Kimera VIO ROS build fail

fatrybl commented 4 years ago

Description: Dear developers, I have a problem with building. I followed all instructions from scratch, used fresh and clear Ubuntu 18 with latest ROS Melodic, but get theses errors (links to screeshots are provided below)

I tried to compile with catkin build kimera_vio_ros -j 4 It did not help. I installed C++ Boost library and all other Prerequisities according to manual. Any ideas how to fix it ?

Command:

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

Console output:

                 from /home/mark/catkin_ws/src/Kimera-VIO/tests/testLogger.cpp:28:
/home/mark/catkin_ws/devel/include/gtsam/geometry/Rot3.h:124:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::Random(boost::random::mt19937&)
     static Rot3 Random(boost::mt19937 & rng);
                 ^~~~~~
/home/mark/catkin_ws/devel/include/gtsam/geometry/Rot3.h:124:17: note:   no known conversion for argument 1 from ‘std::mt19937 {aka std::mersenne_twister_engine<long unsigned int, 32, 624, 397, 31, 2567483615, 11, 4294967295, 7, 2636928640, 15, 4022730752, 18, 1812433253>}’ to ‘boost::random::mt19937& {aka boost::random::mersenne_twister_engine<unsigned int, 32, 624, 397, 31, 2567483615, 11, 4294967295, 7, 2636928640, 15, 4022730752, 18, 1812433253>&}’
/home/mark/catkin_ws/src/Kimera-VIO/tests/testLogger.cpp: In member function ‘virtual void VIO::LoopClosureDetectorLoggerFixture_logOptimizedTraj_Test::TestBody()’:
/home/mark/catkin_ws/src/Kimera-VIO/tests/testLogger.cpp:410:31: error: no matching function for call to ‘gtsam::Rot3::Random(std::mt19937&)’
       gtsam::Rot3::Random(rng_), gtsam::Point3::Random());
                               ^
In file included from /home/mark/catkin_ws/devel/include/gtsam/geometry/Pose3.h:24:0,
                 from /home/mark/catkin_ws/devel/include/gtsam/geometry/CalibratedCamera.h:23,
                 from /home/mark/catkin_ws/devel/include/gtsam/geometry/CameraSet.h:22,
                 from /home/mark/catkin_ws/devel/include/gtsam/slam/RegularImplicitSchurFactor.h:10,
                 from /home/mark/catkin_ws/devel/include/gtsam/slam/SmartFactorBase.h:25,
                 from /home/mark/catkin_ws/devel/include/gtsam_unstable/slam/SmartStereoProjectionFactor.h:23,
                 from /home/mark/catkin_ws/devel/include/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h:23,
                 from /home/mark/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/VioBackEnd-definitions.h:26,
                 from /home/mark/catkin_ws/src/Kimera-VIO/tests/testLogger.cpp:28:
/home/mark/catkin_ws/devel/include/gtsam/geometry/Rot3.h:124:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::Random(boost::random::mt19937&)
     static Rot3 Random(boost::mt19937 & rng);
                 ^~~~~~
/home/mark/catkin_ws/devel/include/gtsam/geometry/Rot3.h:124:17: note:   no known conversion for argument 1 from ‘std::mt19937 {aka std::mersenne_twister_engine<long unsigned int, 32, 624, 397, 31, 2567483615, 11, 4294967295, 7, 2636928640, 15, 4022730752, 18, 1812433253>}’ to ‘boost::random::mt19937& {aka boost::random::mersenne_twister_engine<unsigned int, 32, 624, 397, 31, 2567483615, 11, 4294967295, 7, 2636928640, 15, 4022730752, 18, 1812433253>&}’
/home/mark/catkin_ws/src/Kimera-VIO/tests/testLogger.cpp:412:31: error: no matching function for call to ‘gtsam::Rot3::Random(std::mt19937&)’
       gtsam::Rot3::Random(rng_), gtsam::Point3::Random());
                               ^
In file included from /home/mark/catkin_ws/devel/include/gtsam/geometry/Pose3.h:24:0,
                 from /home/mark/catkin_ws/devel/include/gtsam/geometry/CalibratedCamera.h:23,
                 from /home/mark/catkin_ws/devel/include/gtsam/geometry/CameraSet.h:22,
                 from /home/mark/catkin_ws/devel/include/gtsam/slam/RegularImplicitSchurFactor.h:10,
                 from /home/mark/catkin_ws/devel/include/gtsam/slam/SmartFactorBase.h:25,
                 from /home/mark/catkin_ws/devel/include/gtsam_unstable/slam/SmartStereoProjectionFactor.h:23,
                 from /home/mark/catkin_ws/devel/include/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h:23,
                 from /home/mark/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/VioBackEnd-definitions.h:26,
                 from /home/mark/catkin_ws/src/Kimera-VIO/tests/testLogger.cpp:28:
/home/mark/catkin_ws/devel/include/gtsam/geometry/Rot3.h:124:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::Random(boost::random::mt19937&)
     static Rot3 Random(boost::mt19937 & rng);
                 ^~~~~~
/home/mark/catkin_ws/devel/include/gtsam/geometry/Rot3.h:124:17: note:   no known conversion for argument 1 from ‘std::mt19937 {aka std::mersenne_twister_engine<long unsigned int, 32, 624, 397, 31, 2567483615, 11, 4294967295, 7, 2636928640, 15, 4022730752, 18, 1812433253>}’ to ‘boost::random::mt19937& {aka boost::random::mersenne_twister_engine<unsigned int, 32, 624, 397, 31, 2567483615, 11, 4294967295, 7, 2636928640, 15, 4022730752, 18, 1812433253>&}’
/home/mark/catkin_ws/src/Kimera-VIO/tests/testLogger.cpp:414:31: error: no matching function for call to ‘gtsam::Rot3::Random(std::mt19937&)’
       gtsam::Rot3::Random(rng_), gtsam::Point3::Random());
                               ^
In file included from /home/mark/catkin_ws/devel/include/gtsam/geometry/Pose3.h:24:0,
                 from /home/mark/catkin_ws/devel/include/gtsam/geometry/CalibratedCamera.h:23,
                 from /home/mark/catkin_ws/devel/include/gtsam/geometry/CameraSet.h:22,
                 from /home/mark/catkin_ws/devel/include/gtsam/slam/RegularImplicitSchurFactor.h:10,
                 from /home/mark/catkin_ws/devel/include/gtsam/slam/SmartFactorBase.h:25,
                 from /home/mark/catkin_ws/devel/include/gtsam_unstable/slam/SmartStereoProjectionFactor.h:23,
                 from /home/mark/catkin_ws/devel/include/gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h:23,
                 from /home/mark/catkin_ws/src/Kimera-VIO/include/kimera-vio/backend/VioBackEnd-definitions.h:26,
                 from /home/mark/catkin_ws/src/Kimera-VIO/tests/testLogger.cpp:28:
/home/mark/catkin_ws/devel/include/gtsam/geometry/Rot3.h:124:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::Random(boost::random::mt19937&)
     static Rot3 Random(boost::mt19937 & rng);
                 ^~~~~~
/home/mark/catkin_ws/devel/include/gtsam/geometry/Rot3.h:124:17: note:   no known conversion for argument 1 from ‘std::mt19937 {aka std::mersenne_twister_engine<long unsigned int, 32, 624, 397, 31, 2567483615, 11, 4294967295, 7, 2636928640, 15, 4022730752, 18, 1812433253>}’ to ‘boost::random::mt19937& {aka boost::random::mersenne_twister_engine<unsigned int, 32, 624, 397, 31, 2567483615, 11, 4294967295, 7, 2636928640, 15, 4022730752, 18, 1812433253>&}’
make[2]: *** [CMakeFiles/testKimeraVIO.dir/tests/testLogger.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/testKimeraVIO.dir/all] Error 2
make: *** [all] Error 2
cd /home/mark/catkin_ws/build/kimera_vio; catkin build --get-env kimera_vio | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...................................................................................................
Failed     << kimera_vio:make                 [ Exited with code 2 ]                               
Failed    <<< kimera_vio                      [ 8 minutes and 49.7 seconds ]                       
Abandoned <<< kimera_vio_ros                  [ Unrelated job failed ]                             
[build] Summary: 7 of 9 packages succeeded.                                                        
[build]   Ignored:   7 packages were skipped or are blacklisted.                                   
[build]   Warnings:  5 packages succeeded with warnings.                                           
[build]   Abandoned: 1 packages were abandoned.                                                    
[build]   Failed:    1 packages failed.                                                            
[build] Runtime: 25 minutes and 7.4 seconds total.  

# remove this line and paste your console output HERE - no screenshots please

Additional files: Please attach all the files needed to reproduce the error. https://sun9-25.userapi.com/c857332/v857332646/143666/Vrt7VfdeIjM.jpg https://sun9-69.userapi.com/c857332/v857332646/143670/SQCCAy149rQ.jpg

Please give also the following information:

SparkVio branch, tag or commit used
GTSAM version used:
OpenGV version used:
OpenCV version used: 3.2.0
Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 18.04 with last updates
Did you change the source code? (yes / no):

tftangming commented 4 years ago

Have you sloved the issue? I also meet the same problem. that is so bad...

fatrybl commented 4 years ago

Have you sloved the issue? I also meet the same problem. that is so bad...

Unfortunately, no. Several weeks ago i managed to build the whole project and this problem did not occur. Probably developers have updated some libs and now it comes

tftangming commented 4 years ago

try to cd the KImera-VIO and git reset to previous version???

zhaozhongch commented 4 years ago

Before build, try cd to gtsam folder. then

git checkout develop

then go back to workspace/src

catkin build

See if it works

fatrybl commented 4 years ago

Before build, try cd to gtsam folder. then
git checkout develop
then go back to workspace/src
catkin build
See if it works

Yes, i have checked it. Still not working

zhaozhongch commented 4 years ago

Another thing you can try is to disable the test when compiling

catkin build -DBUILD_TESTS=OFF

tftangming commented 4 years ago

I have success to build the gtsam by "git checkout develop; catkin build",; but when I build the opencv3, something error.... `Starting >>> glog_catkin
Finished <<< glog_catkin [ 0.2 seconds ]

Errors << opencv3_catkin:make /home/tangming/catkin_ws/logs/opencv3_catkin/build.make.008.log
make[3]: 警告: 子 make 中强制 -jN: 关闭 jobserver 模式。 CMake Warning at cmake/OpenCVFindLAPACK.cmake:29 (message): LAPACK(OpenBLAS): CBLAS/LAPACK headers are not found in '/usr/include/openblas' Call Stack (most recent call first): cmake/OpenCVFindLAPACK.cmake:97 (ocv_lapack_check) CMakeLists.txt:635 (include)

-- Found Ceres compiled with miniglog substitute for glog, beware this will likely cause problems if glog is later linked. CMake Warning at /home/tangming/catkin_ws/build/opencv3_catkin/opencv3_src/cmake/OpenCVDownload.cmake:190 (message): xfeatures2d/boostdesc: Download failed: 28;"Timeout was reached"

For details please refer to the download log file:

/home/tangming/catkin_ws/build/opencv3_catkin/opencv3_build/CMakeDownloadLog.txt

Call Stack (most recent call first): /home/tangming/catkin_ws/build/opencv3_catkin/opencv3_contrib_src/modules/xfeatures2d/cmake/download_boostdesc.cmake:22 (ocv_download) /home/tangming/catkin_ws/build/opencv3_catkin/opencv3_contrib_src/modules/xfeatures2d/CMakeLists.txt:8 (download_boost_descriptors)

In file included from /home/tangming/catkin_ws/build/opencv3_catkin/opencv3_src/modules/stitching/include/opencv2/stitching.hpp:49:0, from /home/tangming/catkin_ws/build/opencv3_catkin/opencv3_build/modules/python_bindings_generator/pyopencv_generated_include.h:65, from /home/tangming/catkin_ws/build/opencv3_catkin/opencv3_src/modules/python/src2/cv2.cpp:30: /home/tangming/catkin_ws/build/opencv3_catkin/opencv3_src/modules/stitching/include/opencv2/stitching/detail/matchers.hpp:52:42: fatal error: opencv2/xfeatures2d/cuda.hpp: 没有那个文件或目录 compilation terminated. make[5]: [modules/python2/CMakeFiles/opencv_python2.dir/__/src2/cv2.cpp.o] Error 1 make[4]: [modules/python2/CMakeFiles/opencv_python2.dir/all] Error 2 make[3]: [all] Error 2 make[2]: [opencv3_src-prefix/src/opencv3_src-stamp/opencv3_src-build] Error 2 make[1]: [CMakeFiles/opencv3_src.dir/all] Error 2 make: [all] Error 2 cd /home/tangming/catkin_ws/build/opencv3_catkin; catkin build --get-env opencv3_catkin | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - .................................................................................................... Failed << opencv3_catkin:make [ Exited with code 2 ]
Failed <<< opencv3_catkin [ 1 minute and 52.7 seconds ]
Abandoned <<< kimera_rpgo [ Unrelated job failed ]
Abandoned <<< kimera_vio [ Unrelated job failed ]
Abandoned <<< kimera_vio_ros [ Unrelated job failed ]
Finished <<< gtsam [ 4 minutes and 25.1 seconds ] `

I try to modify the CMakeLists.txt in the /home/tangming/catkin_ws/build/opencv3_catkin/opencv3_src/modules/stitching by adding "INCLUDE_DIRECTORIES("/home/tangming/catkin_ws/build/opencv3_catkin/opencv3_contrib_src/modules/xfeatures2d/include")", but the problem sitll exist.

zhaozhongch commented 4 years ago

I met similar problem before. The ceres solver will lead the GLOG to other location. Try uninstall cares solver. Go to your ceres-solver/build Then

sudo make uninstall

Then rebuild Kimera

tftangming commented 4 years ago

~/opencv_contrib/modules/xfeatures2d/src/boostdesc.cpp:673:20: fatal error: boostdesc_bgm.i: No such file or directory I still meet some problem.. I have tried to downloads these files such as " boostdesc_bgm.i boostdesc_bgm_bi.i boostdesc_bgm_hd.i boostdesc_lbgm.i boostdesc_binboost_064.i boostdesc_binboost_128.i boostdesc_binboost_256.i vgg_generated_120.i vgg_generated_64.i vgg_generated_80.i vgg_generated_48.i And put them into the folder "/home/tangming/catkin_ws/build/opencv3_catkin/opencv3_build/downloads". What it happend???

fatrybl commented 4 years ago

Another thing you can try is to disable the test when compiling
catkin build -DBUILD_TESTS=OFF

Managed to build successfully after deleting everything and repeating whole process once again with develop branch. Thanks much! hope developers will add all changes to origin branch soon

fatrybl commented 4 years ago

I met similar problem before. The ceres solver will lead the GLOG to other location. Try uninstall cares solver. Go to your ceres-solver/build Then
sudo make uninstall
Then rebuild Kimera Thank you for your help much! Could you help me in one more case? I`ve faced the problem with no ability to see triangle mesh in Rviz while launching kimera-VIO-ros on Euroc dataset. So i follow the instruction but in Rviz i see only TFs and raw picture from both camers. Yes Ive installed special plugins for rviz. So i have Mesh and IMU plugins as add-ons in rviz. Using rostopic echo, i`ve found out that mesh topic does not post anything. Any ideas why i happens ? my screenshots https://sun9-42.userapi.com/c857636/v857636279/20d3b7/YvJifdM6k00.jpg https://sun9-50.userapi.com/c857636/v857636279/20d3c0/IVBWw_WZyyM.jpg

veronicamuriga commented 4 years ago

[Ubuntu 18.04, ROS Melodic] I'm pretty sure step 3 is what worked for me, but what I did in order was:

Uninstall gtsam then re-install and build from source
Make sure I was working on 'develop' branch of gtsam (git checkout develop while in gtsam repo)
First build kimera-vio (catkin build kimera_vio) then build kimera_vio_ros (catkin build kimera_vio_ros)

calmelo commented 4 years ago

/home/wangxiaoyuan/catkin_ws/src/gtsam/gtsam/geometry/Quaternion.h:85:22: error: ‘omega’ was not declared in this scope _Scalar theta2 = omega.dot(omega); How can I solve the problem?

veronicamuriga commented 4 years ago

@calmelo this seems to be a separate issue from the one in this thread and as such, I would recommend opening a new issue as you may be assisted more promptly then- that being said, the scope errors that I encounter usually happen when I forget to source my devel/setup.bash file of the catkin workspace I'm working in.

calmelo commented 3 years ago

~/opencv_contrib/modules/xfeatures2d/src/boostdesc.cpp:673:20: fatal error: boostdesc_bgm.i: No such file or directory I still meet some problem.. I have tried to downloads these files such as " boostdesc_bgm.i boostdesc_bgm_bi.i boostdesc_bgm_hd.i boostdesc_lbgm.i boostdesc_binboost_064.i boostdesc_binboost_128.i boostdesc_binboost_256.i vgg_generated_120.i vgg_generated_64.i vgg_generated_80.i vgg_generated_48.i And put them into the folder "/home/tangming/catkin_ws/build/opencv3_catkin/opencv3_build/downloads". What it happend???

Have you solve the problem? I meet the problem too.

Xinghy98 commented 3 years ago

@zhaozhongch I fail to compile gtsam when catkin build, other success, did you meet before?

src/gtsam/gtsam/3rdparty/Spectra/Util/SimpleRandom.h:32:20: error: ‘Index’ in namespace ‘Eigen’ does not name a type typedef Eigen::Index Index; ^ /home/xhy/catkin_ws/src/gtsam/gtsam/3rdparty/Spectra/Util/SimpleRandom.h:75:29: error: ‘Index’ does not name a type Vector random_vec(const Index len)

MIT-SPARK / Kimera-VIO-ROS

Kimera VIO ROS build fail #85