SLAM Toolbox FAILS TO BUILD/RUN

[immanueln98]

Required Info:

• Operating System: Ubuntu 22.04
• Installation type: -from source
• ROS Version
  • ROS2 Humble
• Version or commit hash:
  • 6f34357ec8dc20dec46f26dbf6837f1baa70ded4
• Laser unit:

Steps to reproduce issue

I had cloned the repo into a src folder and ran colcon build. The build failed and the corresponding terminal output is shown below.

Expected behavior

Actual behavior

`Starting >>> slam_toolbox [Processing: slam_toolbox]
[Processing: slam_toolbox]
--- stderr: slam_toolbox
CMake Warning (dev) at /opt/ros/humble/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:20 (find_package): Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules are removed. Run "cmake --help-policy CMP0148" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Call Stack (most recent call first): /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include) /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions) CMakeLists.txt:96 (rosidl_generate_interfaces) This warning is for project developers. Use -Wno-dev to suppress it.

CMake Warning (dev) at /opt/ros/humble/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:52 (find_package): Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules are removed. Run "cmake --help-policy CMP0148" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Call Stack (most recent call first): /opt/ros/humble/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:23 (find_package) /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include) /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions) CMakeLists.txt:96 (rosidl_generate_interfaces) This warning is for project developers. Use -Wno-dev to suppress it.

CMake Warning (dev) at /opt/ros/humble/share/python_cmake_module/cmake/Modules/FindPythonExtra.cmake:140 (find_package): Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules are removed. Run "cmake --help-policy CMP0148" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Call Stack (most recent call first): /opt/ros/humble/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:23 (find_package) /opt/ros/humble/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include) /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions) CMakeLists.txt:96 (rosidl_generate_interfaces) This warning is for project developers. Use -Wno-dev to suppress it.

In file included from /home/imanuel/SLAM/src/solvers/ceres_solver.hpp:17, from /home/imanuel/SLAM/src/solvers/ceres_solver.cpp:9: /home/imanuel/SLAM/src/solvers/ceres_utils.h:50:48: warning: ‘LocalParameterization’ is deprecated: LocalParameterizations will be removed from the Ceres Solver API in version 2.2.0. Use Manifolds instead. [-Wdeprecated-declarations] 50 | static ceres::LocalParameterization Create() | ^ In file included from /home/imanuel/SLAM/src/solvers/ceres_solver.hpp:10, from /home/imanuel/SLAM/src/solvers/ceres_solver.cpp:9: /usr/local/include/ceres/local_parameterization.h:121:18: note: declared here 121 | CERES_EXPORT LocalParameterization { | ^~~~~ In file included from /home/imanuel/SLAM/src/solvers/ceres_solver.hpp:17, from /home/imanuel/SLAM/src/solvers/ceres_solver.cpp:9: /home/imanuel/SLAM/src/solvers/ceres_utils.h: In static member function ‘static ceres::LocalParameterization AngleLocalParameterization::Create()’: /home/imanuel/SLAM/src/solvers/ceres_utils.h:52:23: error: ‘AutoDiffLocalParameterization’ in namespace ‘ceres’ does not name a template type; did you mean ‘LocalParameterization’? 52 | return new ceres::AutoDiffLocalParameterization<AngleLocalParameterization, 1, 1>; | ^~~~~~~~~ | LocalParameterization /home/imanuel/SLAM/src/solvers/ceres_utils.h:52:79: error: expected primary-expression before ‘,’ token 52 | return new ceres::AutoDiffLocalParameterization<AngleLocalParameterization, 1, 1>; | ^ /home/imanuel/SLAM/src/solvers/ceres_utils.h:52:86: error: expected primary-expression before ‘;’ token 52 | return new ceres::AutoDiffLocalParameterization<AngleLocalParameterization, 1, 1>; | ^ In file included from /home/imanuel/SLAM/src/solvers/ceres_solver.cpp:9: /home/imanuel/SLAM/src/solvers/ceres_solver.hpp: At global scope: /home/imanuel/SLAM/src/solvers/ceres_solver.hpp:68:34: warning: ‘LocalParameterization’ is deprecated: LocalParameterizations will be removed from the Ceres Solver API in version 2.2.0. Use Manifolds instead. [-Wdeprecated-declarations] 68 | ceres::LocalParameterization angle_localparameterization; | ^~~~~~~~~ In file included from /home/imanuel/SLAM/src/solvers/ceres_solver.hpp:10, from /home/imanuel/SLAM/src/solvers/ceres_solver.cpp:9: /usr/local/include/ceres/local_parameterization.h:121:18: note: declared here 121 | CERES_EXPORT LocalParameterization { | ^~~~~ /home/imanuel/SLAM/src/solvers/ceres_solver.cpp: In member function ‘virtual void solver_plugins::CeresSolver::AddConstraint(karto::Edge)’: /home/imanuel/SLAM/src/solvers/ceressolver.cpp:341:13: error: ‘class ceres::Problem’ has no member named ‘SetParameterization’; did you mean ‘SetParameterLowerBound’? 341 | problem->SetParameterization(&node1it->second(2), | ^~~~~~~ | SetParameterLowerBound /home/imanuel/SLAM/src/solvers/ceressolver.cpp:343:13: error: ‘class ceres::Problem’ has no member named ‘SetParameterization’; did you mean ‘SetParameterLowerBound’? 343 | problem->SetParameterization(&node2it->second(2), | ^~~~~~~ | SetParameterLowerBound gmake[2]: [CMakeFiles/ceres_solver_plugin.dir/build.make:76: CMakeFiles/ceres_solver_plugin.dir/solvers/ceres_solver.cpp.o] Error 1 gmake[1]: [CMakeFiles/Makefile2:665: CMakeFiles/ceres_solver_plugin.dir/all] Error 2 gmake[1]: Waiting for unfinished jobs.... gmake: [Makefile:146: all] Error 2

Failed <<< slam_toolbox [1min 4s, exited with code 2]

Summary: 0 packages finished [1min 5s] 1 package failed: slam_toolbox 1 package had stderr output: slam_toolbox `

Additional information

I had installed SLAM via the apt repo and tried running SLAM on clearpath's husky robot. It failed with the following terminal [output:]

[SteveMacenski]

It builds in CI, my machine, and the build farm, so I think its something on your side.

[Caedael]

It is because of a new ceres version, i could build after making this changes:

index 1828ed8..8540a17 100644
--- a/solvers/ceres_solver.cpp
+++ b/solvers/ceres_solver.cpp
@@ -3,6 +3,7 @@
  * Author: Steve Macenski (stevenmacenski@gmail.com)
  */

+#include <ceres/manifold.h>
 #include <unordered_map>
 #include <string>
 #include <utility>
@@ -46,7 +47,7 @@ void CeresSolver::Configure(rclcpp::Node::SharedPtr node)
   first_node_ = nodes_->end();

   // formulate problem
-  angle_local_parameterization_ = AngleLocalParameterization::Create();
+  angle_local_parameterization_ = AngleManifold::Create();

   // choose loss function default squared loss (NULL)
   loss_function_ = NULL;
@@ -267,7 +268,7 @@ void CeresSolver::Reset()
   problem_ = new ceres::Problem(options_problem_);
   first_node_ = nodes_->end();

-  angle_local_parameterization_ = AngleLocalParameterization::Create();
+  angle_local_parameterization_ = AngleManifold::Create();
 }

 /*****************************************************************************/
@@ -338,10 +339,16 @@ void CeresSolver::AddConstraint(karto::Edge<karto::LocalizedRangeScan> * pEdge)
     cost_function, loss_function_,
     &node1it->second(0), &node1it->second(1), &node1it->second(2),
     &node2it->second(0), &node2it->second(1), &node2it->second(2));
-  problem_->SetParameterization(&node1it->second(2),
-    angle_local_parameterization_);
-  problem_->SetParameterization(&node2it->second(2),
-    angle_local_parameterization_);
+  // Create a local parameterization for angles (assuming angle_local_parameterization_ is already defined)
+  ceres::Manifold* angle_parameterization = angle_local_parameterization_;
+
+  // Add parameters to the problem with local parameterization
+  problem_->AddParameterBlock(&node1it->second(2), 1, angle_parameterization);
+  problem_->AddParameterBlock(&node2it->second(2), 1, angle_parameterization);
+//  problem_->SetParameterization(&node1it->second(2),
+//    angle_local_parameterization_);
+//  problem_->SetParameterization(&node2it->second(2),
+//    angle_local_parameterization_);

   blocks_->insert(std::pair<std::size_t, ceres::ResidualBlockId>(
       GetHash(node1, node2), block));
diff --git a/solvers/ceres_solver.hpp b/solvers/ceres_solver.hpp
index 162b559..023b7c9 100644
--- a/solvers/ceres_solver.hpp
+++ b/solvers/ceres_solver.hpp
@@ -7,7 +7,7 @@
 #define SOLVERS__CERES_SOLVER_HPP_

 #include <math.h>
-#include <ceres/local_parameterization.h>
+#include <ceres/manifold.h>
 #include <ceres/ceres.h>
 #include <vector>
 #include <unordered_map>
@@ -65,7 +65,7 @@ private:
   ceres::Problem::Options options_problem_;
   ceres::LossFunction * loss_function_;
   ceres::Problem * problem_;
-  ceres::LocalParameterization * angle_local_parameterization_;
+  ceres::Manifold * angle_local_parameterization_;
   bool was_constant_set_, debug_logging_;

   // graph
diff --git a/solvers/ceres_utils.h b/solvers/ceres_utils.h
index 42c2fad..a044b9d 100644
--- a/solvers/ceres_utils.h
+++ b/solvers/ceres_utils.h
@@ -7,7 +7,7 @@
 #define SOLVERS__CERES_UTILS_H_

 #include <ceres/ceres.h>
-#include <ceres/local_parameterization.h>
+#include <ceres/manifold.h>
 #include <cmath>
 #include <utility>

@@ -35,7 +35,7 @@ inline T NormalizeAngle(const T & angle_radians)
 /*****************************************************************************/
 /*****************************************************************************/

-class AngleLocalParameterization
+class AngleManifold
 {
 public:
   template<typename T>
@@ -47,9 +47,21 @@ public:
     return true;
   }

-  static ceres::LocalParameterization * Create()
+  template<typename T>
+    bool Plus(const T* theta_radians, const T* delta_theta_radians, T* theta_radians_plus_delta) const {
+        *theta_radians_plus_delta = NormalizeAngle(*theta_radians + *delta_theta_radians);
+        return true;
+    }
+
+    template<typename T>
+    bool Minus(const T* theta_radians_plus_delta, const T* theta_radians, T* delta_theta_radians) const {
+        *delta_theta_radians = NormalizeAngle(*theta_radians_plus_delta - *theta_radians);
+        return true;
+    }
+
+  static ceres::Manifold * Create()
   {
-    return new ceres::AutoDiffLocalParameterization<AngleLocalParameterization, 1, 1>;
+    return new ceres::AutoDiffManifold<AngleManifold, 1, 1>;
   }
 };

slam_toolbox: 2.6.8 ceres: 2.2.0