search

MIT-SPARK / Kimera-VIO-ROS

ROS wrapper for Kimera-VIO
BSD 2-Clause "Simplified" License
369 stars 153 forks source link

kimera_rpgo build fail #122

Open IbrahimKaramavus1773 opened 3 years ago

IbrahimKaramavus1773 commented 3 years ago

Description: Dear developers, I am trying to build Kimera_VIO_ROS but i faced an error in building Kimera_RPGO. I am using Ubuntu 18.04 and ROS Melodic.The error is shown belown.

Any ideas how to fix it ?

Command:

# replace this line with the command(s) you used

Console output:


Errors     << kimera_rpgo:make /home/ibrahimkaramavus/catkin_ws/logs/kimera_rpgo/build.make.004.log                                                                                  
In file included from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:16:0,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/SolverParams.h: In constructor ‘KimeraRPGO::RobustSolverParams::RobustSolverParams()’:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/SolverParams.h:133:8: warning: ‘KimeraRPGO::RobustSolverParams::incremental’ will be initialized after [-Wreorder]
   bool incremental;
        ^~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/SolverParams.h:121:8: warning:   ‘bool KimeraRPGO::RobustSolverParams::log_output’ [-Wreorder]
   bool log_output;
        ^~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/SolverParams.h:28:3: warning:   when initialized here [-Wreorder]
   RobustSolverParams()
   ^~~~~~~~~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp: In member function ‘bool KimeraRPGO::GenericSolver::addAndCheckIfOptimize(const gtsam::NonlinearFactorGraph&, const gtsam::Values&)’:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:42:8: warning: unused variable ‘do_optimize’ [-Wunused-variable]
   bool do_optimize = true;
        ^~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp: In member function ‘void KimeraRPGO::GenericSolver::removePriorsWithPrefix(const char&)’:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:44: error: ‘PriorFactor’ is not a member of ‘gtsam’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                            ^~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:44: note: suggested alternative: ‘Factor’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                            ^~~~~~~~~~~
                                            Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:44: error: ‘PriorFactor’ is not a member of ‘gtsam’
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:44: note: suggested alternative: ‘Factor’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                            ^~~~~~~~~~~
                                            Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:16: error: parse error in template argument list
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:68: error: no match for ‘operator>’ (operand types are ‘<unresolved overloaded function type>’ and ‘boost::shared_ptr<gtsam::NonlinearFactor>’)
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
In file included from /usr/include/boost/lexical_cast/detail/converter_lexical.hpp:50:0,
                 from /usr/include/boost/lexical_cast/try_lexical_convert.hpp:42,
                 from /usr/include/boost/lexical_cast.hpp:32,
                 from /usr/include/boost/date_time/string_parse_tree.hpp:13,
                 from /usr/include/boost/date_time/period_parser.hpp:14,
                 from /usr/include/boost/date_time/date_facet.hpp:23,
                 from /usr/include/boost/date_time/gregorian/gregorian_io.hpp:16,
                 from /usr/include/boost/date_time/gregorian/gregorian.hpp:31,
                 from /usr/include/boost/date_time/posix_time/time_formatters.hpp:12,
                 from /usr/include/boost/date_time/posix_time/posix_time.hpp:24,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:16:
/usr/include/boost/array.hpp:336:10: note: candidate: template<class T, long unsigned int N> bool boost::operator>(const boost::array<T, sz>&, const boost::array<T, sz>&)
     bool operator> (const array<T,N>& x, const array<T,N>& y) {
          ^~~~~~~~
/usr/include/boost/array.hpp:336:10: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:77: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::array<T, sz>’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                                                             ^
In file included from /usr/include/boost/variant/variant.hpp:42:0,
                 from /usr/include/boost/variant.hpp:17,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/inference/EliminateableFactorGraph.h:23,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/DoglegOptimizer.h:21,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:14:
/usr/include/boost/blank.hpp:83:13: note: candidate: bool boost::operator>(const boost::blank&, const boost::blank&)
 inline bool operator>(const blank&, const blank&)
             ^~~~~~~~
/usr/include/boost/blank.hpp:83:13: note:   no known conversion for argument 1 from ‘<unresolved overloaded function type>’ to ‘const boost::blank&’
In file included from /usr/include/boost/range/iterator_range.hpp:13:0,
                 from /usr/include/boost/ptr_container/ptr_map_adapter.hpp:23,
                 from /usr/include/boost/ptr_container/detail/serialize_ptr_map_adapter.hpp:9,
                 from /usr/include/boost/ptr_container/serialize_ptr_map.hpp:9,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/Values.h:41,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/range/iterator_range_core.hpp:723:9: note: candidate: template<class IteratorT, class ForwardRange> typename boost::enable_if<boost::mpl::not_<boost::is_base_and_derived<boost::iterator_range_detail::iterator_range_tag, ForwardRange> >, bool>::type boost::operator>(const boost::iterator_range<IteratorT>&, const ForwardRange&)
         operator>( const iterator_range<IteratorT>& l, const ForwardRange& r )
         ^~~~~~~~
/usr/include/boost/range/iterator_range_core.hpp:723:9: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:77: note:   couldn't deduce template parameter ‘IteratorT’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                                                             ^
In file included from /usr/include/boost/range/iterator_range.hpp:13:0,
                 from /usr/include/boost/ptr_container/ptr_map_adapter.hpp:23,
                 from /usr/include/boost/ptr_container/detail/serialize_ptr_map_adapter.hpp:9,
                 from /usr/include/boost/ptr_container/serialize_ptr_map.hpp:9,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/Values.h:41,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/range/iterator_range_core.hpp:713:9: note: candidate: template<class Iterator1T, class Iterator2T> bool boost::operator>(const boost::iterator_range<IteratorT>&, const boost::iterator_range<Iterator2T>&)
         operator>( const iterator_range<Iterator1T>& l, const iterator_range<Iterator2T>& r )
         ^~~~~~~~
/usr/include/boost/range/iterator_range_core.hpp:713:9: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:77: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::iterator_range<Iterator2T>’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                                                             ^
In file included from /usr/include/boost/range/iterator_range.hpp:13:0,
                 from /usr/include/boost/ptr_container/ptr_map_adapter.hpp:23,
                 from /usr/include/boost/ptr_container/detail/serialize_ptr_map_adapter.hpp:9,
                 from /usr/include/boost/ptr_container/serialize_ptr_map.hpp:9,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/Values.h:41,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/range/iterator_range_core.hpp:624:9: note: candidate: template<class IteratorT, class ForwardRange> typename boost::enable_if<boost::mpl::not_<boost::is_base_and_derived<boost::iterator_range_detail::iterator_range_tag, ForwardRange> >, bool>::type boost::operator>(const ForwardRange&, const boost::iterator_range<IteratorT>&)
         operator>( const ForwardRange& l, const iterator_range<IteratorT>& r )
         ^~~~~~~~
/usr/include/boost/range/iterator_range_core.hpp:624:9: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:77: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::iterator_range<IteratorT>’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                                                             ^
In file included from /usr/include/boost/optional/optional.hpp:1382:0,
                 from /usr/include/boost/optional.hpp:15,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/OptionalJacobian.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Matrix.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Manifold.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Lie.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/VectorSpace.h:11,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/geometry/Point2.h:20,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/optional/detail/optional_relops.hpp:180:6: note: candidate: template<class T> bool boost::operator>(boost::none_t, const boost::optional<T>&)
 bool operator > ( none_t x, optional<T> const& y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:180:6: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:77: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::optional<T>’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                                                             ^
In file included from /usr/include/boost/optional/optional.hpp:1382:0,
                 from /usr/include/boost/optional.hpp:15,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/OptionalJacobian.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Matrix.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Manifold.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Lie.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/VectorSpace.h:11,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/geometry/Point2.h:20,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/optional/detail/optional_relops.hpp:146:6: note: candidate: template<class T> bool boost::operator>(const boost::optional<T>&, boost::none_t)
 bool operator > ( optional<T> const& x, none_t y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:146:6: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:77: note:   couldn't deduce template parameter ‘T’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                                                             ^
In file included from /usr/include/boost/optional/optional.hpp:1382:0,
                 from /usr/include/boost/optional.hpp:15,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/OptionalJacobian.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Matrix.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Manifold.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Lie.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/VectorSpace.h:11,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/geometry/Point2.h:20,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/optional/detail/optional_relops.hpp:111:6: note: candidate: template<class T> bool boost::operator>(const T&, const boost::optional<T>&)
 bool operator > ( T const& x, optional<T> const& y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:111:6: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:77: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::optional<T>’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                                                             ^
In file included from /usr/include/boost/optional/optional.hpp:1382:0,
                 from /usr/include/boost/optional.hpp:15,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/OptionalJacobian.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Matrix.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Manifold.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Lie.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/VectorSpace.h:11,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/geometry/Point2.h:20,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/optional/detail/optional_relops.hpp:77:6: note: candidate: bool boost::operator>(const boost::optional<T>&, const T&) [with T = boost::shared_ptr<gtsam::NonlinearFactor>]
 bool operator > ( optional<T> const& x, T const& y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:77:6: note:   no known conversion for argument 1 from ‘<unresolved overloaded function type>’ to ‘const boost::optional<boost::shared_ptr<gtsam::NonlinearFactor> >&’
/usr/include/boost/optional/detail/optional_relops.hpp:43:6: note: candidate: template<class T> bool boost::operator>(const boost::optional<T>&, const boost::optional<T>&)
 bool operator > ( optional<T> const& x, optional<T> const& y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:43:6: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:114:77: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::optional<T>’
     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
                                                                             ^
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:115:14: error: ‘PriorFactor’ is not a member of ‘gtsam’
       gtsam::PriorFactor<gtsam::Pose3> prior_factor =
              ^~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:115:14: note: suggested alternative: ‘Factor’
       gtsam::PriorFactor<gtsam::Pose3> prior_factor =
              ^~~~~~~~~~~
              Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:115:38: error: expected primary-expression before ‘>’ token
       gtsam::PriorFactor<gtsam::Pose3> prior_factor =
                                      ^
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:115:40: error: ‘prior_factor’ was not declared in this scope
       gtsam::PriorFactor<gtsam::Pose3> prior_factor =
                                        ^~~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:115:40: note: suggested alternative: ‘factor’
       gtsam::PriorFactor<gtsam::Pose3> prior_factor =
                                        ^~~~~~~~~~~~
                                        factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:116:47: error: ‘PriorFactor’ is not a member of ‘gtsam’
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(
                                               ^~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:116:47: note: suggested alternative: ‘Factor’
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(
                                               ^~~~~~~~~~~
                                               Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:116:47: error: ‘PriorFactor’ is not a member of ‘gtsam’
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:116:47: note: suggested alternative: ‘Factor’
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(
                                               ^~~~~~~~~~~
                                               Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:116:19: error: parse error in template argument list
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(
                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:116:12: error: insufficient contextual information to determine type
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(
            ^~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:120:51: error: ‘PriorFactor’ is not a member of ‘gtsam’
     } else if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
                                                   ^~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:120:51: note: suggested alternative: ‘Factor’
     } else if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
                                                   ^~~~~~~~~~~
                                                   Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:120:51: error: ‘PriorFactor’ is not a member of ‘gtsam’
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:120:51: note: suggested alternative: ‘Factor’
     } else if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
                                                   ^~~~~~~~~~~
                                                   Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:120:23: error: parse error in template argument list
     } else if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:120:75: error: no match for ‘operator>’ (operand types are ‘<unresolved overloaded function type>’ and ‘boost::shared_ptr<gtsam::NonlinearFactor>’)
     } else if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
                    factor)) {
                    ~~~~~~~                                                 
In file included from /usr/include/boost/lexical_cast/detail/converter_lexical.hpp:50:0,
                 from /usr/include/boost/lexical_cast/try_lexical_convert.hpp:42,
                 from /usr/include/boost/lexical_cast.hpp:32,
                 from /usr/include/boost/date_time/string_parse_tree.hpp:13,
                 from /usr/include/boost/date_time/period_parser.hpp:14,
                 from /usr/include/boost/date_time/date_facet.hpp:23,
                 from /usr/include/boost/date_time/gregorian/gregorian_io.hpp:16,
                 from /usr/include/boost/date_time/gregorian/gregorian.hpp:31,
                 from /usr/include/boost/date_time/posix_time/time_formatters.hpp:12,
                 from /usr/include/boost/date_time/posix_time/posix_time.hpp:24,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:16:
/usr/include/boost/array.hpp:336:10: note: candidate: template<class T, long unsigned int N> bool boost::operator>(const boost::array<T, sz>&, const boost::array<T, sz>&)
     bool operator> (const array<T,N>& x, const array<T,N>& y) {
          ^~~~~~~~
/usr/include/boost/array.hpp:336:10: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:121:26: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::array<T, sz>’
                    factor)) {
                          ^
In file included from /usr/include/boost/variant/variant.hpp:42:0,
                 from /usr/include/boost/variant.hpp:17,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/inference/EliminateableFactorGraph.h:23,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/linear/GaussianFactorGraph.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/DoglegOptimizer.h:21,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:14:
/usr/include/boost/blank.hpp:83:13: note: candidate: bool boost::operator>(const boost::blank&, const boost::blank&)
 inline bool operator>(const blank&, const blank&)
             ^~~~~~~~
/usr/include/boost/blank.hpp:83:13: note:   no known conversion for argument 1 from ‘<unresolved overloaded function type>’ to ‘const boost::blank&’
In file included from /usr/include/boost/range/iterator_range.hpp:13:0,
                 from /usr/include/boost/ptr_container/ptr_map_adapter.hpp:23,
                 from /usr/include/boost/ptr_container/detail/serialize_ptr_map_adapter.hpp:9,
                 from /usr/include/boost/ptr_container/serialize_ptr_map.hpp:9,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/Values.h:41,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/range/iterator_range_core.hpp:723:9: note: candidate: template<class IteratorT, class ForwardRange> typename boost::enable_if<boost::mpl::not_<boost::is_base_and_derived<boost::iterator_range_detail::iterator_range_tag, ForwardRange> >, bool>::type boost::operator>(const boost::iterator_range<IteratorT>&, const ForwardRange&)
         operator>( const iterator_range<IteratorT>& l, const ForwardRange& r )
         ^~~~~~~~
/usr/include/boost/range/iterator_range_core.hpp:723:9: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:121:26: note:   couldn't deduce template parameter ‘IteratorT’
                    factor)) {
                          ^
In file included from /usr/include/boost/range/iterator_range.hpp:13:0,
                 from /usr/include/boost/ptr_container/ptr_map_adapter.hpp:23,
                 from /usr/include/boost/ptr_container/detail/serialize_ptr_map_adapter.hpp:9,
                 from /usr/include/boost/ptr_container/serialize_ptr_map.hpp:9,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/Values.h:41,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/range/iterator_range_core.hpp:713:9: note: candidate: template<class Iterator1T, class Iterator2T> bool boost::operator>(const boost::iterator_range<IteratorT>&, const boost::iterator_range<Iterator2T>&)
         operator>( const iterator_range<Iterator1T>& l, const iterator_range<Iterator2T>& r )
         ^~~~~~~~
/usr/include/boost/range/iterator_range_core.hpp:713:9: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:121:26: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::iterator_range<Iterator2T>’
                    factor)) {
                          ^
In file included from /usr/include/boost/range/iterator_range.hpp:13:0,
                 from /usr/include/boost/ptr_container/ptr_map_adapter.hpp:23,
                 from /usr/include/boost/ptr_container/detail/serialize_ptr_map_adapter.hpp:9,
                 from /usr/include/boost/ptr_container/serialize_ptr_map.hpp:9,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/Values.h:41,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactor.h:23,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/range/iterator_range_core.hpp:624:9: note: candidate: template<class IteratorT, class ForwardRange> typename boost::enable_if<boost::mpl::not_<boost::is_base_and_derived<boost::iterator_range_detail::iterator_range_tag, ForwardRange> >, bool>::type boost::operator>(const ForwardRange&, const boost::iterator_range<IteratorT>&)
         operator>( const ForwardRange& l, const iterator_range<IteratorT>& r )
         ^~~~~~~~
/usr/include/boost/range/iterator_range_core.hpp:624:9: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:121:26: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::iterator_range<IteratorT>’
                    factor)) {
                          ^
In file included from /usr/include/boost/optional/optional.hpp:1382:0,
                 from /usr/include/boost/optional.hpp:15,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/OptionalJacobian.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Matrix.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Manifold.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Lie.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/VectorSpace.h:11,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/geometry/Point2.h:20,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/optional/detail/optional_relops.hpp:180:6: note: candidate: template<class T> bool boost::operator>(boost::none_t, const boost::optional<T>&)
 bool operator > ( none_t x, optional<T> const& y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:180:6: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:121:26: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::optional<T>’
                    factor)) {
                          ^
In file included from /usr/include/boost/optional/optional.hpp:1382:0,
                 from /usr/include/boost/optional.hpp:15,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/OptionalJacobian.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Matrix.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Manifold.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Lie.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/VectorSpace.h:11,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/geometry/Point2.h:20,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/optional/detail/optional_relops.hpp:146:6: note: candidate: template<class T> bool boost::operator>(const boost::optional<T>&, boost::none_t)
 bool operator > ( optional<T> const& x, none_t y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:146:6: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:121:26: note:   couldn't deduce template parameter ‘T’
                    factor)) {
                          ^
In file included from /usr/include/boost/optional/optional.hpp:1382:0,
                 from /usr/include/boost/optional.hpp:15,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/OptionalJacobian.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Matrix.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Manifold.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Lie.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/VectorSpace.h:11,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/geometry/Point2.h:20,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/optional/detail/optional_relops.hpp:111:6: note: candidate: template<class T> bool boost::operator>(const T&, const boost::optional<T>&)
 bool operator > ( T const& x, optional<T> const& y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:111:6: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:121:26: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::optional<T>’
                    factor)) {
                          ^
In file included from /usr/include/boost/optional/optional.hpp:1382:0,
                 from /usr/include/boost/optional.hpp:15,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/OptionalJacobian.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Matrix.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Manifold.h:22,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/Lie.h:25,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/base/VectorSpace.h:11,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/geometry/Point2.h:20,
                 from /home/ibrahimkaramavus/catkin_ws/devel/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:13,
                 from /home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/optional/detail/optional_relops.hpp:77:6: note: candidate: bool boost::operator>(const boost::optional<T>&, const T&) [with T = boost::shared_ptr<gtsam::NonlinearFactor>]
 bool operator > ( optional<T> const& x, T const& y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:77:6: note:   no known conversion for argument 1 from ‘<unresolved overloaded function type>’ to ‘const boost::optional<boost::shared_ptr<gtsam::NonlinearFactor> >&’
/usr/include/boost/optional/detail/optional_relops.hpp:43:6: note: candidate: template<class T> bool boost::operator>(const boost::optional<T>&, const boost::optional<T>&)
 bool operator > ( optional<T> const& x, optional<T> const& y )
      ^~~~~~~~
/usr/include/boost/optional/detail/optional_relops.hpp:43:6: note:   template argument deduction/substitution failed:
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:121:26: note:   ‘boost::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::optional<T>’
                    factor)) {
                          ^
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:122:14: error: ‘PriorFactor’ is not a member of ‘gtsam’
       gtsam::PriorFactor<gtsam::Pose2> prior_factor =
              ^~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:122:14: note: suggested alternative: ‘Factor’
       gtsam::PriorFactor<gtsam::Pose2> prior_factor =
              ^~~~~~~~~~~
              Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:122:38: error: expected primary-expression before ‘>’ token
       gtsam::PriorFactor<gtsam::Pose2> prior_factor =
                                      ^
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:122:40: error: ‘prior_factor’ was not declared in this scope
       gtsam::PriorFactor<gtsam::Pose2> prior_factor =
                                        ^~~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:122:40: note: suggested alternative: ‘factor’
       gtsam::PriorFactor<gtsam::Pose2> prior_factor =
                                        ^~~~~~~~~~~~
                                        factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:123:47: error: ‘PriorFactor’ is not a member of ‘gtsam’
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
                                               ^~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:123:47: note: suggested alternative: ‘Factor’
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
                                               ^~~~~~~~~~~
                                               Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:123:47: error: ‘PriorFactor’ is not a member of ‘gtsam’
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:123:47: note: suggested alternative: ‘Factor’
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
                                               ^~~~~~~~~~~
                                               Factor
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:123:19: error: parse error in template argument list
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ibrahimkaramavus/catkin_ws/src/Kimera-RPGO/src/GenericSolver.cpp:123:12: error: insufficient contextual information to determine type
           *boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2>>(
            ^~~~~
make[2]: *** [CMakeFiles/KimeraRPGO.dir/src/GenericSolver.cpp.o] Error 1
make[1]: *** [CMakeFiles/KimeraRPGO.dir/all] Error 2
make: *** [all] Error 2
cd /home/ibrahimkaramavus/catkin_ws/build/kimera_rpgo; catkin build --get-env kimera_rpgo | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
.....................................................................................................................................................................................
Failed     << kimera_rpgo:make                                  [ Exited with code 2 ]                                                                                               
Failed    <<< kimera_rpgo                                       [ 50.4 seconds ]                                                                                                     
Abandoned <<< kimera_vio                                        [ Unrelated job failed ]                                                                                             
Abandoned <<< kimera_vio_ros                                    [ Unrelated job failed ]                                                                                             
Abandoned <<< kimera_semantics_ros                              [ Unrelated job failed ]                                                                                             
Finished  <<< voxblox_ros                                       [ 51.8 seconds ]                                                                                                     
[build] Summary: 44 of 48 packages succeeded.                                                                                                                                        
[build]   Ignored:   1 packages were skipped or are blacklisted.                                                                                                                     
[build]   Warnings:  2 packages succeeded with warnings.                                                                                                                             
[build]   Abandoned: 3 packages were abandoned.                                                                                                                                      
[build]   Failed:    1 packages failed.

Additional files: Please attach all the files needed to reproduce the error.

Please give also the following information:

yunzc commented 3 years ago

@IbrahimKaramavus1773 pull the latest master from KimeraRPGO, this commit should hopefully solve the problem.

pooja-kabra commented 1 year ago

I am working with Ubuntu 20.04 and ROS Foxy. Successfuly built GTSAM on develop branch with BUILD_WITH_MARCH_NATIVE = OFF and installed it.

Used out of the box cmake options for Kimera-RPGO, see image: image

pooja@pooja-ThinkPad-P1-Gen-5:~/Kimera-RPGO/build$ make install
[  6%] Building CXX object CMakeFiles/KimeraRPGO.dir/src/GenericSolver.cpp.o
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp: In member function ‘void KimeraRPGO::GenericSolver::removePriorsWithPrefix(const char&)’:
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:138:77: error: no matching function for call to ‘dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3> >(std::shared_ptr<gtsam::NonlinearFactor>&)’
  138 |     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
      |                                                                             ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/format/alt_sstream.hpp:22,
                 from /usr/include/boost/format/internals.hpp:24,
                 from /usr/include/boost/format.hpp:38,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/Logger.h:8,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:16,
                 from /home/pooja/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/smart_ptr/shared_ptr.hpp:963:42: note: candidate: ‘template<class T, class U> boost::shared_ptr<X> boost::dynamic_pointer_cast(const boost::shared_ptr<U>&)’
  963 | template<class T, class U> shared_ptr<T> dynamic_pointer_cast( shared_ptr<U> const & r ) BOOST_SP_NOEXCEPT
      |                                          ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:963:42: note:   template argument deduction/substitution failed:
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:138:77: note:   ‘std::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::shared_ptr<U>’
  138 |     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
      |                                                                             ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/format/alt_sstream.hpp:22,
                 from /usr/include/boost/format/internals.hpp:24,
                 from /usr/include/boost/format.hpp:38,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/Logger.h:8,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:16,
                 from /home/pooja/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/smart_ptr/shared_ptr.hpp:1005:42: note: candidate: ‘template<class T, class U> boost::shared_ptr<X> boost::dynamic_pointer_cast(boost::shared_ptr<U>&&)’
 1005 | template<class T, class U> shared_ptr<T> dynamic_pointer_cast( shared_ptr<U> && r ) BOOST_SP_NOEXCEPT
      |                                          ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:1005:42: note:   template argument deduction/substitution failed:
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:138:77: note:   ‘std::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘boost::shared_ptr<U>’
  138 |     if (boost::dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3>>(factor)) {
      |                                                                             ^
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:141:21: error: no matching function for call to ‘dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose3> >(std::shared_ptr<gtsam::NonlinearFactor>&)’
  141 |               factor);
      |                     ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/format/alt_sstream.hpp:22,
                 from /usr/include/boost/format/internals.hpp:24,
                 from /usr/include/boost/format.hpp:38,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/Logger.h:8,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:16,
                 from /home/pooja/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/smart_ptr/shared_ptr.hpp:963:42: note: candidate: ‘template<class T, class U> boost::shared_ptr<X> boost::dynamic_pointer_cast(const boost::shared_ptr<U>&)’
  963 | template<class T, class U> shared_ptr<T> dynamic_pointer_cast( shared_ptr<U> const & r ) BOOST_SP_NOEXCEPT
      |                                          ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:963:42: note:   template argument deduction/substitution failed:
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:141:21: note:   ‘std::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::shared_ptr<U>’
  141 |               factor);
      |                     ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/format/alt_sstream.hpp:22,
                 from /usr/include/boost/format/internals.hpp:24,
                 from /usr/include/boost/format.hpp:38,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/Logger.h:8,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:16,
                 from /home/pooja/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/smart_ptr/shared_ptr.hpp:1005:42: note: candidate: ‘template<class T, class U> boost::shared_ptr<X> boost::dynamic_pointer_cast(boost::shared_ptr<U>&&)’
 1005 | template<class T, class U> shared_ptr<T> dynamic_pointer_cast( shared_ptr<U> && r ) BOOST_SP_NOEXCEPT
      |                                          ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:1005:42: note:   template argument deduction/substitution failed:
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:141:21: note:   ‘std::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘boost::shared_ptr<U>’
  141 |               factor);
      |                     ^
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:145:26: error: no matching function for call to ‘dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2> >(std::shared_ptr<gtsam::NonlinearFactor>&)’
  145 |                    factor)) {
      |                          ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/format/alt_sstream.hpp:22,
                 from /usr/include/boost/format/internals.hpp:24,
                 from /usr/include/boost/format.hpp:38,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/Logger.h:8,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:16,
                 from /home/pooja/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/smart_ptr/shared_ptr.hpp:963:42: note: candidate: ‘template<class T, class U> boost::shared_ptr<X> boost::dynamic_pointer_cast(const boost::shared_ptr<U>&)’
  963 | template<class T, class U> shared_ptr<T> dynamic_pointer_cast( shared_ptr<U> const & r ) BOOST_SP_NOEXCEPT
      |                                          ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:963:42: note:   template argument deduction/substitution failed:
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:145:26: note:   ‘std::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::shared_ptr<U>’
  145 |                    factor)) {
      |                          ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/format/alt_sstream.hpp:22,
                 from /usr/include/boost/format/internals.hpp:24,
                 from /usr/include/boost/format.hpp:38,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/Logger.h:8,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:16,
                 from /home/pooja/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/smart_ptr/shared_ptr.hpp:1005:42: note: candidate: ‘template<class T, class U> boost::shared_ptr<X> boost::dynamic_pointer_cast(boost::shared_ptr<U>&&)’
 1005 | template<class T, class U> shared_ptr<T> dynamic_pointer_cast( shared_ptr<U> && r ) BOOST_SP_NOEXCEPT
      |                                          ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:1005:42: note:   template argument deduction/substitution failed:
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:145:26: note:   ‘std::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘boost::shared_ptr<U>’
  145 |                    factor)) {
      |                          ^
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:148:21: error: no matching function for call to ‘dynamic_pointer_cast<gtsam::PriorFactor<gtsam::Pose2> >(std::shared_ptr<gtsam::NonlinearFactor>&)’
  148 |               factor);
      |                     ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/format/alt_sstream.hpp:22,
                 from /usr/include/boost/format/internals.hpp:24,
                 from /usr/include/boost/format.hpp:38,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/Logger.h:8,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:16,
                 from /home/pooja/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/smart_ptr/shared_ptr.hpp:963:42: note: candidate: ‘template<class T, class U> boost::shared_ptr<X> boost::dynamic_pointer_cast(const boost::shared_ptr<U>&)’
  963 | template<class T, class U> shared_ptr<T> dynamic_pointer_cast( shared_ptr<U> const & r ) BOOST_SP_NOEXCEPT
      |                                          ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:963:42: note:   template argument deduction/substitution failed:
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:148:21: note:   ‘std::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘const boost::shared_ptr<U>’
  148 |               factor);
      |                     ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
                 from /usr/include/boost/format/alt_sstream.hpp:22,
                 from /usr/include/boost/format/internals.hpp:24,
                 from /usr/include/boost/format.hpp:38,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/Logger.h:8,
                 from /home/pooja/Kimera-RPGO/include/KimeraRPGO/GenericSolver.h:16,
                 from /home/pooja/Kimera-RPGO/src/GenericSolver.cpp:9:
/usr/include/boost/smart_ptr/shared_ptr.hpp:1005:42: note: candidate: ‘template<class T, class U> boost::shared_ptr<X> boost::dynamic_pointer_cast(boost::shared_ptr<U>&&)’
 1005 | template<class T, class U> shared_ptr<T> dynamic_pointer_cast( shared_ptr<U> && r ) BOOST_SP_NOEXCEPT
      |                                          ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:1005:42: note:   template argument deduction/substitution failed:
/home/pooja/Kimera-RPGO/src/GenericSolver.cpp:148:21: note:   ‘std::shared_ptr<gtsam::NonlinearFactor>’ is not derived from ‘boost::shared_ptr<U>’
  148 |               factor);
      |                     ^
make[2]: *** [CMakeFiles/KimeraRPGO.dir/build.make:76: CMakeFiles/KimeraRPGO.dir/src/GenericSolver.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:212: CMakeFiles/KimeraRPGO.dir/all] Error 2
make: *** [Makefile:146: all] Error 2

The change in https://github.com/MIT-SPARK/Kimera-RPGO/commit/3003ed918f11c3f45ccc98e8726839c5f6fc8b9f mentioned by @yunzc is already present on the develop branch, but build still fails.

Any help would be appreciated thanks!