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SICKAG / sick_scan_xd

Based on the sick_scan drivers for ROS1, sick_scan_xd merges sick_scan, sick_scan2 and sick_scan_base repositories. The driver supports both Linux (native, ROS1, ROS2) and Windows (native and ROS2).
Apache License 2.0
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Compile error on Raspberry PI4 OS #291

Closed kinni318 closed 3 months ago

kinni318 commented 4 months ago

A customer who have to use the sick_scan_xd driver on a raspberry PI OS. When they tried to compile the library they got a strange error:

[ 96%] Building CXX object CMakeFiles/sick_scan_xd_lib.dir/roswrap/src/rossimu/k inetic/src/rate.cpp.o [ 97%] Building CXX object CMakeFiles/sick_scan_xd_lib.dir/roswrap/src/rossimu/k inetic/src/rossimu.cpp.o [ 98%] Building CXX object CMakeFiles/sick_scan_xd_lib.dir/roswrap/src/tools/sic k_scan/pointcloud_utils.cpp.o [ 99%] Linking CXX shared library libsick_scan_xd_shared_lib.so [ 99%] Built target sick_scan_xd_shared_lib [ 99%] Linking CXX static library libsick_scan_xd_lib.a [ 99%] Built target sick_scan_xd_lib Scanning dependencies of target sick_generic_caller [ 99%] Building CXX object CMakeFiles/sick_generic_caller.dir/driver/src/sick_ge neric_caller.cpp.o [100%] Linking CXX executable sick_generic_caller /usr/bin/ld: libsick_scan_xd_lib.a(udp_receiver.cpp.o): in function sick_scanse gment_xd::UdpReceiver::Start()': /usr/include/c++/8/bits/unique_ptr.h:81: undefined reference topthread_create' /usr/bin/ld: libsick_scan_xd_lib.a(msgpack_converter.cpp.o): in function sick_s cansegment_xd::MsgPackConverter::Start()': /usr/include/c++/8/bits/unique_ptr.h:81: undefined reference topthread_create' /usr/bin/ld: libsick_scan_xd_lib.a(msgpack_exporter.cpp.o): in function sick_sc ansegment_xd::MsgPackExporter::Start()': /usr/include/c++/8/bits/unique_ptr.h:81: undefined reference topthread_create' /usr/bin/ld: libsick_scan_xd_lib.a(sick_generic_laser.cpp.o): in function start GenericLaser(int, char**, std::__cxx11::basic_string<char, std::char_traits<char >, std::allocator<char> >, roswrap::NodeHandle*, int*)': /usr/include/c++/8/ext/new_allocator.h:86: undefined reference topthread_creat e' /usr/bin/ld: libsick_scan_xd_lib.a(tcp.cpp.o): in function Tcp::open(std::__cxx 11::basic_string<char, std::char_traits<char>, std::allocator<char> >, unsigned short, bool)': /usr/include/c++/8/bits/basic_string.h:1932: undefined reference topthread_cre ate' /usr/bin/ld: libsick_scan_xd_lib.a(scansegment_threads.cpp.o):/usr/include/c++/8 /bits/unique_ptr.h:81: more undefined references to `pthread_create' follow collect2: error: ld returned 1 exit status make[2]: [CMakeFiles/sick_generic_caller.dir/build.make:85: sick_generic_cal ler] Error 1 make[1]: [CMakeFiles/Makefile2:136: CMakeFiles/sick_generic_caller.dir/all] Error 2 make: *** [Makefile:130: all] Error 2

They followed the build description-[Build on Linux generic without ROS] and used options -DLDMRS=0 -DRASPBERRY=1 to skip LDMRS sensors... [cmake -DROS_VERSION=0 -DLDMRS=0 -DRASPBERRY=1 -G "Unix Makefiles" ../sick_scan_xd]

(https://github.com/SICKAG/sick_scan_xd/blob/develop/INSTALL-GENERIC.md#build-on-linux-generic-without-ros)

Thier environment and specifications: Raspberry Pi 4 Model B OS: Raspberry PI OS whiout ROS LiDAR: SICK multiScan

I would appreciate it if you could tell me how to solve it.

rostest commented 4 months ago

Thanks for your feedback! sick_scan_xd uses std::thread, therefore target sick_generic_caller needs to be linked to pthread. Depending on system settings, the linker flag is implicitly supplemented or or must be set explicitly.

Please use the latest update (version 3.2.2) in branch https://github.com/SICKAG/sick_scan_xd/tree/feature/bloom_humble and rebuild.

kinni318 commented 4 months ago

Thanks for your answer! I have treid on my raspberryPI OS with [-b feature/bloom_humble] and the error still there... =>git clone -b feature/bloom_humble https://github.com/SICKAG/sick_scan_xd.git

sick@raspberrypi:~ $ mkdir -p ./sick_bloomH2 sick@raspberrypi:~ $ cd ./sick_bloomH2 sick@raspberrypi:~/sick_bloomH2 $ git clone https://github.com/SICKAG/libsick_ldmrs.git Cloning into 'libsick_ldmrs'... remote: Enumerating objects: 404, done. remote: Counting objects: 100% (16/16), done. remote: Compressing objects: 100% (13/13), done. remote: Total 404 (delta 5), reused 9 (delta 3), pack-reused 388 Receiving objects: 100% (404/404), 419.30 KiB | 973.00 KiB/s, done. Resolving deltas: 100% (209/209), done. sick@raspberrypi:~/sick_bloomH2 $ git clone -b feature/bloom_humble https://github.com/SICKAG/sick_scan_xd.git Cloning into 'sick_scan_xd'... remote: Enumerating objects: 8212, done. remote: Counting objects: 100% (2550/2550), done. remote: Compressing objects: 100% (609/609), done. remote: Total 8212 (delta 2032), reused 2337 (delta 1917), pack-reused 5662 Receiving objects: 100% (8212/8212), 56.53 MiB | 1.58 MiB/s, done. Resolving deltas: 100% (6128/6128), done. Updating files: 100% (1400/1400), done. sick@raspberrypi:~/sick_bloomH2 $ mkdir -p ./build sick@raspberrypi:~/sick_bloomH2 $ pushd ./build ~/sick_bloomH2/build ~/sick_bloomH2 sick@raspberrypi:~/sick_bloomH2/build $ rm -rf ./* sick@raspberrypi:~/sick_bloomH2/build $ export ROS_VERSION=0 sick@raspberrypi:~/sick_bloomH2/build $ cmake -DROS_VERSION=0 -DLDMRS=0 -DRASPBERRY=1 -G "Unix Makefiles" ../sick_scan_xd -- The C compiler identification is GNU 12.2.0 -- The CXX compiler identification is GNU 12.2.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/cc - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- Option CMAKE_ENABLE_EMULATOR = , building sick_scan_xd without emulator support, ENABLE_EMULATOR=OFF -- ROS_VERSION precheck: ENV{ROS_VERSION}=0 ENV{ROS_DISTRO}= ROS_VERSION=0 CMAKE_PREFIX_PATH= -- ROS_VERSION=0 -- Building sick_scan_xd for target RASPBERRY -- Building sick_scan_xd for raspberry without ldmrs support -- Building sick_scan_xd with SCANSEGMENT_XD support -- Configuring done -- Generating done -- Build files have been written to: /home/sick/sick_bloomH2/build sick@raspberrypi:~/sick_bloomH2/build $ make -j4 [ 2%] Building CXX object CMakeFiles/sick_scan_xd_api_test.dir/driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp.o [ 2%] Building CXX object CMakeFiles/sick_scan_xd_api_test.dir/test/src/sick_scan_xd_api/sick_scan_xd_api_test.cpp.o [ 3%] Building CXX object CMakeFiles/sick_scan_xd_lib.dir/driver/src/abstract_parser.cpp.o [ 4%] Building CXX object CMakeFiles/sick_scan_xd_shared_lib.dir/driver/src/abstract_parser.cpp.o [ 5%] Building C object CMakeFiles/sick_scan_xd_api_test.dir/test/src/sick_scan_xd_api/sick_scan_xd_api_wrapper.c.o [ 5%] Building CXX object CMakeFiles/sick_scan_xd_api_test.dir/test/src/sick_scan_xd_api/toojpeg/toojpeg.cpp.o In file included from /home/sick/sick_bloomH2/sick_scan_xd/roswrap/src/rossimu/melodic/include/nav_msgs/Odometry.h:20, from /home/sick/sick_bloomH2/sick_scan_xd/include/sick_scan/sick_ros_wrapper.h:131, from /home/sick/sick_bloomH2/sick_scan_xd/include/sick_scan/abstract_parser.h:39, from /home/sick/sick_bloomH2/sick_scan_xd/driver/src/abstract_parser.cpp:63: /home/sick/sick_bloomH2/sick_scan_xd/roswrap/src/rossimu/kinetic/include/geometry_msgs/PoseWithCovariance.h:46:20: error: field ‘covariance’ has incomplete type ‘geometrymsgs::PoseWithCovariance::_covariance_type’ {aka ‘std::array<double, 36>’} 46 | _covariance_type covariance; | ^~~~~~ In file included from /usr/include/c++/12/bits/unique_ptr.h:36, from /usr/include/c++/12/memory:76, from /home/sick/sick_bloomH2/sick_scan_xd/include/sick_scan/sick_ros_wrapper.h:71: /usr/include/c++/12/tuple:1595:45: note: declaration of ‘geometrymsgs::PoseWithCovariance::_covariance_type’ {aka ‘struct std::array<double, 36>’} 1595 | template<typename _Tp, size_t _Nm> struct array; | ^~~~~ In file included from /home/sick/sick_bloomH2/sick_scan_xd/roswrap/src/rossimu/melodic/include/nav_msgs/Odometry.h:20, from /home/sick/sick_bloomH2/sick_scan_xd/include/sick_scan/sick_ros_wrapper.h:131, from /home/sick/sick_bloomH2/sick_scan_xd/include/sick_scan/abstract_parser.h:39, from /home/sick/sick_bloomH2/sick_scan_xd/driver/src/abstract_parser.cpp:63: /home/sick/sick_bloomH2/sick_scan_xd/roswrap/src/rossimu/kinetic/include/geometry_msgs/PoseWithCovariance.h:46:20: error: field ‘covariance’ has incomplete type ‘geometrymsgs::PoseWithCovariance::_covariance_type’ {aka ‘std::array<double, 36>’} 46 | _covariance_type covariance; | ^~~~~~ In file included from /usr/include/c++/12/bits/unique_ptr.h:36, from /usr/include/c++/12/memory:76, from /home/sick/sick_bloomH2/sick_scan_xd/include/sick_scan/sick_ros_wrapper.h:71: /usr/include/c++/12/tuple:1595:45: note: declaration of ‘geometrymsgs::PoseWithCovariance::_covariance_type’ {aka ‘struct std::array<double, 36>’} 1595 | template<typename _Tp, size_t _Nm> struct array; | ^~~~~ [ 6%] Building CXX object CMakeFiles/sick_scan_xd_lib.dir/driver/src/binPrintf.cpp.o [ 7%] Linking CXX executable sick_scan_xd_api_test [ 7%] Built target sick_scan_xd_api_test [ 8%] Building CXX object CMakeFiles/sick_scan_xd_lib.dir/driver/src/binScanf.cpp.o [ 8%] Building CXX object CMakeFiles/sick_scan_xd_lib.dir/driver/src/dataDumper.cpp.o make[2]: [CMakeFiles/sick_scan_xd_shared_lib.dir/build.make:76: CMakeFiles/sick_scan_xd_shared_lib.dir/driver/src/abstract_parser.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:115: CMakeFiles/sick_scan_xd_shared_lib.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... [ 9%] Building CXX object CMakeFiles/sick_scan_xd_lib.dir/driver/src/helper/angle_compensator.cpp.o make[2]: [CMakeFiles/sick_scan_xd_lib.dir/build.make:76: CMakeFiles/sick_scan_xd_lib.dir/driver/src/abstract_parser.cpp.o] Error 1 make[2]: Waiting for unfinished jobs.... make[1]: [CMakeFiles/Makefile2:89: CMakeFiles/sick_scan_xd_lib.dir/all] Error 2 make: *** [Makefile:136: all] Error 2 sick@raspberrypi:~/sick_bloomH2/build $

T

rostest commented 4 months ago

Thanks for following up. The build error is different, it looks like the compiler either does not fully support C++ 14, or that an additional #include <array> is required in PoseWithCovariance.h. Which linux, compiler and compiler version do you use? Can you add #include <array> in file /home/sick/sick_bloomH2/sick_scan_xd/roswrap/src/rossimu/kinetic/include/geometry_msgs/PoseWithCovariance.h for a quick test and retry?

kinni318 commented 4 months ago

Many thanks for your help. it worked. perfectlly done without error by editing the file before building the lib. ->OS info: Linux raspberrypi 6.1.0-rpi8-rpi-v8 / GNU 12.2.0

rostest commented 4 months ago

Thanks for following up! We will add the missing include in the next release.