problem when compiling lego-loam in ubuntu 20.04

[yyajima21]

Hi all, I met the following error when I compiled the lego-loam package. I followed this post #215, but I am still getting the following errors. I am using ubuntu 20.04, ros noetic, and gtsam 4.0.0-alpha2 described in the readme instruction. Could you tell me how to solve this problem? Thank you.

[ 47%] Linking CXX executable /home/yyajima/catkin_ws/devel/lib/legoloam/mapOptmization /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o: in function `gtsam::GenericValue::retract(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&) const': mapOptmization.cpp:(.text._ZNK5gtsam12GenericValueINS_5Pose3EE8retract_ERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE[_ZNK5gtsam12GenericValueINS_5Pose3EE8retract_ERKN5Eigen6MatrixIdLin1ELi1ELi0ELin1ELi1EEE]+0x7d): undefined reference to gtsam::Rot3::operator*(gtsam::Point3 const&) const' /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o: in functionmapOptimization::correctPoses()': mapOptmization.cpp:(.text._ZN15mapOptimization12correctPosesEv[_ZN15mapOptimization12correctPosesEv]+0x414): undefined reference to gtsam::Rot3::xyz() const' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization12correctPosesEv[_ZN15mapOptimization12correctPosesEv]+0x45e): undefined reference togtsam::Rot3::xyz() const' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization12correctPosesEv[_ZN15mapOptimization12correctPosesEv]+0x4ac): undefined reference to gtsam::Rot3::xyz() const' /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o: in functiongtsam::LieGroup<gtsam::Pose3, 6>::localCoordinates(gtsam::Pose3 const&, gtsam::OptionalJacobian<6, 6>, gtsam::OptionalJacobian<6, 6>) const': mapOptmization.cpp:(.text._ZNK5gtsam8LieGroupINS_5Pose3ELi6EE16localCoordinatesERKS1_NS16OptionalJacobianILi6ELi6EEES6[_ZNK5gtsam8LieGroupINS_5Pose3ELi6EE16localCoordinatesERKS1_NS16OptionalJacobianILi6ELi6EEES6]+0x58): undefined reference to gtsam::Rot3::operator*(gtsam::Point3 const&) const' /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o: in functiongtsam::BetweenFactor::evaluateError(gtsam::Pose3 const&, gtsam::Pose3 const&, boost::optional<Eigen::Matrix<double, -1, -1, 0, -1, -1>&>, boost::optional<Eigen::Matrix<double, -1, -1, 0, -1, -1>&>) const': mapOptmization.cpp:(.text._ZNK5gtsam13BetweenFactorINS_5Pose3EE13evaluateErrorERKS1_S4N5boost8optionalIRN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEESB[_ZNK5gtsam13BetweenFactorINS_5Pose3EE13evaluateErrorERKS1_S4N5boost8optionalIRN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEESB]+0xbc): undefined reference to gtsam::Rot3::operator*(gtsam::Point3 const&) const' /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o: in functionmapOptimization::saveKeyFramesAndFactor()': mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0x1a3): undefined reference to gtsam::Rot3::RzRyRx(double, double, double)' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0x42a): undefined reference togtsam::Rot3::RzRyRx(double, double, double)' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0xdd9): undefined reference to gtsam::Rot3::xyz() const' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0xe0e): undefined reference togtsam::Rot3::xyz() const' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0xe43): undefined reference to gtsam::Rot3::xyz() const' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0xf0e): undefined reference togtsam::Rot3::xyz() const' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0xf43): undefined reference to gtsam::Rot3::xyz() const' /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o:mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0xf78): more undefined references togtsam::Rot3::xyz() const' follow /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o: in function mapOptimization::saveKeyFramesAndFactor()': mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0x12a9): undefined reference togtsam::Rot3::RzRyRx(double, double, double)' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0x138d): undefined reference to gtsam::Rot3::RzRyRx(double, double, double)' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0x145e): undefined reference togtsam::Rot3::operator*(gtsam::Point3 const&) const' /usr/bin/ld: mapOptmization.cpp:(.text._ZN15mapOptimization22saveKeyFramesAndFactorEv[_ZN15mapOptimization22saveKeyFramesAndFactorEv]+0x1793): undefined reference to gtsam::Rot3::RzRyRx(double, double, double)' /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o:(.data.rel.ro._ZTVN5gtsam17NoiseModelFactor2INS_5Pose3ES1_EE[_ZTVN5gtsam17NoiseModelFactor2INS_5Pose3ES1_EE]+0x10): undefined reference togtsam::NoiseModelFactor::print(std::cxx11::basic_string<char, std::char_traits, std::allocator > const&, boost::function<std::cxx11::basic_string<char, std::char_traits, std::allocator > (unsigned long)> const&) const' /usr/bin/ld: CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o:(.data.rel.ro._ZTVN5gtsam17NoiseModelFactor1INS_5Pose3EEE[_ZTVN5gtsam17NoiseModelFactor1INS_5Pose3EEE]+0x10): undefined reference to gtsam::NoiseModelFactor::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > (unsigned long)> const&) const' collect2: error: ld returned 1 exit status make[2]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/build.make:500: /home/yyajima/catkin_ws/devel/lib/lego_loam/mapOptmization] Error 1 make[1]: *** [CMakeFiles/Makefile2:11473: LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 Invoking "make -j1"failed`

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[khaledgabr77]

you need to add this line inside CMakeLists and it will be working fine. find_package(Boost REQUIRED COMPONENTS timer thread serialization chrono)

[ravirobot]

you need to add this line inside CMakeLists and it will be working fine. find_package(Boost REQUIRED COMPONENTS timer thread serialization chrono)

Wow this worked for me. Thanks!

[Cyperpace]

you need to add this line inside CMakeLists and it will be working fine. find_package(Boost REQUIRED COMPONENTS timer thread serialization chrono)

you need to add this line inside CMakeLists and it will be working fine. find_package(Boost REQUIRED COMPONENTS timer thread serialization chrono)

thank you！