Installing error at laser_loop_closure

[Shokrzadeh]

Hi, I installed the GTSAM, I am on ubuntu 14.04, ROS Indigo. Unzipped the blam-master. Ran ./update It installed until 90% and gave this error:

make[2]: *** [laser_loop_closure/CMakeFiles/laser_loop_closure.dir/src/LaserLoopClosure.cc.o] Error 1
make[1]: *** [laser_loop_closure/CMakeFiles/laser_loop_closure.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Also in my .bashrc file only ROS related entry is source /opt/ros/indigo/setup.bash and I believe that is necessary so I don't know how else to clean my ROS_PACKAGE_PATH or to ensure that there is nothing else there.

Any help on why this happens would be highly appreciated, thanks.

[ryokochang]

i having the same problem ... any idea to solve this??

[JohnMMeyer]

Hi all, I had the following error at laser_loop_closure, my error involved GTSAM

_CMake Error at laser_loop_closure/CMakeLists.txt:9 (find_package):

By not providing "FindGTSAM.cmake" in CMAKE_MODULE_PATH this project has

asked CMake to find a package configuration file provided by "GTSAM", but

CMake did not find one.

Could not find a package configuration file provided by "GTSAM" with any of

the following names:

GTSAMConfig.cmake

gtsam-config.cmake

Add the installation prefix of "GTSAM" to CMAKE_PREFIX_PATH or set

"GTSAM_DIR" to a directory containing one of the above files. If "GTSAM"

provides a separate development package or SDK, be sure it has been

installed.

-- Configuring incomplete, errors occurred!

See also "/home/johnmeyer/blam_ws/src/blam/internal/build/CMakeFiles/CMakeOutput.log".

See also "/home/johnmeyer/blam_ws/src/blam/internal/build/CMakeFiles/CMakeError.log".

Invoking "cmake" failed_

Not sure if that is exactly what you are getting. If it is I solved it by installing GTSAM with sudo commands. This allowed GTSAM to create a required directory in the /usr directory.

So I used

sudo cmake .. sudo make check sudo make install

Then it worked fine.

[HB-Yeah]

Hi @JohnMMeyer I also meet the problem.Even though I try installing GTSAM with sudo commands,the same errors occur.I guess there may be some thing wrong in the gtsam. Could you tell me the version of gtsam that you use to compile or other solution? Thanks a lot.

In file included from /usr/local/include/gtsam/geometry/Point3.h:24:0, from /usr/local/include/gtsam/geometry/Pose3.h:29, from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/include/laser_loop_closure/LaserLoopClosure.h:46, from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:37: /usr/local/include/gtsam/base/Matrix.h: In function ‘void gtsam::inplace_QR(MATRIX&)’: /usr/local/include/gtsam/base/Matrix.h:313:71: error: expected ‘;’ before ‘::’ token Eigen::internal::householder_qr_inplace_blocked<MATRIX, HCoeffsType>::run(A, hCoeffs, 48, temp.data()); ^ In file included from /usr/local/include/gtsam/geometry/Pose3.h:30:0, from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/include/laser_loop_closure/LaserLoopClosure.h:46, from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:37: /usr/local/include/gtsam/geometry/Rot3.h: In static member function ‘static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double)’: /usr/local/include/gtsam/geometry/Rot3.h:197:51: error: no matching function for call to ‘gtsam::Rot3::rodriguez(Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >&)’ { return rodriguez((Vector(3) << wx, wy, wz));} ^ /usr/local/include/gtsam/geometry/Rot3.h:197:51: note: candidates are: /usr/local/include/gtsam/geometry/Rot3.h:164:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&, double) static Rot3 rodriguez(const Vector& w, double theta); ^ /usr/local/include/gtsam/geometry/Rot3.h:164:17: note: candidate expects 2 arguments, 1 provided /usr/local/include/gtsam/geometry/Rot3.h:172:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Point3&, double) static Rot3 rodriguez(const Point3& w, double theta); ^ /usr/local/include/gtsam/geometry/Rot3.h:172:17: note: candidate expects 2 arguments, 1 provided /usr/local/include/gtsam/geometry/Rot3.h:180:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Unit3&, double) static Rot3 rodriguez(const Unit3& w, double theta); ^ /usr/local/include/gtsam/geometry/Rot3.h:180:17: note: candidate expects 2 arguments, 1 provided /usr/local/include/gtsam/geometry/Rot3.h:187:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&) static Rot3 rodriguez(const Vector& v); ^ /usr/local/include/gtsam/geometry/Rot3.h:187:17: note: no known conversion for argument 1 from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >’ to ‘const Vector& {aka const Eigen::Matrix<double, -1, 1>&}’ /usr/local/include/gtsam/geometry/Rot3.h:196:17: note: static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double) static Rot3 rodriguez(double wx, double wy, double wz) ^ /usr/local/include/gtsam/geometry/Rot3.h:196:17: note: candidate expects 3 arguments, 1 provided In file included from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/include/laser_loop_closure/LaserLoopClosure.h:46:0, from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:37: /usr/local/include/gtsam/geometry/Pose3.h: In static member function ‘static gtsam::Matrix gtsam::Pose3::wedge(double, double, double, double, double, double)’: /usr/local/include/gtsam/geometry/Pose3.h:226:28: error: could not convert ‘(&(&(&(&(&(&(&(&(&(&(&(&(&(& Eigen::DenseBase::operator<<(const Scalar&) [with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseBase::Scalar = double](( &0.0)).Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(( &(- wz))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& wy))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& vx))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& wz))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(( &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(( &(- wx))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& vy))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(( &(- wy))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& wx))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(( &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(((const Scalar)(& vz))))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(( &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(( &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(( &0.0)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(( &0.0))’ from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, -1> >’ to ‘gtsam::Matrix {aka Eigen::Matrix<double, -1, -1>}’ 0., 0., 0., 0.); ^ In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24:0, from /usr/local/include/gtsam/nonlinear/ISAM2.h:22, from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/include/laser_loop_closure/LaserLoopClosure.h:49, from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:37: /usr/local/include/gtsam/geometry/Point2.h: In static member function ‘static gtsam::Vector gtsam::Point2::Logmap(const gtsam::Point2&)’: /usr/local/include/gtsam/geometry/Point2.h:175:86: error: could not convert ‘Eigen::DenseBase::operator<<(const Scalar&) [with Derived = Eigen::Matrix<double, -1, 1>; Eigen::DenseBase::Scalar = double](( &(& dp)->gtsam::Point2::x())).Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, 1> >(( &(& dp)->gtsam::Point2::y()))’ from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >’ to ‘gtsam::Vector {aka Eigen::Matrix<double, -1, 1>}’ static inline Vector Logmap(const Point2& dp) { return (Vector(2) << dp.x(), dp.y()); } ^ /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc: In member function ‘bool LaserLoopClosure::LoadParameters(const ros::NodeHandle&)’: /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:146:35: error: no matching function for call to ‘gtsam::Pose3::Pose3(gtsam::Rot3&, gtsam::Vector3&)’ Pose3 pose(rotation, translation); ^ /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:146:35: note: candidates are: In file included from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/include/laser_loop_closure/LaserLoopClosure.h:46:0, from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:37: /usr/local/include/gtsam/geometry/Pose3.h:78:3: note: gtsam::Pose3::Pose3(const Matrix&) Pose3(const Matrix &T) : ^ /usr/local/include/gtsam/geometry/Pose3.h:78:3: note: candidate expects 1 argument, 2 provided /usr/local/include/gtsam/geometry/Pose3.h:75:12: note: gtsam::Pose3::Pose3(const gtsam::Pose2&) explicit Pose3(const Pose2& pose2); ^ /usr/local/include/gtsam/geometry/Pose3.h:75:12: note: candidate expects 1 argument, 2 provided /usr/local/include/gtsam/geometry/Pose3.h:70:3: note: gtsam::Pose3::Pose3(const gtsam::Rot3&, const gtsam::Point3&) Pose3(const Rot3& R, const Point3& t) : ^ /usr/local/include/gtsam/geometry/Pose3.h:70:3: note: no known conversion for argument 2 from ‘gtsam::Vector3 {aka Eigen::Matrix<double, 3, 1>}’ to ‘const gtsam::Point3&’ /usr/local/include/gtsam/geometry/Pose3.h:65:3: note: gtsam::Pose3::Pose3(const gtsam::Pose3&) Pose3(const Pose3& pose) : ^ /usr/local/include/gtsam/geometry/Pose3.h:65:3: note: candidate expects 1 argument, 2 provided /usr/local/include/gtsam/geometry/Pose3.h:61:3: note: gtsam::Pose3::Pose3() Pose3() { ^ /usr/local/include/gtsam/geometry/Pose3.h:61:3: note: candidate expects 0 arguments, 2 provided /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc: In member function ‘gtsam::Pose3 LaserLoopClosure::ToGtsam(const Transform3&) const’: /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:407:20: error: no matching function for call to ‘gtsam::Pose3::Pose3(gtsam::Rot3&, gtsam::Vector3&)’ return Pose3(r, t); ^ /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:407:20: note: candidates are: In file included from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/include/laser_loop_closure/LaserLoopClosure.h:46:0, from /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:37: /usr/local/include/gtsam/geometry/Pose3.h:78:3: note: gtsam::Pose3::Pose3(const Matrix&) Pose3(const Matrix &T) : ^ /usr/local/include/gtsam/geometry/Pose3.h:78:3: note: candidate expects 1 argument, 2 provided /usr/local/include/gtsam/geometry/Pose3.h:75:12: note: gtsam::Pose3::Pose3(const gtsam::Pose2&) explicit Pose3(const Pose2& pose2); ^ /usr/local/include/gtsam/geometry/Pose3.h:75:12: note: candidate expects 1 argument, 2 provided /usr/local/include/gtsam/geometry/Pose3.h:70:3: note: gtsam::Pose3::Pose3(const gtsam::Rot3&, const gtsam::Point3&) Pose3(const Rot3& R, const Point3& t) : ^ /usr/local/include/gtsam/geometry/Pose3.h:70:3: note: no known conversion for argument 2 from ‘gtsam::Vector3 {aka Eigen::Matrix<double, 3, 1>}’ to ‘const gtsam::Point3&’ /usr/local/include/gtsam/geometry/Pose3.h:65:3: note: gtsam::Pose3::Pose3(const gtsam::Pose3&) Pose3(const Pose3& pose) : ^ /usr/local/include/gtsam/geometry/Pose3.h:65:3: note: candidate expects 1 argument, 2 provided /usr/local/include/gtsam/geometry/Pose3.h:61:3: note: gtsam::Pose3::Pose3() Pose3() { ^ /usr/local/include/gtsam/geometry/Pose3.h:61:3: note: candidate expects 0 arguments, 2 provided /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc: In member function ‘LaserLoopClosure::Mat66 LaserLoopClosure::ToGu(const shared_ptr&) const’: /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:412:3: error: ‘Matrix66’ is not a member of ‘gtsam’ gtsam::Matrix66 gtsam_covariance = covariance->covariance(); ^ /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:412:19: error: expected ‘;’ before ‘gtsam_covariance’ gtsam::Matrix66 gtsam_covariance = covariance->covariance(); ^ /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:417:40: error: ‘gtsam_covariance’ was not declared in this scope out(i, j) = gtsam_covariance(i, j); ^ /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc: In member function ‘gtsam::noiseModel::Gaussian::shared_ptr LaserLoopClosure::ToGtsam(const Mat66&) const’: /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:424:3: error: ‘Matrix66’ is not a member of ‘gtsam’ gtsam::Matrix66 gtsam_covariance; ^ /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:424:19: error: expected ‘;’ before ‘gtsam_covariance’ gtsam::Matrix66 gtsam_covariance; ^ /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:428:28: error: ‘gtsam_covariance’ was not declared in this scope gtsam_covariance(i, j) = covariance(i, j); ^ /home/ye/blam_ws/blam-master/internal/src/laser_loop_closure/src/LaserLoopClosure.cc:430:31: error: ‘gtsam_covariance’ was not declared in this scope return Gaussian::Covariance(gtsam_covariance); ^ make[2]: [laser_loop_closure/CMakeFiles/laser_loop_closure.dir/src/LaserLoopClosure.cc.o] Error 1 make[1]: [laser_loop_closure/CMakeFiles/laser_loop_closure.dir/all] Error 2 make: *** [all] Error 2

[einsnull]

@Java-YHB Did you solve the problem? It also occurs to me.

[daleyadrichem]

Anyone who solved the problem of @HB-Yeah already? I've got the same problem

[KevinRiehl]

I think I solved your problems guys. Have a look on the "installation" issue: https://github.com/erik-nelson/blam/issues/8

I hope I could help you Sincerely yours, Kevin Riehl

[whuzxy]

It is the problem of the version of GTSAM. I got the same error in gtsam3.2.1.There are no errors when I install 4.0.