An error when doing "colcon build"

[TwiceMao]

SwarmSLAM/build/cslam_common_interfaces/rosidl_generator_cpp/cslam_common_interfaces/msg/detail/local_image_descriptorsstruct.hpp:19:10: fatal error: rtabmap_ros/msg/detail/rgbd_imagestruct.hpp: No such file or directory 19 | #include "rtabmap_ros/msg/detail/rgbd_image__struct.hpp"

Could you help me？

[lajoiepy]

Thanks for pointing this out! There was a recent change in rtabmap_ros that seems to break things. I'll try to push a fix by next week.

In the mean time you can try the following:

• modify https://github.com/lajoiepy/cslam/blob/fd62c32e44c736c79b991c7d2d595766956313e9/include/cslam/front_end/rgbd_handler.h#LL6C23-L6C26 to #include <rtabmap_msgs/msg/rgbd_image.hpp>
• modify rtabmap_ros in https://github.com/lajoiepy/cslam_interfaces/blob/5a3f99aa84791d92293773f4aa3d2d56a4f3c232/cslam_common_interfaces/package.xml#L19 , https://github.com/lajoiepy/cslam_interfaces/blob/5a3f99aa84791d92293773f4aa3d2d56a4f3c232/cslam_common_interfaces/package.xml#L25 , https://github.com/lajoiepy/cslam_interfaces/blob/5a3f99aa84791d92293773f4aa3d2d56a4f3c232/cslam_common_interfaces/CMakeLists.txt#L40 , https://github.com/lajoiepy/cslam_interfaces/blob/5a3f99aa84791d92293773f4aa3d2d56a4f3c232/cslam_common_interfaces/CMakeLists.txt#L70 , and https://github.com/lajoiepy/cslam_interfaces/blob/5a3f99aa84791d92293773f4aa3d2d56a4f3c232/cslam_common_interfaces/msg/LocalImageDescriptors.msg#L7 to rtabmap_msgs

[TwiceMao]

@lajoiepy After doing what you said, the error is still reported. So I replaced the "rtabmap_ros" in all the files in the three directories /src/cslam, /src/cslam_experiments /src/cslam_interfaces with "rtabmap_msgs", and the "colcon build" command will not report an error. But there seems to be a problem when executing the "colco test" command, as shown in the figure

[lajoiepy]

You can use colcon test-result --verbose to get more info about the failed tests, but the only important tests are in the cslam package. Those have passed, so everything should be fine

[lajoiepy]

I fixed the rtabmap depencies. Please update your code :)