ros-pkg compile error

[GoogleCodeExporter]

What steps will reproduce the problem?

After install the RTAB-Map standalone libraries
$ roscd
$ cd ..
$ svn checkout http://rtabmap.googlecode.com/svn/trunk/ros-pkg src/rtabmap
$ catkin_make

What is the expected output? What do you see instead?

...
[ 96%] Built target rtabmap_generate_messages_eus
Linking CXX executable /home/mark/catkin_ws/devel/lib/rtabmap/data_recorder
Scanning dependencies of target map_assembler
Scanning dependencies of target rtabmap
Linking CXX executable /home/mark/catkin_ws/devel/lib/rtabmap/grid_map_assembler
[ 97%] [ 97%] Building CXX object 
rtabmap/CMakeFiles/rtabmap.dir/src/CoreNode.cpp.o
Building CXX object 
rtabmap/CMakeFiles/map_assembler.dir/src/MapAssemblerNode.cpp.o
/usr/bin/ld: CMakeFiles/grid_map_assembler.dir/src/GridMapAssemblerNode.cpp.o: 
undefined reference to symbol '_ZN2cv8fastFreeEPv'
//usr/local/lib/libopencv_core.so.2.4: error adding symbols: DSO missing from 
command line
collect2: error: ld returned 1 exit status
make[2]: *** [/home/mark/catkin_ws/devel/lib/rtabmap/grid_map_assembler] Fehler 
1
make[1]: *** [rtabmap/CMakeFiles/grid_map_assembler.dir/all] Fehler 2
make[1]: *** Warte auf noch nicht beendete Prozesse...
[ 97%] Building CXX object rtabmap/CMakeFiles/rtabmap.dir/src/CoreWrapper.cpp.o
/usr/bin/ld: CMakeFiles/data_recorder.dir/src/DataRecorderNode.cpp.o: undefined 
reference to symbol '_ZN2cv3Mat8copySizeERKS0_'
//usr/local/lib/libopencv_core.so.2.4: error adding symbols: DSO missing from 
command line
collect2: error: ld returned 1 exit status
make[2]: *** [/home/mark/catkin_ws/devel/lib/rtabmap/data_recorder] Fehler 1
make[1]: *** [rtabmap/CMakeFiles/data_recorder.dir/all] Fehler 2
In file included from /usr/include/boost/signals.hpp:9:0,
                 from /opt/ros/indigo/include/tf/tf.h:45,
                 from /home/mark/catkin_ws/src/rtabmap/src/CoreWrapper.h:14,
                 from /home/mark/catkin_ws/src/rtabmap/src/CoreNode.cpp:8:
/usr/include/boost/signal.hpp:17:4: warning: #warning "Boost.Signals is no 
longer being maintained and is now deprecated. Please switch to Boost.Signals2. 
To disable this warning message, define BOOST_SIGNALS_NO_DEPRECATION_WARNING." 
[-Wcpp]
 #  warning                  "Boost.Signals is no longer being maintained and is now deprecated. Please switch to Boost.Signals2. To disable this warning message, define BOOST_SIGNALS_NO_DEPRECATION_WARNING."
    ^
In file included from /usr/include/boost/signals.hpp:9:0,
                 from /opt/ros/indigo/include/tf/tf.h:45,
                 from /opt/ros/indigo/include/tf/transform_listener.h:38,
                 from /home/mark/catkin_ws/src/rtabmap/src/GuiWrapper.h:16,
                 from /home/mark/catkin_ws/src/rtabmap/src/MapAssemblerNode.cpp:8:
/usr/include/boost/signal.hpp:17:4: warning: #warning "Boost.Signals is no 
longer being maintained and is now deprecated. Please switch to Boost.Signals2. 
To disable this warning message, define BOOST_SIGNALS_NO_DEPRECATION_WARNING." 
[-Wcpp]
 #  warning                  "Boost.Signals is no longer being maintained and is now deprecated. Please switch to Boost.Signals2. To disable this warning message, define BOOST_SIGNALS_NO_DEPRECATION_WARNING."
    ^
In file included from /usr/include/boost/signals.hpp:9:0,
                 from /opt/ros/indigo/include/tf/tf.h:45,
                 from /home/mark/catkin_ws/src/rtabmap/src/CoreWrapper.h:14,
                 from /home/mark/catkin_ws/src/rtabmap/src/CoreWrapper.cpp:8:
/usr/include/boost/signal.hpp:17:4: warning: #warning "Boost.Signals is no 
longer being maintained and is now deprecated. Please switch to Boost.Signals2. 
To disable this warning message, define BOOST_SIGNALS_NO_DEPRECATION_WARNING." 
[-Wcpp]
 #  warning                  "Boost.Signals is no longer being maintained and is now deprecated. Please switch to Boost.Signals2. To disable this warning message, define BOOST_SIGNALS_NO_DEPRECATION_WARNING."
    ^
Linking CXX executable /home/mark/catkin_ws/devel/lib/rtabmap/map_assembler
/usr/bin/ld: CMakeFiles/map_assembler.dir/src/MapAssemblerNode.cpp.o: undefined 
reference to symbol '_ZN2cv3Mat8copySizeERKS0_'
//usr/local/lib/libopencv_core.so.2.4: error adding symbols: DSO missing from 
command line
collect2: error: ld returned 1 exit status
make[2]: *** [/home/mark/catkin_ws/devel/lib/rtabmap/map_assembler] Fehler 1
make[1]: *** [rtabmap/CMakeFiles/map_assembler.dir/all] Fehler 2
Linking CXX executable /home/mark/catkin_ws/devel/lib/rtabmap/rtabmap
/usr/bin/ld: CMakeFiles/rtabmap.dir/src/CoreWrapper.cpp.o: undefined reference 
to symbol '_ZN2cv3Mat8copySizeERKS0_'
//usr/local/lib/libopencv_core.so.2.4: error adding symbols: DSO missing from 
command line
collect2: error: ld returned 1 exit status
make[2]: *** [/home/mark/catkin_ws/devel/lib/rtabmap/rtabmap] Fehler 1
make[1]: *** [rtabmap/CMakeFiles/rtabmap.dir/all] Fehler 2
make: *** [all] Fehler 2
Invoking "make" failed

What version of the product are you using? On what operating system?

Version 0.6 on Ubuntu 14.04 64bit with Ros Indigo, OpenCV 2.4.9

Original issue reported on code.google.com by markalbe...@gmail.com on 13 May 2014 at 3:45

[GoogleCodeExporter]

Reproduced:
(...)
Scanning dependencies of target camera
[ 67%] Building CXX object rtabmap/CMakeFiles/camera.dir/src/CameraNode.cpp.o
Linking CXX executable /home/mathieu/catkin_ws/devel/lib/rtabmap/camera
[ 70%] Building CXX object 
rtabmap/CMakeFiles/rtabmap_ros.dir/src/MsgConversion.cpp.o
Scanning dependencies of target rtabmap_generate_messages
[ 70%] Built target rtabmap_generate_messages
/usr/bin/ld: CMakeFiles/camera.dir/src/CameraNode.cpp.o: undefined reference to 
symbol '_ZN2cv3Mat8copySizeERKS0_'
//usr/local/lib/libopencv_core.so.2.4: error adding symbols: DSO missing from 
command line
collect2: error: ld returned 1 exit status
make[2]: *** [/home/mathieu/catkin_ws/devel/lib/rtabmap/camera] Error 1
make[1]: *** [rtabmap/CMakeFiles/camera.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Linking CXX shared library /home/mathieu/catkin_ws/devel/lib/librtabmap_ros.so
[ 70%] Built target rtabmap_ros
make: *** [all] Error 2
Invoking "make" failed

Found that there some extra steps to install on ROS indigo. Note that ROS 
indigo is not officially released yet... it seems that ROS indigo doesn't 
provide its own opencv binaries like in ROS hydro where OpenCV is built with 
"nonfree" module (required by rtabmap). So OpenCV should be installed manually 
to have "nonfree" module. By doing so, rtabmaplib can build but the ros-pkg use 
catkin opencv links from "cv_bridge" package (which seems to link to opencv 
installed through apt-get and not the one compiled manually).

Workaround:
-Uninstall all opencv packages in synaptic.
-This will remove also ros-indigo-vision-opencv, so we need to compile it and 
linking to our OpenCV installed manually. So in catkin workspace:
$ roscd
$ cd ..
$ git clone https://github.com/ros-perception/vision_opencv.git 
src/vision_opencv
$ catkin_make

All should compile now:
$ catkin_make
Base path: /home/mathieu/catkin_ws
Source space: /home/mathieu/catkin_ws/src
Build space: /home/mathieu/catkin_ws/build
Devel space: /home/mathieu/catkin_ws/devel
Install space: /home/mathieu/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in 
"/home/mathieu/catkin_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/mathieu/catkin_ws/build"
####
[  0%] Built target geometry_msgs_generate_messages_lisp
[  5%] Built target image_geometry
[  8%] Built target cv_bridge
[  8%] Built target std_msgs_generate_messages_lisp
[  8%] [  8%] [  8%] Built target _rtabmap_generate_messages_check_deps_Info
Built target _rtabmap_generate_messages_check_deps_KeyPoint
Built target _rtabmap_generate_messages_check_deps_InfoEx
[  8%] [  8%] [  8%] Built target std_msgs_generate_messages_cpp
Built target _rtabmap_generate_messages_check_deps_MapData
Built target geometry_msgs_generate_messages_cpp
[  8%] Built target geometry_msgs_generate_messages_py
[  8%] [  8%] Built target std_msgs_generate_messages_py
Built target _rtabmap_generate_messages_check_deps_Bytes
[ 11%] Built target rtabmap_gencfg
[ 25%] [ 37%] Built target rtabmap_generate_messages_lisp
Built target rtabmap_ros
[ 51%] Built target rtabmap_generate_messages_cpp
[ 54%] Built target cv_bridge_boost
[ 71%] Built target rtabmap_generate_messages_py
[ 77%] [ 77%] Built target map_assembler
Built target data_recorder
[ 80%] Built target grid_map_assembler
[ 80%] [ 85%] Built target rtabmap
Built target rtabmap_generate_messages
[ 94%] Built target rtabmapviz
[ 97%] Built target visual_odometry
[100%] Built target camera

Original comment by matla...@gmail.com on 13 May 2014 at 8:16

• Changed state: Accepted

[GoogleCodeExporter]

Some notes:
- At this time I cannot test the Kinect on my VM. I'm still waiting the 
official release of ROS indigo before upgrading my native installation. So 
without the Kinect, the other demos should work 
(https://code.google.com/p/rtabmap/wiki/Tutorials).

- The ROS robot demo (https://code.google.com/p/rtabmap/wiki/ROS#Robot_mapping) 
works with these extra steps (compressed and compressed_depth plugins for 
image_transport plugins must be installed, with the manual installation of 
OpenCV, they should be compiled):
 $ roscd 
 $ cd ..
 $ git clone https://github.com/ros-perception/image_transport_plugins.git src/image_transport_plugins
 $ catkin_make --pkg image_transport_plugins
 $ catkin_make --pkg compressed_image_transport
 $ catkin_make --pkg compressed_depth_image_transport

Now waiting the official release of ROS Indigo for more testing...

Original comment by matla...@gmail.com on 13 May 2014 at 9:35

[GoogleCodeExporter]

Thanks for your help! After uninstalling all opencv packages in synaptic i was 
able to compile vision-opencv and then the rtabmap ros-pkg.
But when i try to compile image_transport_plugins i get this:

Base path: /home/mark/catkin_ws
Source space: /home/mark/catkin_ws/src
Build space: /home/mark/catkin_ws/build
Devel space: /home/mark/catkin_ws/devel
Install space: /home/mark/catkin_ws/install
####
#### Running command: "cmake /home/mark/catkin_ws/src 
-DCATKIN_DEVEL_PREFIX=/home/mark/catkin_ws/devel 
-DCMAKE_INSTALL_PREFIX=/home/mark/catkin_ws/install" in 
"/home/mark/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/mark/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/mark/catkin_ws/devel;/opt/ros/indigo
-- This workspace overlays: /home/mark/catkin_ws/devel;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/mark/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.3
-- BUILD_SHARED_LIBS is on
WARNING: package "roseus_smach" should not depend on metapackage 
"executive_smach" but on its packages instead
WARNING: package "opencv_tests" should not depend on metapackage "ros" but on 
its packages instead
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 9 packages in topological order:
-- ~~  - image_transport_plugins (metapackage)
-- ~~  - cv_bridge
-- ~~  - image_geometry
-- ~~  - opencv_tests
-- ~~  - compressed_depth_image_transport
-- ~~  - compressed_image_transport
-- ~~  - rtabmap
-- ~~  - theora_image_transport
-- ~~  - vision_opencv (metapackage)
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'image_transport_plugins'
-- ==> add_subdirectory(image_transport_plugins/image_transport_plugins)
-- +++ processing catkin package: 'cv_bridge'
-- ==> add_subdirectory(vision_opencv/cv_bridge)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   python
-- +++ processing catkin package: 'image_geometry'
-- ==> add_subdirectory(vision_opencv/image_geometry)
-- +++ processing catkin package: 'opencv_tests'
-- ==> add_subdirectory(vision_opencv/opencv_tests)
-- +++ processing catkin package: 'compressed_depth_image_transport'
-- ==> 
add_subdirectory(image_transport_plugins/compressed_depth_image_transport)
[roseus.camke] Loading... PROJECT_NAME=compressed_depth_image_transport 
USE_ROSBILD=
[roseus.camke] euslisp_PACKAGE_PATH = /opt/ros/indigo/share/euslisp
[roseus.camke]  euseus_PACKAGE_PATH = /opt/ros/indigo/share/geneus
[roseus.cmake] compile upstream package cv_bridge
[roseus.cmake] compile installed package for 
[roseus.cmake] compile installed package catkin
[roseus.cmake] compile installed package console_bridge
[roseus.cmake] compile installed package cpp_common
[roseus.cmake] compile installed package genmsg
[roseus.cmake] compile installed package gencpp
[roseus.cmake] compile installed package genlisp
[roseus.cmake] compile installed package genpy
[roseus.cmake] compile installed package message_generation
[roseus.cmake] compile installed package rostime
[roseus.cmake] compile installed package roscpp_traits
[roseus.cmake] compile installed package roscpp_serialization
[roseus.cmake] compile installed package message_runtime
[roseus.cmake] compile installed package rosbuild
[roseus.cmake] compile installed package rosconsole
[roseus.cmake] compile installed package std_msgs
[roseus.cmake] compile installed package geometry_msgs
[roseus.cmake] compile installed package sensor_msgs
[roseus.cmake] compile installed package cv_bridge
[roseus.cmake] compile installed package rosgraph_msgs
[roseus.cmake] compile installed package xmlrpcpp
[roseus.cmake] compile installed package roscpp
[roseus.cmake] compile installed package rospack
[roseus.cmake] compile installed package roslib
[roseus.cmake] compile installed package rosgraph
[roseus.cmake] compile installed package rospy
[roseus.cmake] compile installed package rosbag_storage
[roseus.cmake] compile installed package topic_tools
[roseus.cmake] compile installed package rosbag
[roseus.cmake] compile installed package rosmsg
[roseus.cmake] compile installed package rosservice
[roseus.cmake] compile installed package dynamic_reconfigure
[roseus.cmake] compile installed package message_filters
[roseus.cmake] compile installed package class_loader
[roseus.cmake] compile installed package pluginlib
[roseus.cmake] compile installed package image_transport
[roseus.cmake] compile installed package rosclean
[roseus.cmake] compile installed package rosmaster
[roseus.cmake] compile installed package rosout
[roseus.cmake] compile installed package rosparam
[roseus.cmake] compile installed package roslaunch
[roseus.cmake] compile installed package rostopic
[roseus.cmake] compile installed package rosnode
[roseus.cmake] compile installed package roswtf
[roseus.cmake] compile installed package actionlib_msgs
[roseus.cmake] compile installed package tf2_msgs
[roseus.cmake] compile installed package tf2
[roseus.cmake] compile installed package rosunit
[roseus.cmake] compile installed package rostest
[roseus.cmake] compile installed package actionlib
[roseus.cmake] compile installed package tf2_py
[roseus.cmake] compile installed package tf2_ros
[roseus.cmake] compile installed package tf
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- Checking to see if CXX compiler accepts flag 
-Wl,--version-script,"/home/mark/catkin_ws/build/image_transport_plugins/compres
sed_depth_image_transport/class_loader_hide_library_symbols__compressed_depth_im
age_transport.script"
-- Checking to see if CXX compiler accepts flag 
-Wl,--version-script,"/home/mark/catkin_ws/build/image_transport_plugins/compres
sed_depth_image_transport/class_loader_hide_library_symbols__compressed_depth_im
age_transport.script" - yes
-- +++ processing catkin package: 'compressed_image_transport'
-- ==> add_subdirectory(image_transport_plugins/compressed_image_transport)
[roseus.camke] Loading... PROJECT_NAME=compressed_image_transport USE_ROSBILD=
[roseus.camke] euslisp_PACKAGE_PATH = /opt/ros/indigo/share/euslisp
[roseus.camke]  euseus_PACKAGE_PATH = /opt/ros/indigo/share/geneus
[roseus.cmake] compile upstream package cv_bridge
[roseus.cmake] compile installed package for 
[roseus.cmake] compile installed package catkin
[roseus.cmake] compile installed package console_bridge
[roseus.cmake] compile installed package cpp_common
[roseus.cmake] compile installed package genmsg
[roseus.cmake] compile installed package gencpp
[roseus.cmake] compile installed package genlisp
[roseus.cmake] compile installed package genpy
[roseus.cmake] compile installed package message_generation
[roseus.cmake] compile installed package rostime
[roseus.cmake] compile installed package roscpp_traits
[roseus.cmake] compile installed package roscpp_serialization
[roseus.cmake] compile installed package message_runtime
[roseus.cmake] compile installed package rosbuild
[roseus.cmake] compile installed package rosconsole
[roseus.cmake] compile installed package std_msgs
[roseus.cmake] compile installed package geometry_msgs
[roseus.cmake] compile installed package sensor_msgs
[roseus.cmake] compile installed package cv_bridge
[roseus.cmake] compile installed package rosgraph_msgs
[roseus.cmake] compile installed package xmlrpcpp
[roseus.cmake] compile installed package roscpp
[roseus.cmake] compile installed package rospack
[roseus.cmake] compile installed package roslib
[roseus.cmake] compile installed package rosgraph
[roseus.cmake] compile installed package rospy
[roseus.cmake] compile installed package rosbag_storage
[roseus.cmake] compile installed package topic_tools
[roseus.cmake] compile installed package rosbag
[roseus.cmake] compile installed package rosmsg
[roseus.cmake] compile installed package rosservice
[roseus.cmake] compile installed package dynamic_reconfigure
[roseus.cmake] compile installed package message_filters
[roseus.cmake] compile installed package class_loader
[roseus.cmake] compile installed package pluginlib
[roseus.cmake] compile installed package image_transport
[roseus.cmake] compile installed package rosclean
[roseus.cmake] compile installed package rosmaster
[roseus.cmake] compile installed package rosout
[roseus.cmake] compile installed package rosparam
[roseus.cmake] compile installed package roslaunch
[roseus.cmake] compile installed package rostopic
[roseus.cmake] compile installed package rosnode
[roseus.cmake] compile installed package roswtf
[roseus.cmake] compile installed package actionlib_msgs
[roseus.cmake] compile installed package tf2_msgs
[roseus.cmake] compile installed package tf2
[roseus.cmake] compile installed package rosunit
[roseus.cmake] compile installed package rostest
[roseus.cmake] compile installed package actionlib
[roseus.cmake] compile installed package tf2_py
[roseus.cmake] compile installed package tf2_ros
[roseus.cmake] compile installed package tf
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- +++ processing catkin package: 'rtabmap'
-- ==> add_subdirectory(rtabmap)
[roseus.camke] Loading... PROJECT_NAME=rtabmap USE_ROSBILD=
[roseus.camke] euslisp_PACKAGE_PATH = /opt/ros/indigo/share/euslisp
[roseus.camke]  euseus_PACKAGE_PATH = /opt/ros/indigo/share/geneus
[roseus.cmake] compile upstream package cv_bridge
[roseus.cmake] compile installed package for 
[roseus.cmake] compile installed package catkin
[roseus.cmake] compile installed package console_bridge
[roseus.cmake] compile installed package cpp_common
[roseus.cmake] compile installed package genmsg
[roseus.cmake] compile installed package gencpp
[roseus.cmake] compile installed package genlisp
[roseus.cmake] compile installed package genpy
[roseus.cmake] compile installed package message_generation
[roseus.cmake] compile installed package rostime
[roseus.cmake] compile installed package roscpp_traits
[roseus.cmake] compile installed package roscpp_serialization
[roseus.cmake] compile installed package message_runtime
[roseus.cmake] compile installed package rosbuild
[roseus.cmake] compile installed package rosconsole
[roseus.cmake] compile installed package std_msgs
[roseus.cmake] compile installed package geometry_msgs
[roseus.cmake] compile installed package sensor_msgs
[roseus.cmake] compile installed package cv_bridge
[roseus.cmake] compile installed package rosgraph_msgs
[roseus.cmake] compile installed package xmlrpcpp
[roseus.cmake] compile installed package roscpp
[roseus.cmake] compile installed package rosgraph
[roseus.cmake] compile installed package rospack
[roseus.cmake] compile installed package roslib
[roseus.cmake] compile installed package rospy
[roseus.cmake] compile installed package std_srvs
[roseus.cmake] compile installed package actionlib_msgs
[roseus.cmake] compile installed package nav_msgs
[roseus.cmake] compile installed package message_filters
[roseus.cmake] compile installed package class_loader
[roseus.cmake] compile installed package pluginlib
[roseus.cmake] compile installed package image_transport
[roseus.cmake] compile installed package rosclean
[roseus.cmake] compile installed package rosmaster
[roseus.cmake] compile installed package rosout
[roseus.cmake] compile installed package rosparam
[roseus.cmake] compile installed package roslaunch
[roseus.cmake] compile installed package rosbag_storage
[roseus.cmake] compile installed package topic_tools
[roseus.cmake] compile installed package rosbag
[roseus.cmake] compile installed package rostopic
[roseus.cmake] compile installed package rosnode
[roseus.cmake] compile installed package rosmsg
[roseus.cmake] compile installed package rosservice
[roseus.cmake] compile installed package roswtf
[roseus.cmake] compile installed package tf2_msgs
[roseus.cmake] compile installed package tf2
[roseus.cmake] compile installed package rosunit
[roseus.cmake] compile installed package rostest
[roseus.cmake] compile installed package actionlib
[roseus.cmake] compile installed package tf2_py
[roseus.cmake] compile installed package tf2_ros
[roseus.cmake] compile installed package tf
[roseus.cmake] compile installed package orocos_kdl
[roseus.cmake] compile installed package kdl_conversions
[roseus.cmake] compile installed package python_orocos_kdl
[roseus.cmake] compile installed package tf_conversions
[roseus.cmake] compile installed package angles
[roseus.cmake] compile installed package laser_geometry
[roseus.cmake] compile installed package pcl_msgs
[roseus.cmake] compile installed package pcl_conversions
[roseus.cmake] compile installed package dynamic_reconfigure
[roseus.cmake] compile installed package bond
[roseus.cmake] compile installed package smclib
[roseus.cmake] compile installed package bondcpp
[roseus.cmake] compile installed package nodelet
[roseus.cmake] compile installed package nodelet_topic_tools
[roseus.cmake] compile installed package pcl_ros
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- rtabmap: 5 messages, 0 services
F /home/mark/catkin_ws/src/rtabmap/msg/Bytes.msg deps 
F /home/mark/catkin_ws/src/rtabmap/msg/MapData.msg deps 
geometry_msgs/Point:rtabmap/Bytes:geometry_msgs/Vector3:std_msgs/Header:geometry
_msgs/Quaternion:geometry_msgs/Transform:geometry_msgs/Pose
F /home/mark/catkin_ws/src/rtabmap/msg/Info.msg deps 
geometry_msgs/Point:geometry_msgs/Vector3:geometry_msgs/Quaternion:geometry_msgs
/Transform:geometry_msgs/Pose:std_msgs/Header
F /home/mark/catkin_ws/src/rtabmap/msg/KeyPoint.msg deps 
F /home/mark/catkin_ws/src/rtabmap/msg/InfoEx.msg deps 
rtabmap/KeyPoint:geometry_msgs/Point:rtabmap/Bytes:geometry_msgs/Vector3:rtabmap
/MapData:geometry_msgs/Quaternion:geometry_msgs/Transform:geometry_msgs/Pose:std
_msgs/Header
-- 
RTABMap_INCLUDE_DIRS=/home/mark/catkin_ws/devel/lib/rtabmap-0.6/../../include/rt
abmap-0.6
-- +++ processing catkin package: 'theora_image_transport'
-- ==> add_subdirectory(image_transport_plugins/theora_image_transport)
[roseus.camke] Loading... PROJECT_NAME=theora_image_transport USE_ROSBILD=
[roseus.camke] euslisp_PACKAGE_PATH = /opt/ros/indigo/share/euslisp
[roseus.camke]  euseus_PACKAGE_PATH = /opt/ros/indigo/share/geneus
[roseus.cmake] compile upstream package cv_bridge
[roseus.cmake] compile installed package for 
[roseus.cmake] compile installed package catkin
[roseus.cmake] compile installed package console_bridge
[roseus.cmake] compile installed package cpp_common
[roseus.cmake] compile installed package genmsg
[roseus.cmake] compile installed package gencpp
[roseus.cmake] compile installed package genlisp
[roseus.cmake] compile installed package genpy
[roseus.cmake] compile installed package message_generation
[roseus.cmake] compile installed package rostime
[roseus.cmake] compile installed package roscpp_traits
[roseus.cmake] compile installed package roscpp_serialization
[roseus.cmake] compile installed package message_runtime
[roseus.cmake] compile installed package rosbuild
[roseus.cmake] compile installed package rosconsole
[roseus.cmake] compile installed package std_msgs
[roseus.cmake] compile installed package geometry_msgs
[roseus.cmake] compile installed package sensor_msgs
[roseus.cmake] compile installed package cv_bridge
[roseus.cmake] compile installed package rosgraph_msgs
[roseus.cmake] compile installed package xmlrpcpp
[roseus.cmake] compile installed package roscpp
[roseus.cmake] compile installed package rospack
[roseus.cmake] compile installed package roslib
[roseus.cmake] compile installed package rosgraph
[roseus.cmake] compile installed package rospy
[roseus.cmake] compile installed package rosbag_storage
[roseus.cmake] compile installed package topic_tools
[roseus.cmake] compile installed package rosbag
[roseus.cmake] compile installed package rosmsg
[roseus.cmake] compile installed package rosservice
[roseus.cmake] compile installed package dynamic_reconfigure
[roseus.cmake] compile installed package message_filters
[roseus.cmake] compile installed package class_loader
[roseus.cmake] compile installed package pluginlib
[roseus.cmake] compile installed package image_transport
[roseus.cmake] compile installed package rosclean
[roseus.cmake] compile installed package rosmaster
[roseus.cmake] compile installed package rosout
[roseus.cmake] compile installed package rosparam
[roseus.cmake] compile installed package roslaunch
[roseus.cmake] compile installed package rostopic
[roseus.cmake] compile installed package rosnode
[roseus.cmake] compile installed package roswtf
[roseus.cmake] compile installed package actionlib_msgs
[roseus.cmake] compile installed package tf2_msgs
[roseus.cmake] compile installed package tf2
[roseus.cmake] compile installed package rosunit
[roseus.cmake] compile installed package rostest
[roseus.cmake] compile installed package actionlib
[roseus.cmake] compile installed package tf2_py
[roseus.cmake] compile installed package tf2_ros
[roseus.cmake] compile installed package tf
-- Using these message generators: gencpp;geneus;genlisp;genpy
-- theora_image_transport: 1 messages, 0 services
F 
/home/mark/catkin_ws/src/image_transport_plugins/theora_image_transport/msg/Pack
et.msg deps std_msgs/Header
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.26") 
-- checking for module 'ogg'
--   package 'ogg' not found
CMake Error at /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:283 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:337 (_pkg_check_modules_internal)
  image_transport_plugins/theora_image_transport/CMakeLists.txt:12 (pkg_check_modules)

-- checking for module 'theora'
--   package 'theora' not found
CMake Error at /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:283 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:337 (_pkg_check_modules_internal)
  image_transport_plugins/theora_image_transport/CMakeLists.txt:13 (pkg_check_modules)

-- checking for module 'theoraenc'
--   package 'theoraenc' not found
CMake Error at /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:283 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:337 (_pkg_check_modules_internal)
  image_transport_plugins/theora_image_transport/CMakeLists.txt:14 (pkg_check_modules)

-- checking for module 'theoradec'
--   package 'theoradec' not found
CMake Error at /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:283 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:337 (_pkg_check_modules_internal)
  image_transport_plugins/theora_image_transport/CMakeLists.txt:15 (pkg_check_modules)

-- +++ processing catkin metapackage: 'vision_opencv'
-- ==> add_subdirectory(vision_opencv/vision_opencv)
-- Configuring incomplete, errors occurred!
See also "/home/mark/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/mark/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Original comment by markalbe...@gmail.com on 14 May 2014 at 2:16

[GoogleCodeExporter]

try install these dependencies before compiling :
$ sudo apt-get install libogg-dev libtheora-dev

then:
$ catkin_make --pkg image_transport_plugins
$ catkin_make --pkg compressed_image_transport
$ catkin_make --pkg compressed_depth_image_transport

Original comment by matla...@gmail.com on 14 May 2014 at 2:23

[GoogleCodeExporter]

That's it, thank you! It runs now and the Demo is very impressive!

Nevertheless, i'll go back to Ubuntu 13.04 and Ros Hydro until Indigo is fully 
out, there's too much running not properly and im not very good into Ros, yet.

I will experiment with RTABMap next days, it's really amazing!

Original comment by markalbe...@gmail.com on 14 May 2014 at 3:04

[GoogleCodeExporter]

Update: from changes made in r1319, we only have to install OpenCV from source 
in /usr/local, without removing opencv debian packages used by ROS.

Original comment by matla...@gmail.com on 4 Jun 2014 at 5:56

• Changed state: Fixed

[GoogleCodeExporter]

Hello there I have tried to install as your instructions tell, but I got this 
error:

piper@piper-Aspire-V3-471:~/catkin_ws$ catkin_make
Base path: /home/piper/catkin_ws
Source space: /home/piper/catkin_ws/src
Build space: /home/piper/catkin_ws/build
Devel space: /home/piper/catkin_ws/devel
Install space: /home/piper/catkin_ws/install
####
#### Running command: "cmake /home/piper/catkin_ws/src 
-DCATKIN_DEVEL_PREFIX=/home/piper/catkin_ws/devel 
-DCMAKE_INSTALL_PREFIX=/home/piper/catkin_ws/install" in 
"/home/piper/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/piper/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/piper/catkin_ws/devel;/opt/ros/hydro
-- This workspace overlays: /home/piper/catkin_ws/devel;/opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/piper/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.86
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 2 packages in topological order:
-- ~~  - rosaria
-- ~~  - rtabmap
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'rosaria'
-- ==> add_subdirectory(rosaria)
-- Using these message generators: gencpp;genlisp;genpy
-- rosaria: 1 messages, 0 services
-- +++ processing catkin package: 'rtabmap'
-- ==> add_subdirectory(rtabmap)
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at rtabmap/CMakeLists.txt:16 (find_package):
  Could not find module FindRTABMap.cmake or a configuration file for package
  RTABMap.

  Adjust CMAKE_MODULE_PATH to find FindRTABMap.cmake or set RTABMap_DIR to
  the directory containing a CMake configuration file for RTABMap.  The file
  will have one of the following names:

    RTABMapConfig.cmake
    rtabmap-config.cmake

-- rtabmap: 5 messages, 0 services
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:156 
(message):
  catkin_package() DEPENDS on 'RTABMap' which must be find_package()-ed
  before.  If it is a catkin package it can be declared as CATKIN_DEPENDS
  instead without find_package()-ing it.
Call Stack (most recent call first):
  /opt/ros/hydro/share/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
  rtabmap/CMakeLists.txt:63 (catkin_package)

-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

and I have ROS Hydro but dont know what happen could you please help me?

Original comment by pipe...@gmail.com on 19 Jun 2014 at 10:25

[GoogleCodeExporter]

On https://code.google.com/p/rtabmap/wiki/Installation#ROS_version, did you 
install RTAB-Map standalone libraries? (before building the rtabmap ros-pkg)

Original comment by matla...@gmail.com on 20 Jun 2014 at 3:20

[GoogleCodeExporter]

[deleted comment]

[GoogleCodeExporter]

[deleted comment]

[GoogleCodeExporter]

Hello there, I've encountered a couple of errors... I am running 14.04 Ubuntu 
and ROS indigo.

So first I did this:
$ svn checkout http://rtabmap.googlecode.com/svn/trunk/rtabmap rtabmaplib
$ cd rtabmaplib/build
$ cmake -DCMAKE_INSTALL_PREFIX=~/<YOUR_CATKIN_WORKSPACE>/devel ..  
CMake Error at CMakeLists.txt:135 (FIND_PACKAGE):
  By not providing "FindOpenCV.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "OpenCV", but
  CMake did not find one.

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

    OpenCVConfig.cmake
    opencv-config.cmake

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

-- Configuring incomplete, errors occurred!
See also "/home/peter/rtabmaplib/build/CMakeFiles/CMakeOutput.log".

So I thought I was missing the non-free opencv module from this error so I 
followed what you said from the above post to remove all opencv packages from 
synaptic. I wasn't so sure which to remove by that. So i removed all packages 
under the search result of "opencv" in synaptic.
Then I did this: 

peter@Robot-Club-PC:~$ roscd
peter@Robot-Club-PC:~/catkin_ws/devel$ cd ..
peter@Robot-Club-PC:~/catkin_ws$ catkin_make
Base path: /home/peter/catkin_ws
Source space: /home/peter/catkin_ws/src
Build space: /home/peter/catkin_ws/build
Devel space: /home/peter/catkin_ws/devel
Install space: /home/peter/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in 
"/home/peter/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/peter/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/peter/catkin_ws/devel;/opt/ros/indigo
-- This workspace overlays: /home/peter/catkin_ws/devel;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/peter/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.9
-- BUILD_SHARED_LIBS is on
WARNING: package "opencv_tests" should not depend on metapackage "ros" but on 
its packages instead
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 4 packages in topological order:
-- ~~  - cv_bridge
-- ~~  - image_geometry
-- ~~  - vision_opencv (metapackage)
-- ~~  - opencv_tests
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'cv_bridge'
-- ==> add_subdirectory(vision_opencv/cv_bridge)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   python
CMake Error at vision_opencv/cv_bridge/CMakeLists.txt:7 (find_package):
  By not providing "FindOpenCV.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "OpenCV", but
  CMake did not find one.

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

    OpenCVConfig.cmake
    opencv-config.cmake

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

-- Configuring incomplete, errors occurred!
See also "/home/peter/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/peter/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

Please help me to resolve this.

Original comment by Peterleng1234@gmail.com on 2 Aug 2014 at 4:28

[GoogleCodeExporter]

Since r1319, you don't have to remove ros debian packages, though you need to 
install OpenCV from source (installed in /usr/local which is the default) along 
the side of the libopencv-dev installed in /usr.

The ros packages installed by ROS Indigo (cv_bridge, image_geometry, 
vision_opencv, opencv_tests) depending on libopencv-dev don't need to be 
removed, so they don't need to be rebuilt from source.

In Summary:
-Install OpenCV with nonFree module (you can use cmake-gui for convenience):
  $ cd opencv-master-git
  $ mkdir build
  $ cd build
  $ cmake -DCMAKE_BUILD_TYPE=Release ..
  $ make -j4
  $ sudo make install

So for RTAB-Map standalone application/library, you can install in /usr/local 
too by:
  $ svn checkout http://rtabmap.googlecode.com/svn/trunk/rtabmap rtabmaplib
  $ cd rtabmaplib/build
  $ cmake .. 
  $ sudo make install

Then the ros-pkg:
  $ roscd
  $ cd ..
  $ svn checkout http://rtabmap.googlecode.com/svn/trunk/ros-pkg src/rtabmap
  $ catkin_make

Original comment by matla...@gmail.com on 2 Aug 2014 at 4:55

[GoogleCodeExporter]

Hello, I've tried to install opencv multiply times by following these guides 
http://karytech.blogspot.tw/2014/05/opencv-249-on-ubuntu-1404.html
http://www.ozbotz.org/opencv-installation/

But I still get an error when installing the RTAB-Map standalone 
application/library.

peter@Robot-Club-PC:~$ cd rtabmaplib/build/
peter@Robot-Club-PC:~/rtabmaplib/build$ cmake ..
CMake Error at /usr/share/OpenCV/OpenCVConfig.cmake:175 (message):
  opencv_nonfree is required but was not found
Call Stack (most recent call first):
  CMakeLists.txt:135 (FIND_PACKAGE)

-- Configuring incomplete, errors occurred!
See also "/home/peter/rtabmaplib/build/CMakeFiles/CMakeOutput.log".
peter@Robot-Club-PC:~/rtabmaplib/build$ 

Not sure what to do now...
Please help

Original comment by Peterleng1234@gmail.com on 3 Aug 2014 at 10:40

[GoogleCodeExporter]

CMake found the OpenCV installed by libopencv-dev (the one installed with ROS 
Indigo). This one is installed in "/usr" prefix path but is not built with 
nonfree module. 

CMake must find the OpenCV that you have built from source and installed in 
"/usr/local" prefix path. Verify if you have this file: 
"/usr/local/share/OpenCV/OpenCVConfig.cmake"

If you have it, verify that in your PATH the "/usr/local/bin" prefix is before 
the "/usr/bin" prefix. My PATH:
$ echo $PATH
/home/mathieu/catkin_ws/devel/bin:/opt/ros/hydro/bin:/usr/lib/lightdm/lightdm:/u
sr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games

Original comment by matla...@gmail.com on 3 Aug 2014 at 9:06

[GoogleCodeExporter]

Hello, I have the OpenCVConfig.cmake file.

peter@Robot-Club-PC:~/rtabmaplib/build$ echo $PATH
/opt/ros/indigo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
:/usr/games:/usr/local/games

My "/usr/local/bin" prefix is before the "/usr/bin" prefix.

Should I remove libopencv-dev in synaptic and install it again?
Maybe I didn't completely remove the opencv from previous installations?

Original comment by Peterleng1234@gmail.com on 5 Aug 2014 at 4:18

[GoogleCodeExporter]

[deleted comment]

[GoogleCodeExporter]

No, libopencv-dev should not be uninstalled because some ros-pkg like cv_bridge 
depends on it.

Maybe cmake kept in cache the OpenCV found in "/usr". Try to remove the 
CMakeCache.txt of rtabmaplib's build directory:
$ cd rtabmaplib/build
$ rm CMakeCache.txt
$ cmake ..
$ make

Original comment by matla...@gmail.com on 5 Aug 2014 at 5:04

[GoogleCodeExporter]

[deleted comment]

[GoogleCodeExporter]

Hello there, that solved it! thanks.
But there seem to be another error when building the ros-pkg

peter@Robot-Club-PC:~/catkin_ws$ catkin_make
Base path: /home/peter/catkin_ws
Source space: /home/peter/catkin_ws/src
Build space: /home/peter/catkin_ws/build
Devel space: /home/peter/catkin_ws/devel
Install space: /home/peter/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in 
"/home/peter/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/peter/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/peter/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.9
-- BUILD_SHARED_LIBS is on
WARNING: package "opencv_tests" should not depend on metapackage "ros" but on 
its packages instead
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 5 packages in topological order:
-- ~~  - cv_bridge
-- ~~  - image_geometry
-- ~~  - vision_opencv (metapackage)
-- ~~  - opencv_tests
-- ~~  - rtabmap
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'cv_bridge'
-- ==> add_subdirectory(vision_opencv/cv_bridge)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   python
-- +++ processing catkin package: 'image_geometry'
-- ==> add_subdirectory(vision_opencv/image_geometry)
-- +++ processing catkin metapackage: 'vision_opencv'
-- ==> add_subdirectory(vision_opencv/vision_opencv)
-- +++ processing catkin package: 'opencv_tests'
-- ==> add_subdirectory(vision_opencv/opencv_tests)
-- +++ processing catkin package: 'rtabmap'
-- ==> add_subdirectory(rtabmap)
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at rtabmap/CMakeLists.txt:17 (find_package):
  Could not find a configuration file for package "RTABMap" that is
  compatible with requested version "0.7".

  The following configuration files were considered but not accepted:

    /usr/local/lib/rtabmap-0.6/RTABMapConfig.cmake, version: 0.6.5

-- Configuring incomplete, errors occurred!
See also "/home/peter/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/peter/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

Original comment by Peterleng1234@gmail.com on 5 Aug 2014 at 7:57

[GoogleCodeExporter]

Have you updated rtabmaplib before building/installing it? Just to make sure, 
you can delete /usr/local/lib/rtabmap-0.6 and /usr/local/include/rtabmap-0.6 
folders. So when the updated rtabmaplib is installed (which is 0.7), the 
ros-pkg will find the good one.

Original comment by matla...@gmail.com on 6 Aug 2014 at 3:41

[GoogleCodeExporter]

Hello there, I got it all working! The demo is very impressive and thanks for 
helping me getting it all setup. I am very new to ROS.
I will experiment further with this and try to implement this on my quadrotor.

Original comment by Peterleng1234@gmail.com on 6 Aug 2014 at 1:19

[GoogleCodeExporter]

When i try $ catkin make ,following error occurs ,Dont know why !!

rocky@Rocky-Pc:~/project490/test1$  catkin_make
Base path: /home/rocky/project490/test1
Source space: /home/rocky/project490/test1/src
Build space: /home/rocky/project490/test1/build
Devel space: /home/rocky/project490/test1/devel
Install space: /home/rocky/project490/test1/install
####
#### Running command: "make cmake_check_build_system" in 
"/home/rocky/project490/test1/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/rocky/project490/test1/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: 
/home/rocky/project490/test1/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.9
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 2 packages in topological order:
-- ~~  - test1
-- ~~  - rtabmap
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'test1'
-- ==> add_subdirectory(test1)
-- +++ processing catkin package: 'rtabmap'
-- ==> add_subdirectory(rtabmap)
-- Using these message generators: gencpp;genlisp;genpy
-- rtabmap: 6 messages, 3 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/rocky/project490/test1/build
####
#### Running command: "make -j4 -l4" in "/home/rocky/project490/test1/build"
####
[  0%] Built target sensor_msgs_generate_messages_py
[  0%] [  0%] Built target geometry_msgs_generate_messages_py
Built target std_msgs_generate_messages_py
[  0%] Built target _rtabmap_generate_messages_check_deps_NodeData
[  0%] Built target _rtabmap_generate_messages_check_deps_KeyPoint
[  0%] Built target _rtabmap_generate_messages_check_deps_InfoEx
[  0%] Built target _rtabmap_generate_messages_check_deps_ResetPose
[  0%] Built target _rtabmap_generate_messages_check_deps_GetMap
[  0%] Built target _rtabmap_generate_messages_check_deps_PublishMap
[  0%] Built target geometry_msgs_generate_messages_cpp
[  0%] Built target _rtabmap_generate_messages_check_deps_Bytes
[  0%] Built target sensor_msgs_generate_messages_cpp
[  0%] Built target _rtabmap_generate_messages_check_deps_MapData
[  0%] [  0%] [  1%] Built target std_msgs_generate_messages_cpp
Built target _rtabmap_generate_messages_check_deps_Info
Built target rtabmap_gencfg
[  1%] Built target sensor_msgs_generate_messages_lisp
[  1%] [  1%] Built target geometry_msgs_generate_messages_lisp
Built target std_msgs_generate_messages_lisp
Linking CXX executable 
/home/rocky/project490/test1/devel/lib/rtabmap/visual_odometry
[ 18%] Built target rtabmap_generate_messages_py
[ 46%] [ 46%] Built target rtabmap_generate_messages_cpp
Built target rtabmap_generate_messages_lisp
Linking CXX executable /home/rocky/project490/test1/devel/lib/rtabmap/camera
[ 46%] Built target rtabmap_generate_messages
Linking CXX shared library 
/home/rocky/project490/test1/devel/lib/librtabmap_ros.so
[ 47%] Built target visual_odometry
/usr/local/lib/libopencv_nonfree.so.2.4.9: undefined reference to 
`cv::ocl::integral(cv::ocl::oclMat const&, cv::ocl::oclMat&)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/rocky/project490/test1/devel/lib/rtabmap/camera] Error 1
make[1]: *** [rtabmap/CMakeFiles/camera.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 80%] Built target rtabmap_ros
make: *** [all] Error 2
Invoking "make" failed
rocky@Rocky-Pc:~/project490/test1$ 

Original comment by rockk...@gmail.com on 15 Nov 2014 at 2:58

[GoogleCodeExporter]

For this particular issue, visit 
http://official-rtab-map-forum.67519.x6.nabble.com/catkin-make-ros-pkg-failed-td
22.html

Original comment by matla...@gmail.com on 17 Nov 2014 at 3:01