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NMBURobotics / vox_nav

A navigation system for outdoor robotics in rough uneven terrains.
https://nmburobotics.github.io/vox_nav/
Apache License 2.0
213 stars 41 forks source link

error: #error FLANN is not available. Please use a different NearestNeighbors data structure. #22

Open METEORITENMAX opened 1 week ago

METEORITENMAX commented 1 week ago

the vox_nav_planning package fails..

~/vox_nav_ws$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=ON -DWITH_IPOPT=true --packages-skip-regex archive --packages-skip vox_nav_control vox_nav_misc; source /opt/ros/humble/setup.bash
Starting >>> ompl    
Starting >>> vox_nav_msgs
Starting >>> ACADO
Starting >>> casadi
Finished <<< casadi [0.55s]                                                                                             
Finished <<< ompl [0.92s]                                                                                            
Finished <<< ACADO [1.29s]                                                                
Finished <<< vox_nav_msgs [1.34s]                   
Starting >>> vox_nav_utilities
Finished <<< vox_nav_utilities [0.36s]                      
Starting >>> vox_nav_planning
Starting >>> vox_nav_map_server
Starting >>> vox_nav_navigators
Starting >>> vox_nav_waypoint_nav_clients
Finished <<< vox_nav_map_server [0.22s]                                                                       
Finished <<< vox_nav_waypoint_nav_clients [0.21s]
Finished <<< vox_nav_navigators [0.28s]
--- stderr: vox_nav_planning                               
In file included from /home/max/vox_nav_ws/src/vox_nav/vox_nav_planning/include/vox_nav_planning/native_planners/CostTrustKinoPlanner.hpp:36,
                 from /home/max/vox_nav_ws/src/vox_nav/vox_nav_planning/src/native_planners/CostTrustKinoPlanner.cpp:15:
/home/max/vox_nav_ws/install/ompl/include/ompl-1.6/ompl/datastructures/NearestNeighborsFLANN.h:42:2: error: #error FLANN is not available. Please use a different NearestNeighbors data structure.
   42 | #error FLANN is not available. Please use a different NearestNeighbors data structure.
      |  ^~~~~
In file included from /home/max/vox_nav_ws/install/vox_nav_utilities/include/vox_nav_utilities/elevation_state_space.hpp:22,
                 from /home/max/vox_nav_ws/src/vox_nav/vox_nav_planning/include/vox_nav_planning/native_planners/CostTrustKinoPlanner.hpp:44,
                 from /home/max/vox_nav_ws/src/vox_nav/vox_nav_planning/src/native_planners/CostTrustKinoPlanner.cpp:15:
/opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.h:35:2: warning: #warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead [-Wcpp]
   35 | #warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead
      |  ^~~~~~~
gmake[2]: *** [CMakeFiles/vox_nav_ompl_planners.dir/build.make:132: CMakeFiles/vox_nav_ompl_planners.dir/src/native_planners/CostTrustKinoPlanner.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:157: CMakeFiles/vox_nav_ompl_planners.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< vox_nav_planning [9.79s, exited with code 2]

Summary: 8 packages finished [11.7s]
  1 package failed: vox_nav_planning
  1 package had stderr output: vox_nav_planning
  1 package not processed

why is FLANN not available? i m using ubuntu 22.04, ROS2 humble and i tried sudo apt install libflann1.9 ..

jediofgever commented 1 week ago

This is quite strange. Can you please wipe out the source build of ompl, and also remove the .so file from the directory that you copied earlier? The CI is fixed now; maybe try to redo the steps. I have not met this problem before and am not sure how to reproduce it.