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at-wat / mcl_3dl

A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
BSD 3-Clause "New" or "Revised" License
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Error when compile the package #222

Closed weisongwen closed 5 years ago

weisongwen commented 5 years ago

Hi @at-wat , I got a error when compile the latest version of this package, do you have any ideas on this bug? my computer is : Ubuntu 14.04 + ROS Jade

CMakeFiles/mcl_3dl.dir/src/mcl_3dl.cpp.o: In function mcl_3dl::MCL3dlNode::cbImu(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)': mcl_3dl.cpp:(.text._ZN7mcl_3dl10MCL3dlNode5cbImuERKN5boost10shared_ptrIKN11sensor_msgs4Imu_ISaIvEEEEE[_ZN7mcl_3dl10MCL3dlNode5cbImuERKN5boost10shared_ptrIKN11sensor_msgs4Imu_ISaIvEEEEE]+0x4a7): undefined reference tovoid tf2::doTransform<geometrymsgs::Vector3<std::allocator > >(geometrymsgs::Vector3<std::allocator > const&, geometrymsgs::Vector3<std::allocator >&, geometrymsgs::TransformStamped<std::allocator > const&)' collect2: error: ld returned 1 exit status

at-wat commented 5 years ago

@weisongwen tf2::doTransform for geometry_msgs::Vector3 was added on Feb 9, 2018, and ROS Jade has been EOL-ed on May 2017.

No packages are maintained for Jade now; please consider upgrading to live distro.

weisongwen commented 5 years ago

Hi @at-wat Thanks for your kind reply. sure.

weisongwen commented 5 years ago

the package use odometry from /odom topic. however, the topic /tf still contains the transform from /odom to /base_link. this means we need two different odometry?

at-wat commented 5 years ago

the package use odometry from /odom topic. however, the topic /tf still contains the transform from /odom to /base_link. this means we need two different odometry?

TF usage in this node is basically same as amcl. (see http://wiki.ros.org/amcl#Transforms) Localizer estimates map -> base_link transform and broadcasts map -> odom. This enables other nodes to interpolate short term motion of the robot using odometry. You can set ~odom_frame parameter to base_link to disable interpolation using odometry and make mcl_3dl node directly broadcast map -> base_link transform. https://github.com/at-wat/mcl_3dl/blob/8d870244b012c8fc77fe85c91536492ec58cee96/config/test_localization_noodom.yaml#L3

/odom topic is used to predict particle state transition using twist data in odometry, which is not directly provided in TF.

at-wat commented 5 years ago

tf and odom usage is off-topic of this issue. Feel free to open a new issue if it is still unclear.