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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
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can not build the cartographer in x86 ubuntu 14.04 #42

Closed gongyue666 closed 7 years ago

gongyue666 commented 7 years ago

error at: [245/327] Building CXX object cartogra...dir/fast_correlative_scan_matcher.cc.o FAILED: /usr/bin/c++ -O3 -DNDEBUG -isystem /usr/include/eigen3 -isystem /usr/local/include -I. -I.. -I../cartographer/common/{Boost_INCLUDE_DIRS} -isystem /usr/include/lua5.2 -O3 -DNDEBUG -std=c++11 -Wall -Wpedantic -Werror=format-security -Werror=return-type -Werror=uninitialized -MMD -MT cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_fast_correlative_scan_matcher.dir/fast_correlative_scan_matcher.cc.o -MF "cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_fast_correlative_scan_matcher.dir/fast_correlative_scan_matcher.cc.o.d" -o cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_fast_correlative_scan_matcher.dir/fast_correlative_scan_matcher.cc.o -c ../cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc In file included from /opt/eigen/Eigen/Geometry:39:0, from /opt/eigen/Eigen/Dense:6, from /usr/local/include/ceres/internal/numeric_diff.h:40, from /usr/local/include/ceres/dynamic_numeric_diff_cost_function.h:70, from /usr/local/include/ceres/ceres.h:44, from ../cartographer/common/math.h:25, from ../cartographer/mapping_2d/probability_grid.h:28, from ../cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h:33, from ../cartographer/mapping_2d/scan_matching/fast_correlative_scanmatcher.cc:17: /opt/eigen/Eigen/src/Geometry/Rotation2D.h: In instantiation of ‘Eigen::Rotation2D Eigen::Rotation2D::operator(const Eigen::Rotation2D&) const [with _Scalar = double]’: ../cartographer/mapping_2d/scan_matching/fast_correlative_scanmatcher.cc:270:73: required from here /opt/eigen/Eigen/src/Geometry/Rotation2D.h:78:28: error: could not convert ‘(((Eigen::Rotation2D::Scalar)((const Eigen::Rotation2D)this)->Eigen::Rotation2D::m_angle) + ((Eigen::Rotation2D::Scalar)other.Eigen::Rotation2D::m_angle))’ from ‘Eigen::Rotation2D::Scalar {aka double}’ to ‘Eigen::Rotation2D’ { return m_angle + other.m_angle; } ^ [245/327] Building CXX object cartogra...eal_time_correlative_scan_matcher.cc.o FAILED: /usr/bin/c++ -O3 -DNDEBUG -isystem /usr/include/eigen3 -isystem /usr/local/include -I. -I.. -isystem /usr/include/lua5.2 -I../cartographer/common/{Boost_INCLUDE_DIRS} -O3 -DNDEBUG -std=c++11 -Wall -Wpedantic -Werror=format-security -Werror=return-type -Werror=uninitialized -MMD -MT cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_real_time_correlative_scan_matcher.dir/real_time_correlative_scan_matcher.cc.o -MF "cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_real_time_correlative_scan_matcher.dir/real_time_correlative_scan_matcher.cc.o.d" -o cartographer/mapping_2d/scan_matching/CMakeFiles/mapping_2d_scan_matching_real_time_correlative_scan_matcher.dir/real_time_correlative_scan_matcher.cc.o -c ../cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc In file included from /opt/eigen/Eigen/Geometry:39:0, from /opt/eigen/Eigen/Dense:6, from /usr/local/include/ceres/internal/numeric_diff.h:40, from /usr/local/include/ceres/dynamic_numeric_diff_cost_function.h:70, from /usr/local/include/ceres/ceres.h:44, from ../cartographer/common/math.h:25, from ../cartographer/mapping_2d/probability_grid.h:28, from ../cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h:44, from ../cartographer/mapping_2d/scan_matching/real_time_correlative_scanmatcher.cc:17: /opt/eigen/Eigen/src/Geometry/Rotation2D.h: In instantiation of ‘Eigen::Rotation2D Eigen::Rotation2D::operator(const Eigen::Rotation2D&) const [with _Scalar = double]’: ../cartographer/mapping_2d/scan_matching/real_time_correlative_scanmatcher.cc:123:71: required from here /opt/eigen/Eigen/src/Geometry/Rotation2D.h:78:28: error: could not convert ‘(((Eigen::Rotation2D::Scalar)((const Eigen::Rotation2D)this)->Eigen::Rotation2D::m_angle) + ((Eigen::Rotation2D::Scalar)other.Eigen::Rotation2D::m_angle))’ from ‘Eigen::Rotation2D::Scalar {aka double}’ to ‘Eigen::Rotation2D’ { return m_angle + other.m_angle; } ^ [245/327] Building CXX object cartogra....dir/trajectory_connectivity_test.cc.o

ninja: build stopped: subcommand failed.

plz help~

damonkohler commented 7 years ago

Could you tell us what version of Eigen you have installed?

gongyue666 commented 7 years ago

thanks for reply~the vision is 3.2.0-8 and I find some locks on the folders in Eigen, I don't know is normal or not?

gongyue666 commented 7 years ago

In another computer which is X64 ,but hardwares and other conditions are the same, I have succeeded to build and run the demo.I do not want to replace the computer because it is to boring to dismantle the robot.

damonkohler commented 7 years ago 
$ /usr/bin/c++ -v
Using built-in specs.
COLLECT_GCC=/usr/bin/c++
COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/4.8/lto-wrapper
Target: x86_64-linux-gnu
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 4.8.4-2ubuntu1~14.04.3' --with-bugurl=file:///usr/share/doc/gcc-4.8/README.Bugs --enable-languages=c,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.8 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.8 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libmudflap --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-4.8-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
Thread model: posix
gcc version 4.8.4 (Ubuntu 4.8.4-2ubuntu1~14.04.3)
gongyue666 commented 7 years ago

ok, good news is I can use cartographer though~ the result in my computer is : exbot@exbot:~$ /usr/bin/c++ -v Using built-in specs. COLLECT_GCC=/usr/bin/c++ COLLECT_LTO_WRAPPER=/usr/lib/gcc/i686-linux-gnu/4.8/lto-wrapper Target: i686-linux-gnu Configured with: ../src/configure -v --with-pkgversion='Ubuntu 4.8.4-2ubuntu1~14.04.1' --with-bugurl=file:///usr/share/doc/gcc-4.8/README.Bugs --enable-languages=c,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.8 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.8 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libmudflap --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-4.8-i386/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-4.8-i386 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-4.8-i386 --with-arch-directory=i386 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-targets=all --enable-multiarch --disable-werror --with-arch-32=i686 --with-multilib-list=m32,m64,mx32 --with-tune=generic --enable-checking=release --build=i686-linux-gnu --host=i686-linux-gnu --target=i686-linux-gnu Thread model: posix gcc version 4.8.4 (Ubuntu 4.8.4-2ubuntu1~14.04.1)

damonkohler commented 7 years ago

That looks correct to me. I'm not sure what's causing this particular issue, but it's not worth pursuing anyway since the system is only 32-bit. If you have any issues on your 64-bit system, please open a separate issue. I'll close this now.

alvarezmdavid commented 7 years ago

Hi! i already compiled the package few days ago, it compiled well but now i'm trying to compile it again and i have an error about Eigen3

ubuntutecnalia@UbuntuTecnalia-2016:~/cart_catkin_ws$ catkin_make_isolated --install --use-ninja Base path: /home/ubuntutecnalia/cart_catkin_ws Source space: /home/ubuntutecnalia/cart_catkin_ws/src Build space: /home/ubuntutecnalia/cart_catkin_ws/build_isolated Devel space: /home/ubuntutecnalia/cart_catkin_ws/devel_isolated Install space: /home/ubuntutecnalia/cart_catkin_ws/install_isolated

~~  traversing 5 packages in topological order:
~~  - ceres_solver (plain cmake)
~~  - cartographer (plain cmake)
~~  - cartographer_ros_msgs
~~  - cartographer_ros
~~  - cartographer_rviz

==> Processing plain cmake package: 'ceres_solver' build.ninja exists, skipping explicit cmake invocation... ==> ninja build.ninja in '/home/ubuntutecnalia/cart_catkin_ws/build_isolated/ceres_solver/install' ninja: no work to do. ==> ninja -j8 -l8 in '/home/ubuntutecnalia/cart_catkin_ws/build_isolated/ceres_solver/install' [1/5] Performing update step for 'ceres_src' ==> ninja install in '/home/ubuntutecnalia/cart_catkin_ws/build_isolated/ceres_solver/install' [2/2] Install the project... -- Install configuration: "" <== Finished processing package [1 of 5]: 'ceres_solver'

==> Processing plain cmake package: 'cartographer' ==> Building with env: '/home/ubuntutecnalia/cart_catkin_ws/install_isolated/env.sh' ==> cmake /home/ubuntutecnalia/cart_catkin_ws/src/cartographer -DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/cart_catkin_ws/install_isolated -G Ninja in '/home/ubuntutecnalia/cart_catkin_ws/build_isolated/cartographer/install' -- Build type: Release -- Boost version: 1.54.0 -- Found the following Boost libraries: -- system -- iostreams -- Found required Ceres dependency: Eigen version 3.2.0 in /usr/include/eigen3 -- Found required Ceres dependency: Glog in /usr/include -- Found Ceres version: 1.11.0 installed in: /home/ubuntutecnalia/cart_catkin_ws/install_isolated CMake Error at CMakeLists.txt:32 (find_package): By not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "Eigen3", but CMake did not find one.

Could not find a package configuration file provided by "Eigen3" with any of the following names:

Eigen3Config.cmake
eigen3-config.cmake

Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set "Eigen3_DIR" to a directory containing one of the above files. If "Eigen3" provides a separate development package or SDK, be sure it has been installed.

-- Configuring incomplete, errors occurred! See also "/home/ubuntutecnalia/cart_catkin_ws/build_isolated/cartographer/install/CMakeFiles/CMakeOutput.log". See also "/home/ubuntutecnalia/cart_catkin_ws/build_isolated/cartographer/install/CMakeFiles/CMakeError.log". <== Failed to process package 'cartographer': Command '['/home/ubuntutecnalia/cart_catkin_ws/install_isolated/env.sh', 'cmake', '/home/ubuntutecnalia/cart_catkin_ws/src/cartographer', '-DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/cart_catkin_ws/install_isolated', '-G', 'Ninja']' returned non-zero exit status 1

Reproduce this error by running: ==> cd /home/ubuntutecnalia/cart_catkin_ws/build_isolated/cartographer && /home/ubuntutecnalia/cart_catkin_ws/install_isolated/env.sh cmake /home/ubuntutecnalia/cart_catkin_ws/src/cartographer -DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/cart_catkin_ws/install_isolated -G Ninja

Command failed, exiting.

Help, thanks

SirVer commented 7 years ago

Try apt-get install libeigen3-dev? Check what is installed through dpkg -l | grep -i eigen.

alvarezmdavid commented 7 years ago

Hi! i excecuted the ckeck command to see where i have eigen conections and the result was this:

ii libarpack2 3.1.5-2 amd64 Fortran77 subroutines to solve large scale eigenvalue problems ii libeigen3-dev 3.2.0-8 all lightweight C++ template library for linear algebra ii ros-indigo-eigen-conversions 1.11.8-0trusty-20160627-190934-0700 amd64 Conversion functions between: - Eigen and KDL - Eigen and geometry_msgs. ii ros-indigo-eigen-stl-containers 0.1.4-0trusty-20160321-180829-0700 amd64 This package provides a set of typedef's that allow using Eigen datatypes in STL containers ii ros-indigo-tf-conversions 1.11.8-0trusty-20160628-094836-0700 amd64 This package contains a set of conversion functions to convert common tf datatypes (point, vector, pose, etc) into semantically identical datatypes used by other libraries. The conversion functions make it easier for users of the transform library (tf) to work with the datatype of their choice. Currently this package has support for the Kinematics and Dynamics Library (KDL) and the Eigen matrix library. This package is stable, and will get integrated into tf in the next major release cycle (see roadmap). ii ros-indigo-tf2-eigen 0.5.13-0trusty-20160627-192052-0700 amd64 tf2_eigen

i also executed: sudo apt-get install libeigen3-dev

ubuntutecnalia@UbuntuTecnalia-2016:~$ sudo apt-get install libeigen3-dev [sudo] password for ubuntutecnalia: Leyendo lista de paquetes... Hecho Creando árbol de dependencias
Leyendo la información de estado... Hecho libeigen3-dev ya está en su versión más reciente. 0 actualizados, 0 se instalarán, 0 para eliminar y 2 no actualizados.

(the result was that 2 files where not upgraded)

then upgrade it:

ubuntutecnalia@UbuntuTecnalia-2016:~$ sudo apt-get upgrade libeigen3-dev Leyendo lista de paquetes... Hecho Creando árbol de dependencias
Leyendo la información de estado... Hecho Calculando la actualización... Listo libeigen3-dev ya está en su versión más reciente. Se actualizarán los siguientes paquetes: libcgmanager0 yelp-xsl 2 actualizados, 0 se instalarán, 0 para eliminar y 0 no actualizados. Necesito descargar 260 kB de archivos. Se utilizarán 8.192 B de espacio de disco adicional después de esta operación. ¿Desea continuar? [S/n] S AVISO: ¡No se han podido autenticar los siguientes paquetes! libcgmanager0 yelp-xsl ¿Instalar estos paquetes sin verificación? [s/N] S Des:1 http://es.archive.ubuntu.com/ubuntu/ trusty-backports/main libcgmanager0 amd64 0.39-2ubuntu2~ubuntu14.04.1 [34,2 kB] Des:2 http://es.archive.ubuntu.com/ubuntu/ trusty-backports/main yelp-xsl all 3.12.0-1~ubuntu14.04.1 [225 kB] Descargados 260 kB en 0seg. (597 kB/s) (Leyendo la base de datos ... 280313 ficheros o directorios instalados actualmente.) Preparando para desempaquetar .../libcgmanager0_0.39-2ubuntu2~ubuntu14.04.1_amd64.deb ... Desempaquetando libcgmanager0:amd64 (0.39-2ubuntu2~ubuntu14.04.1) sobre (0.24-0ubuntu7.5) ... Preparando para desempaquetar .../yelp-xsl_3.12.0-1~ubuntu14.04.1_all.deb ... Desempaquetando yelp-xsl (3.12.0-1~ubuntu14.04.1) sobre (3.10.1-1) ... Configurando libcgmanager0:amd64 (0.39-2ubuntu2~ubuntu14.04.1) ... Configurando yelp-xsl (3.12.0-1~ubuntu14.04.1) ... Procesando disparadores para libc-bin (2.19-0ubuntu6.9) ...

it finished ok! but when i try to compile and i get the same error that i posted yesterday.

Thanks for the quick answer, hope you can help me to fix this, i'll keep trying to fix it by myself but i can use some help.

Sorry some commands are in spanish, thats my home lenguage.

Regards. David

SirVer commented 7 years ago

I actually saw this error today for the first time. It happened when somebody tried to install a full ROS installation in a ROS workspace. Are you using a system wide installed ROS?

Try this: Make sure you did not source any ROS setup.bash, i.e. echo $ROS_DISTRO should not show anything. Then follow http://wiki.ros.org/kinetic/Installation/Ubuntu, especially install sudo apt-get install ros-kinetic-desktop-full. After that source /opt/ros/kinetic/setup.bash and try building our stuff again. You have to start from scratch there - i.e. make a new ROS workspace.

alvarezmdavid commented 7 years ago

I have three different workspaces, one of them have ethzasl_icp_mapping, velodyne, loam_velodyne velodyne_height_map on it, i builded this one with just catkin_make

The second one have the blam files (Berkeley SLAM), also builded with catkin_make

The third and last one just have cartographer and cartographer_ros, builded with catkin_make_isolated like the docs said it should be.

I have some command lines added by me in the /.bashrc, to source the first and the second workspace, might this be the problem?

source /opt/ros/indigo/setup.bash

source ~/catkin_ws/devel/setup.bash

source ~/blam_ws/devel/setup.bash

Maybe the last two lines are the problem, right now im outside of the office and i cant make some tests, but i remember that executing echo $ROS_DISTRO showed me "indigo".

Maybe erasing the lines i added my problem will be solved?.

Thanks!

David.

alvarezmdavid commented 7 years ago

Hello Holger.

I erase the command lines at mi .bashrc and unsourced all the catkin workspaces and follow the steps you adviced me to follow and the mission was failed. 

ubuntutecnalia@UbuntuTecnalia-2016:~$ echo $ROS_DISTRO

ubuntutecnalia@UbuntuTecnalia-2016:~$ cd cart_catkin_ws/
ubuntutecnalia@UbuntuTecnalia-2016:~/cart_catkin_ws$ catkin_make_isolated --install --use-ninja
catkin_make_isolated: no se encontró la orden
ubuntutecnalia@UbuntuTecnalia-2016:~/cart_catkin_ws$ source /opt/ros/indigo/setup.bash
ubuntutecnalia@UbuntuTecnalia-2016:~/cart_catkin_ws$ catkin_make_isolated --install --use-ninja
Base path: /home/ubuntutecnalia/cart_catkin_ws
Source space: /home/ubuntutecnalia/cart_catkin_ws/src
Build space: /home/ubuntutecnalia/cart_catkin_ws/build_isolated
Devel space: /home/ubuntutecnalia/cart_catkin_ws/devel_isolated
Install space: /home/ubuntutecnalia/cart_catkin_ws/install_isolated

> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> ~~  traversing 5 packages in topological order:
> ~~  - ceres_solver (plain cmake)
> ~~  - cartographer (plain cmake)
> ~~  - cartographer_ros_msgs
> ~~  - cartographer_ros
> ~~  - cartographer_rviz
> ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
> 

==> Processing plain cmake package: 'ceres_solver'
build.ninja exists, skipping explicit cmake invocation...
==> ninja build.ninja in '/home/ubuntutecnalia/cart_catkin_ws/build_isolated/ceres_solver/install'
ninja: no work to do.
==> ninja -j8 -l8 in '/home/ubuntutecnalia/cart_catkin_ws/build_isolated/ceres_solver/install'
[1/5] Performing update step for 'ceres_src'
==> ninja install in '/home/ubuntutecnalia/cart_catkin_ws/build_isolated/ceres_solver/install'
[2/2] Install the project...
-- Install configuration: ""
<== Finished processing package [1 of 5]: 'ceres_solver'

==> Processing plain cmake package: 'cartographer'
==> Building with env: '/home/ubuntutecnalia/cart_catkin_ws/install_isolated/env.sh'
build.ninja exists, skipping explicit cmake invocation...
==> ninja build.ninja in '/home/ubuntutecnalia/cart_catkin_ws/build_isolated/cartographer/install'
[1/1] Re-running CMake...
FAILED: /usr/bin/cmake -H/home/ubuntutecnalia/cart_catkin_ws/src/cartographer -B/home/ubuntutecnalia/cart_catkin_ws/build_isolated/cartographer/install
-- Build type: Release
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   iostreams
-- Found required Ceres dependency: Eigen version 3.2.0 in /usr/include/eigen3
-- Found required Ceres dependency: Glog in /usr/include
-- Found Ceres version: 1.11.0 installed in: /home/ubuntutecnalia/cart_catkin_ws/install_isolated
CMake Error at CMakeLists.txt:32 (find_package):
  By not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Eigen3", but
  CMake did not find one.

  Could not find a package configuration file provided by "Eigen3" with any
  of the following names:

    Eigen3Config.cmake
    eigen3-config.cmake

  Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set
  "Eigen3_DIR" to a directory containing one of the above files.  If "Eigen3"
  provides a separate development package or SDK, be sure it has been
  installed.

-- Configuring incomplete, errors occurred!
See also "/home/ubuntutecnalia/cart_catkin_ws/build_isolated/cartographer/install/CMakeFiles/CMakeOutput.log".
See also "/home/ubuntutecnalia/cart_catkin_ws/build_isolated/cartographer/install/CMakeFiles/CMakeError.log".
ninja: error: rebuilding 'build.ninja': subcommand failed
<== Failed to process package 'cartographer': 
  Command '['/home/ubuntutecnalia/cart_catkin_ws/install_isolated/env.sh', 'ninja', 'build.ninja']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/ubuntutecnalia/cart_catkin_ws/build_isolated/cartographer && /home/ubuntutecnalia/cart_catkin_ws/install_isolated/env.sh ninja build.ninja

Command failed, exiting.
ubuntutecnalia@UbuntuTecnalia-2016:~/cart_catkin_ws$

I did not make the installation steps because i already have indigo installed, sourced it and try to compile and had the same error, like i told you ill keep trying to fix this by myself but i could use some help, i really want to make this work because i'm working right now with a VLP-16 for my thesis about SLAM for automated vehicles in structured environments, and this cartographer algorithms looks awesome.

Thanks again.

Regards. David.

SirVer commented 7 years ago

In your steps, you will have used a mix of your old workspace and the system wide installation, since the workspace will have remember it. I understand you saying that you did try from scratch, but that is not the output you posted. Please do it again and removing and restarting your workspace, just to give me confidence.

Also, could you check the output of dpkg -L libeigen3-dev| grep cmake. For me it lists

/usr/share/cmake-2.8
/usr/share/cmake-2.8/Modules
/usr/share/cmake-2.8/Modules/FindEigen3.cmake
alvarezmdavid commented 7 years ago

Sorry, i get that i should remove all the workspace and reinstall it from scratch, didnt do that, sorry i'll do it, but do you mean i should remove ROS Indigo and reinstall it too?

ubuntutecnalia@UbuntuTecnalia-2016:~/cart_catkin_ws$ dpkg -L libeigen3-dev| grep cmake /usr/share/cmake-2.8 /usr/share/cmake-2.8/Modules /usr/share/cmake-2.8/Modules/FindEigen3.cmake

Lists the same for me but i found i have also a /usr/share/cmake-3.2/ folder, where FindEigen3.cmake is not listed (don't have that file) i don't now if i should remove it, should i?

Ok, i erase the workspace and i did all over again

ubuntutecnalia@UbuntuTecnalia-2016:~$ sudo apt-get update

All worked well, then:

ubuntutecnalia@UbuntuTecnalia-2016:~$ sudo apt-get install -y python-wstool python-rosdep ninja-build Leyendo lista de paquetes... Hecho Creando árbol de dependencias Leyendo la información de estado... Hecho ninja-build ya está en su versión más reciente. python-rosdep ya está en su versión más reciente. python-wstool ya está en su versión más reciente. 0 actualizados, 0 se instalarán, 0 para eliminar y 6 no actualizados.

i upgraded

ubuntutecnalia@UbuntuTecnalia-2016:~$ sudo apt-get upgrade -y python-wstool python-rosdep ninja-build Leyendo lista de paquetes... Hecho Creando árbol de dependencias Leyendo la información de estado... Hecho Calculando la actualización... Listo ninja-build ya está en su versión más reciente. python-rosdep ya está en su versión más reciente. python-wstool ya está en su versión más reciente. Se actualizarán los siguientes paquetes: gstreamer1.0-plugins-bad gstreamer1.0-plugins-bad-faad gstreamer1.0-plugins-bad-videoparsers klibc-utils libgstreamer-plugins-bad1.0-0 libklibc 6 actualizados, 0 se instalarán, 0 para eliminar y 0 no actualizados. Necesito descargar 1.372 kB de archivos. Se utilizarán 2.048 B de espacio de disco adicional después de esta operación. Des:1 http://es.archive.ubuntu.com/ubuntu/ trusty-updates/universe gstreamer1.0-plugins-bad-videoparsers amd64 1.2.4-1~ubuntu1.1 [61,2 kB] Des:2 http://es.archive.ubuntu.com/ubuntu/ trusty-updates/universe gstreamer1.0-plugins-bad amd64 1.2.4-1~ubuntu1.1 [1.025 kB] Des:3 http://es.archive.ubuntu.com/ubuntu/ trusty-updates/universe gstreamer1.0-plugins-bad-faad amd64 1.2.4-1~ubuntu1.1 [21,1 kB] Des:4 http://es.archive.ubuntu.com/ubuntu/ trusty-updates/universe libgstreamer-plugins-bad1.0-0 amd64 1.2.4-1~ubuntu1.1 [117 kB] Des:5 http://es.archive.ubuntu.com/ubuntu/ trusty-updates/main klibc-utils amd64 2.0.3-0ubuntu1.14.04.2 [107 kB] Des:6 http://es.archive.ubuntu.com/ubuntu/ trusty-updates/main libklibc amd64 2.0.3-0ubuntu1.14.04.2 [40,6 kB] Descargados 1.372 kB en 2seg. (591 kB/s) (Leyendo la base de datos ... 280310 ficheros o directorios instalados actualmente.) Preparando para desempaquetar .../gstreamer1.0-plugins-bad-videoparsers_1.2.4-1~ubuntu1.1_amd64.deb ... Desempaquetando gstreamer1.0-plugins-bad-videoparsers:amd64 (1.2.4-1~ubuntu1.1) sobre (1.2.4-1~ubuntu1) ... Preparando para desempaquetar .../gstreamer1.0-plugins-bad_1.2.4-1~ubuntu1.1_amd64.deb ... Desempaquetando gstreamer1.0-plugins-bad:amd64 (1.2.4-1~ubuntu1.1) sobre (1.2.4-1~ubuntu1) ... Preparando para desempaquetar .../gstreamer1.0-plugins-bad-faad_1.2.4-1~ubuntu1.1_amd64.deb ... Desempaquetando gstreamer1.0-plugins-bad-faad:amd64 (1.2.4-1~ubuntu1.1) sobre (1.2.4-1~ubuntu1) ... Preparando para desempaquetar .../libgstreamer-plugins-bad1.0-0_1.2.4-1~ubuntu1.1_amd64.deb ... Desempaquetando libgstreamer-plugins-bad1.0-0:amd64 (1.2.4-1~ubuntu1.1) sobre (1.2.4-1~ubuntu1) ... Preparando para desempaquetar .../klibc-utils_2.0.3-0ubuntu1.14.04.2_amd64.deb ... Desempaquetando klibc-utils (2.0.3-0ubuntu1.14.04.2) sobre (2.0.3-0ubuntu1.14.04.1) ... Preparando para desempaquetar .../libklibc_2.0.3-0ubuntu1.14.04.2_amd64.deb ... Desempaquetando libklibc (2.0.3-0ubuntu1.14.04.2) sobre (2.0.3-0ubuntu1.14.04.1) ... Configurando libgstreamer-plugins-bad1.0-0:amd64 (1.2.4-1~ubuntu1.1) ... Configurando gstreamer1.0-plugins-bad-videoparsers:amd64 (1.2.4-1~ubuntu1.1) ... Configurando gstreamer1.0-plugins-bad-faad:amd64 (1.2.4-1~ubuntu1.1) ... Configurando gstreamer1.0-plugins-bad:amd64 (1.2.4-1~ubuntu1.1) ... Configurando libklibc (2.0.3-0ubuntu1.14.04.2) ... Configurando klibc-utils (2.0.3-0ubuntu1.14.04.2) ... Procesando disparadores para libc-bin (2.19-0ubuntu6.9) ... Then the rest of it:

`ubuntutecnalia@UbuntuTecnalia-2016:~$ mkdir CartWS ubuntutecnalia@UbuntuTecnalia-2016:~$ cd CartWS/ ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ wstool init src Writing /home/ubuntutecnalia/CartWS/src/.rosinstall

update complete. `

` ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall Performing actions: 

 Add new elements:

cartographer, cartographer_ros

Config changed, maybe you need run wstool update to update SCM entries. Overwriting /home/ubuntutecnalia/CartWS/src/.rosinstall

update complete. ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ wstool update -t src [cartographer] Fetching https://github.com/googlecartographer/cartographer.git (version None) to /home/ubuntutecnalia/CartWS/src/cartographer Clonar en «/home/ubuntutecnalia/CartWS/src/cartographer»... remote: Counting objects: 1447, done. remote: Compressing objects: 100% (112/112), done. remote: Total 1447 (delta 53), reused 0 (delta 0), pack-reused 1335 Receiving objects: 100% (1447/1447), 603.68 KiB | 208.00 KiB/s, done. Resolving deltas: 100% (979/979), done. Comprobando la conectividad… hecho. [cartographer] Done. [cartographer_ros] Fetching https://github.com/googlecartographer/cartographer_ros.git (version None) to /home/ubuntutecnalia/CartWS/src/cartographer_ros Clonar en «/home/ubuntutecnalia/CartWS/src/cartographer_ros»... remote: Counting objects: 1046, done. remote: Compressing objects: 100% (61/61), done. remote: Total 1046 (delta 34), reused 0 (delta 0), pack-reused 985 Receiving objects: 100% (1046/1046), 285.81 KiB | 457.00 KiB/s, done. Resolving deltas: 100% (730/730), done. Comprobando la conectividad… hecho. [cartographer_ros] Done. ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ rosdep init ERROR: default sources list file already exists: /etc/ros/rosdep/sources.list.d/20-default.list Please delete if you wish to re-initialize ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ cd ubuntutecnalia@UbuntuTecnalia-2016:~$ cd /etc/ros/rosdep/sources.list.d/ ubuntutecnalia@UbuntuTecnalia-2016:/etc/ros/rosdep/sources.list.d$ rm -R 20-default.list rm: ¿borrar el fichero regular «20-default.list» protegido contra escritura? (s/n) s rm: no se puede borrar «20-default.list»: Permiso denegado ubuntutecnalia@UbuntuTecnalia-2016:/etc/ros/rosdep/sources.list.d$ sudo rm -R 20-default.list ubuntutecnalia@UbuntuTecnalia-2016:/etc/ros/rosdep/sources.list.d$ cd ubuntutecnalia@UbuntuTecnalia-2016:~$ cd CartWS/ ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ sudo rosdep init Wrote /etc/ros/rosdep/sources.list.d/20-default.list Recommended: please run

rosdep update

ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ sudo rosdep update reading in sources list data from /etc/ros/rosdep/sources.list.d Warning: running 'rosdep update' as root is not recommended. You should run 'sudo rosdep fix-permissions' and invoke 'rosdep update' again without sudo. Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index.yaml Add distro "groovy" Add distro "hydro" Add distro "indigo" Add distro "jade" Add distro "kinetic" updated cache in /home/ubuntutecnalia/.ros/rosdep/sources.cache ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ sudo rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

All required rosdeps installed successfully

`

Then:

`ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ sudo rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

All required rosdeps installed successfully

ubuntutecnalia@UbuntuTecnalia-2016:~/CartWS$ catkin_make_isolated --install --use-ninja Base path: /home/ubuntutecnalia/CartWS Source space: /home/ubuntutecnalia/CartWS/src Build space: /home/ubuntutecnalia/CartWS/build_isolated Devel space: /home/ubuntutecnalia/CartWS/devel_isolated Install space: /home/ubuntutecnalia/CartWS/install_isolated

~~  traversing 5 packages in topological order:
~~  - ceres_solver (plain cmake)
~~  - cartographer (plain cmake)
~~  - cartographer_ros_msgs
~~  - cartographer_ros
~~  - cartographer_rviz

The packages or cmake arguments have changed, forcing cmake invocation

==> Processing plain cmake package: 'ceres_solver' ==> Creating build directory: 'build_isolated/ceres_solver/install' ==> cmake /home/ubuntutecnalia/CartWS/src/cartographer_ros/ceres_solver -DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/CartWS/install_isolated -G Ninja in '/home/ubuntutecnalia/CartWS/build_isolated/ceres_solver/install' -- The C compiler identification is GNU 4.8.4 -- The CXX compiler identification is GNU 4.8.4 -- Check for working C compiler using: Ninja -- Check for working C compiler using: Ninja -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler using: Ninja -- Check for working CXX compiler using: Ninja -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done -- Generating done -- Build files have been written to: /home/ubuntutecnalia/CartWS/build_isolated/ceres_solver/install ==> ninja -j8 -l8 in '/home/ubuntutecnalia/CartWS/build_isolated/ceres_solver/install' [2/8] Performing download step (git clone) for 'ceres_src' Clonar en «ceres_src»... Note: checking out '6a13e39e8171f450fbb89188d97f198def81937e'.

You are in 'detached HEAD' state. You can look around, make experimental changes and commit them, and you can discard any commits you make in this state without impacting any branches by performing another checkout.

If you want to create a new branch to retain commits you create, you may do so (now or later) by using -b with the checkout command again. Example:

git checkout -b new_branch_name

HEAD se encuentra en 4145556... Remove link-time optimisation (LTO). [5/8] Performing configure step for 'ceres_src' -- The C compiler identification is GNU 4.8.4 -- The CXX compiler identification is GNU 4.8.4 -- Check for working C compiler using: Ninja -- Check for working C compiler using: Ninja -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler using: Ninja -- Check for working CXX compiler using: Ninja -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Detected Ceres being used as a git submodule, adding commit hook for Gerrit to: /home/ubuntutecnalia/CartWS/build_isolated/ceres_solver/install/ceres_src-prefix/src/ceres_src/.git -- Found Eigen: /usr/local/include/eigen3 (found version "3.2.1") -- Found Eigen version 3.2.1: /usr/local/include/eigen3

=============================================================== Disabling the use of Eigen as a sparse linear algebra library. This does not affect the covariance estimation algorithm which can still use the EIGEN_SPARSE_QR algorithm.

-- Looking for dgemm -- Looking for dgemm - found -- Looking for include file pthread.h -- Looking for include file pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE
-- A library with BLAS API found. -- Found LAPACK library: /usr/lib/liblapack.so;/usr/lib/libf77blas.so;/usr/lib/libatlas.so -- Found BLAS library: /usr/lib/libf77blas.so;/usr/lib/libatlas.so -- A library with BLAS API found. -- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so -- Found AMD header in: /usr/include/suitesparse -- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so -- Found CAMD header in: /usr/include/suitesparse -- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so -- Found COLAMD header in: /usr/include/suitesparse -- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so -- Found CCOLAMD header in: /usr/include/suitesparse -- Found CHOLMOD library: /usr/lib/x86_64-linux-gnu/libcholmod.so -- Found CHOLMOD header in: /usr/include/suitesparse -- Found SuiteSparseQR library: /usr/lib/x86_64-linux-gnu/libspqr.so -- Found SuiteSparseQR header in: /usr/include/suitesparse -- Found Intel Thread Building Blocks (TBB) library: /usr/lib/libtbb.so, assuming SuiteSparseQR was compiled with TBB. -- Found Intel Thread Building Blocks (TBB) Malloc library: /usr/lib/libtbbmalloc.so -- Found SuiteSparse_config library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.a -- Found SuiteSparse_config header in: /usr/include/suitesparse -- Adding librt: /usr/lib/x86_64-linux-gnu/librt.so to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing). -- Found METIS library: /usr/local/lib/libmetis.so. -- Found SuiteSparse: TRUE (found version "4.2.1") -- Found SuiteSparse 4.2.1, building with SuiteSparse. -- Failed to find CXSparse - Could not find CXSparse include directory, set CXSPARSE_INCLUDE_DIR to directory containing cs.h -- Could NOT find CXSparse (missing: CXSPARSE_INCLUDE_DIRS) -- Did not find CXSparse, Building without CXSparse. -- No preference for use of exported gflags CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported gflags CMake configuration if available. -- Failed to find installed gflags CMake configuration, searching for gflags build directories exported with CMake. -- Failed to find an installed/exported CMake configuration for gflags, will perform search for installed gflags components. -- Performing Test GFLAGS_IN_GOOGLE_NAMESPACE -- Performing Test GFLAGS_IN_GOOGLE_NAMESPACE - Success -- Found Gflags: /usr/include
-- Found Google Flags header in: /usr/include, in namespace: google -- Found Glog: /usr/include
-- Found Google Log header in: /usr/include -- Building with OpenMP. -- Performing Test COMPILER_HAS_CXX11_FLAG -- Performing Test COMPILER_HAS_CXX11_FLAG - Success -- Looking for C++ include unordered_map -- Looking for C++ include unordered_map - not found -- Looking for C++ include tr1/unordered_map -- Looking for C++ include tr1/unordered_map - found -- Found tr1/unordered_map/set in std::tr1 namespace. -- Looking for C++ include memory -- Looking for C++ include memory - found -- Performing Test HAVE_SHARED_PTR_IN_STD_NAMESPACE -- Performing Test HAVE_SHARED_PTR_IN_STD_NAMESPACE - Failed -- Performing Test HAVE_SHARED_PTR_IN_TR1_NAMESPACE -- Performing Test HAVE_SHARED_PTR_IN_TR1_NAMESPACE - Failed -- Looking for C++ include tr1/memory -- Looking for C++ include tr1/memory - found -- Performing Test HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER -- Performing Test HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER - Success -- Found shared_ptr in std::tr1 namespace using <tr1/memory> header. -- Building Ceres as a static library. -- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release. -- Creating configured Ceres config.h output directory: /home/ubuntutecnalia/CartWS/build_isolated/ceres_solver/install/ceres_src-prefix/src/ceres_src-build/config/ceres/internal -- Enabling CERES_NO_CXSPARSE in Ceres config.h -- Enabling CERES_USE_OPENMP in Ceres config.h -- Enabling CERES_HAVE_PTHREAD in Ceres config.h -- Enabling CERES_HAVE_RWLOCK in Ceres config.h -- Enabling CERES_TR1_UNORDERED_MAP in Ceres config.h -- Enabling CERES_TR1_MEMORY_HEADER in Ceres config.h -- Enabling CERES_TR1_SHARED_PTR in Ceres config.h -- Do not build any example. -- Configuring done -- Generating done -- Build files have been written to: /home/ubuntutecnalia/CartWS/build_isolated/ceres_solver/install/ceres_src-prefix/src/ceres_src-build [6/8] Performing build step for 'ceres_src' [1/125] Building CXX object internal/ceres/CMakeFiles/ceres.dir/array_utils.cc.o 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Performing install step for 'ceres_src' [1/1] Install the project... -- Install configuration: "Release" -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/loss_function.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/dynamic_autodiff_cost_function.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/gradient_problem.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/cost_function_to_functor.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/numeric_diff_cost_function.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/local_parameterization.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/version.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/fpclassify.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/conditioned_cost_function.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/covariance.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/jet.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/rotation.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/numeric_diff_options.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/autodiff_local_parameterization.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/gradient_checker.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/problem.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/ceres.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/gradient_problem_solver.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/crs_matrix.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/ordered_groups.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/autodiff_cost_function.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/dynamic_cost_function_to_functor.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/normal_prior.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/c_api.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/iteration_callback.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/sized_cost_function.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/cost_function.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/dynamic_numeric_diff_cost_function.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/solver.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/cubic_interpolation.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/types.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/macros.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/eigen.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/disable_warnings.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/reenable_warnings.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/scoped_ptr.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/numeric_diff.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/port.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/manual_constructor.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/variadic_evaluate.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/autodiff.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/fixed_array.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/include/ceres/internal/config.h -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/share/Ceres/CeresTargets.cmake -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/share/Ceres/CeresTargets-release.cmake -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/share/Ceres/CeresConfig.cmake -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/share/Ceres/CeresConfigVersion.cmake -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/share/Ceres/FindEigen.cmake -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/share/Ceres/FindGlog.cmake -- Installing: /home/ubuntutecnalia/CartWS/install_isolated/lib/libceres.a [8/8] Completed 'ceres_src' ==> ninja install in '/home/ubuntutecnalia/CartWS/build_isolated/ceres_solver/install' [2/2] Install the project... -- Install configuration: "" ==> Generating an env.sh <== Finished processing package [1 of 5]: 'ceres_solver'

==> Processing plain cmake package: 'cartographer' ==> Creating build directory: 'build_isolated/cartographer/install' ==> Building with env: '/home/ubuntutecnalia/CartWS/install_isolated/env.sh' ==> cmake /home/ubuntutecnalia/CartWS/src/cartographer -DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/CartWS/install_isolated -G Ninja in '/home/ubuntutecnalia/CartWS/build_isolated/cartographer/install' -- The C compiler identification is GNU 4.8.4 -- The CXX compiler identification is GNU 4.8.4 -- Check for working C compiler using: Ninja -- Check for working C compiler using: Ninja -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler using: Ninja -- Check for working CXX compiler using: Ninja -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Build type: Release -- Found PythonInterp: /usr/bin/python (found version "2.7.6") -- Looking for include file pthread.h -- Looking for include file pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE
-- Found GMock: gmock_main;-lpthread
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.26") -- Boost version: 1.54.0 -- Found the following Boost libraries: -- system -- iostreams -- Found required Ceres dependency: Eigen version 3.2.1 in /usr/local/include/eigen3 -- Found required Ceres dependency: Glog in /usr/include -- Found Ceres version: 1.11.0 installed in: /home/ubuntutecnalia/CartWS/install_isolated CMake Error at CMakeLists.txt:32 (find_package): By not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "Eigen3", but CMake did not find one.

Could not find a package configuration file provided by "Eigen3" with any of the following names:

Eigen3Config.cmake
eigen3-config.cmake

Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set "Eigen3_DIR" to a directory containing one of the above files. If "Eigen3" provides a separate development package or SDK, be sure it has been installed.

-- Configuring incomplete, errors occurred! See also "/home/ubuntutecnalia/CartWS/build_isolated/cartographer/install/CMakeFiles/CMakeOutput.log". See also "/home/ubuntutecnalia/CartWS/build_isolated/cartographer/install/CMakeFiles/CMakeError.log". <== Failed to process package 'cartographer': Command '['/home/ubuntutecnalia/CartWS/install_isolated/env.sh', 'cmake', '/home/ubuntutecnalia/CartWS/src/cartographer', '-DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/CartWS/install_isolated', '-G', 'Ninja']' returned non-zero exit status 1

Reproduce this error by running: ==> cd /home/ubuntutecnalia/CartWS/build_isolated/cartographer && /home/ubuntutecnalia/CartWS/install_isolated/env.sh cmake /home/ubuntutecnalia/CartWS/src/cartographer -DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/CartWS/install_isolated -G Ninja

Command failed, exiting.

`

Can it be a problem about the CMake3 that i have installed?

image

Regards. David.

SirVer commented 7 years ago

Thanks for the output!

I think we have the problem now though: you have two versions of cmake installed - and only one has a FindEigen file. Uninstall cmake-3.2 and make sure that you are always using cmake-2.8 and it should work.

alvarezmdavid commented 7 years ago

Well... apprently nop.... did all over again and....

`ubuntutecnalia@UbuntuTecnalia-2016:~/CarWS$ sudo rosdep install --from-paths src --ignore-src --rosdistro=indigo -y executing command [sudo -H apt-get install -y ros-indigo-tf2-eigen] Leyendo lista de paquetes... Hecho Creando árbol de dependencias
Leyendo la información de estado... Hecho Se instalarán los siguientes paquetes NUEVOS: ros-indigo-tf2-eigen 0 actualizados, 1 se instalarán, 0 para eliminar y 0 no actualizados. Se necesita descargar 0 B/5.706 B de archivos. Se utilizarán 79,9 kB de espacio de disco adicional después de esta operación. Seleccionando el paquete ros-indigo-tf2-eigen previamente no seleccionado. (Leyendo la base de datos ... 280173 ficheros o directorios instalados actualmente.) Preparando para desempaquetar .../ros-indigo-tf2-eigen_0.5.13-0trusty-20160627-192052-0700_amd64.deb ... Desempaquetando ros-indigo-tf2-eigen (0.5.13-0trusty-20160627-192052-0700) ... Configurando ros-indigo-tf2-eigen (0.5.13-0trusty-20160627-192052-0700) ...

All required rosdeps installed successfully

ubuntutecnalia@UbuntuTecnalia-2016:~/CarWS$ catkin_make_isolated --install --use-ninja Base path: /home/ubuntutecnalia/CarWS Source space: /home/ubuntutecnalia/CarWS/src Build space: /home/ubuntutecnalia/CarWS/build_isolated Devel space: /home/ubuntutecnalia/CarWS/devel_isolated Install space: /home/ubuntutecnalia/CarWS/install_isolated

~~  traversing 5 packages in topological order:
~~  - ceres_solver (plain cmake)
~~  - cartographer (plain cmake)
~~  - cartographer_ros_msgs
~~  - cartographer_ros
~~  - cartographer_rviz

The packages or cmake arguments have changed, forcing cmake invocation

==> Processing plain cmake package: 'ceres_solver' ==> Creating build directory: 'build_isolated/ceres_solver/install' ==> cmake /home/ubuntutecnalia/CarWS/src/cartographer_ros/ceres_solver -DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/CarWS/install_isolated -G Ninja in '/home/ubuntutecnalia/CarWS/build_isolated/ceres_solver/install' CMake Error: Could not find CMAKE_ROOT !!! CMake has most likely not been installed correctly. Modules directory not found in /usr/share/cmake-3.2 CMake Error: Error executing cmake::LoadCache(). Aborting.

<== Failed to process package 'ceres_solver': Command '['cmake', '/home/ubuntutecnalia/CarWS/src/cartographer_ros/ceres_solver', '-DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/CarWS/install_isolated', '-G', 'Ninja']' returned non-zero exit status 1

Reproduce this error by running: ==> cd /home/ubuntutecnalia/CarWS/build_isolated/ceres_solver && cmake /home/ubuntutecnalia/CarWS/src/cartographer_ros/ceres_solver -DCMAKE_INSTALL_PREFIX=/home/ubuntutecnalia/CarWS/install_isolated -G Ninja

Command failed, exiting. `

I'm sorry i might being annoying

SirVer commented 7 years ago

The output shows you are still using cmake 3.2. What does which cmake print? what about cmake --version.

alvarezmdavid commented 7 years ago

Holger, Good Morning.

The output for which cmake shows me this:

ubuntutecnalia@UbuntuTecnalia-2016:~$ which cmake /usr/bin/cmake

cmake -- version shows:

`ubuntutecnalia@UbuntuTecnalia-2016:~/cart_catkin_ws$ cmake --version cmake version 3.2.2

`

honestly i'm not getting whats going on, i removed everything (including ROS-indigo) and reinstalled it, i dont have the cmake-3.2 folder on /usr/share/ folder

Thanks again.

Regards. David

SirVer commented 7 years ago

I think you probably installed cmake-3.2 some time in the past, probably not through apt-get, but by building and installing it from source or so. And now your system partially uses cmake-3.2 (the binary at least). Try killing everything related to cmake-3.2 on your system and you should be good to go. Alternatively, reinstall your system and do not install cmake 3.2. Or you use our docker files and run Cartographer from inside a docker container. Good luck!

Closing, as this is not Cartographer related anymore.

alvarezmdavid commented 7 years ago

Thank you, Holger.

David.

wallEVA96 commented 7 years ago

@gongyue666 hey. I have the same issue like Urs. could U tell me how to solve this. My PC is also i386. thank u.

mithundiddi commented 6 years ago

Even I had the same problem. For another project I had to upgrade cmake to 3.2, so even I had both the versions and thank you guys in figuring out the problem.

Instead I just did this one and it solved my problem

sudo cp /usr/share/cmake-2.8/Modules/FindEigen3.cmake /usr/share/cmake-3.2/Modules/

wallEVA96 commented 6 years ago

Ur mean is that I should upgrade the Cmake？ @mithunvarma

mithundiddi commented 6 years ago

Nope Check your cmake --version and if you have cmake 3.2

As sirver mentioned

Also, could you check the output of dpkg -L libeigen3-dev| grep cmake. For me it lists

/usr/share/cmake-2.8 /usr/share/cmake-2.8/Modules /usr/share/cmake-2.8/Modules/FindEigen3.cmake

If you find FindEigen3.cmake file in cmake-2.8 instead of cmake-3.2 just copy it to cmake-3.2 using the command in my previous comment.(only if cmake you are using is 3.2 or something different than 2.8)

mithundiddi commented 6 years ago

Incase you have cmake 2.8 no need to upgrade it. (Don't worry sudo apt-get upgrade doesn't automatically upgrade your cmake ) . Just install the package for eigen ver 3 as someone mentioned above.

wallEVA96 commented 6 years ago

@mithunvarma thank u for ur suggestion, let me try it

MilanMichael commented 6 years ago

in CmakeList.txt just replace #find_package(Eigen3 REQUIRED) with the following find_package(Eigen 3 QUIET) if(NOT Eigen_FOUND) include(/usr/share/cmake-2.8/Modules/FindEigen3.cmake) set(Eigen_INCLUDE_DIR ${EIGEN3_INCLUDE_DIR}) endif() include_directories(${Eigen_INCLUDE_DIR})

it worked for me