkin_make after you change the path in detecion.cpp

it shows that your "path" is not obey the yaml standard. and do not use "#" to comment the command,  or just delete this line, and the launch will be: <launch> <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  </launch>

thank you! Problem Solving！ BUT，in rviz

far planner is worked with CMU Autonomous Exploration， did you download it ? https://github.com/HongbiaoZ/autonomous_exploration_development_environment

yes

it shows that your "path" is not obey the yaml standard. and do not use "#" to comment the command,  or just delete this line, and the launch will be: <launch> <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  </launch>

thank you! Problem Solving！ BUT，in rviz

far planner is worked with CMU Autonomous Exploration， did you download it ? https://github.com/HongbiaoZ/autonomous_explorati on_development_environment

yes

run the environment first, and then run the far planner, is it works?

Thank you very much. This matter has already troubled you! Thank you.

2023-05-30 22-38-36屏幕截图

If I want to use YOLO to identify trees, can I use your simulation?Thank you.

it shows that your "path" is not obey the yaml standard. and do not use "#" to comment the command,  or just delete this line, and the launch will be: <launch> <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  </launch>

thank you! Problem Solving！ BUT，in rviz

far planner is worked with CMU Autonomous Exploration， did you download it ? https://github.com/HongbiaoZ/autonomous_exploration_development_environment

yes

it shows that your "path" is not obey the yaml standard. and do not use "#" to comment the command,  or just delete this line, and the launch will be: <launch> <node pkg="yolo" type="yolo" name="yolo" output="screen"> </node>  </launch>

thank you! Problem Solving！ BUT，in rviz

far planner is worked with CMU Autonomous Exploration， did you download it ? https://github.com/HongbiaoZ/autonomous_explorati on_development_environment

yes

run the environment first, and then run the far planner, is it works?

Thank you very much. This matter has already troubled you! Thank you.

If I want to use YOLO to identify trees, can I use your simulation?Thank you.

i didn't train the yolo to identify trees, but you can check if yolov4 is already trained to recognize trees, otherwise you should train it by yourself, and add "trees" as a tag in coco.names, put your trained weight files to replace it.

Leeable / far-planner-with-yolo-complete

catkin_make question #1

Running command: "make -j12 -l12" in "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/build"

Running command: "make -j12 -l12" in "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/build"

YOLO Params yolo

Running command: "make -j12 -l12" in "/home/lqz/下载/far-planner-with-yolo-complete-Noetic/build"

YOLO Params yolo

YOLO Params

define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }

define import_array() {if (_import_array() < 0) {PyErr_Print(); PyErr_SetString(PyExc_ImportError, "numpy.core.multiarray failed to import"); return NUMPY_IMPORT_ARRAY_RETVAL; } }

YOLO Params