Not able to build all packages

[LuLiu21]

Hello everyone! I am an amateur in ROS and trying to work with the mav_active_3d_planning. I followed the instruction in the readme and when i run catkin build, i got this error. Any suggestions on how to solve this one? I am using Ubuntu 16.04 and ros-kinetic.
Thank you for any help :)

Errors << mavros:make /home/liulu/catkin_ws/logs/mavros/build.make.000.log
/home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:332:72: error: ‘mavlink::omav’ has not been declared void handle_dynamixel(const mavlink::mavlink_message_t msg, mavlink::omav::msg::DYNAMIXEL_STATUS &dyn_s) ^ /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:332:100: error: expected ‘,’ or ‘...’ before ‘&’ token void handle_dynamixel(const mavlink::mavlink_message_t msg, mavlink::omav::msg::DYNAMIXEL_STATUS &dyn_s) ^ /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp: In member function ‘virtual mavros::plugin::PluginBase::Subscriptions mavros::std_plugins::IMUPlugin::get_subscriptions()’: /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:110:52: error: no matching function for call to ‘mavros::std_plugins::IMUPlugin::make_handler(void (mavros::std_plugins::IMUPlugin::)(const mavlink_message_t, int))’ make_handler(&IMUPlugin::handle_dynamixel), ^ In file included from /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:19:0: /home/liulu/catkin_ws/src/mavros/mavros/include/mavros/mavros_plugin.h:88:14: note: candidate: template mavros::plugin::PluginBase::HandlerInfo mavros::plugin::PluginBase::make_handler(mavlink::msgid_t, void (_C::)(const mavlink_message_t, mavconn::Framing)) HandlerInfo make_handler(const mavlink::msgid_t id, void (_C::fn)(const mavlink::mavlink_message_t msg, const mavconn::Framing framing)) { ^ /home/liulu/catkin_ws/src/mavros/mavros/include/mavros/mavros_plugin.h:88:14: note: template argument deduction/substitution failed: /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:110:52: note: cannot convert ‘&mavros::std_plugins::IMUPlugin::handle_dynamixel’ (type ‘void (mavros::std_plugins::IMUPlugin::)(const mavlink_message_t, int) {aka void (mavros::std_plugins::IMUPlugin::)(const mavlink::__mavlink_message, int)}’) to type ‘mavlink::msgid_t {aka unsigned int}’ make_handler(&IMUPlugin::handle_dynamixel), ^ In file included from /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:19:0: /home/liulu/catkin_ws/src/mavros/mavros/include/mavros/mavros_plugin.h:101:14: note: candidate: template<class _C, class _T> mavros::plugin::PluginBase::HandlerInfo mavros::plugin::PluginBase::make_handler(void (_C::)(const mavlink_message_t, _T&)) HandlerInfo make_handler(void (_C::fn)(const mavlink::mavlink_message_t, _T&)) { ^ /home/liulu/catkin_ws/src/mavros/mavros/include/mavros/mavros_plugin.h:101:14: note: template argument deduction/substitution failed: /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:110:52: note: mismatched types ‘_T&’ and ‘int’ make_handler(&IMUPlugin::handle_dynamixel), ^ /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:111:3: error: could not convert ‘{mavros::plugin::PluginBase::make_handler(void (_C::)(const mavlink_message_t, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::ATTITUDE; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message, mavros::plugin::PluginBase::make_handler(void (_C::)(const mavlink_message_t, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::ATTITUDE_QUATERNION; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message, mavros::plugin::PluginBase::make_handler(void (_C::)(const mavlink_message_t, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::HIGHRES_IMU; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message, mavros::plugin::PluginBase::make_handler(void (_C::)(const mavlink_message_t, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::RAW_IMU; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message, mavros::plugin::PluginBase::make_handler(void (_C::)(const mavlink_message_t, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::SCALED_IMU; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message, mavros::plugin::PluginBase::make_handler(void (_C::)(const mavlink_message_t, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::SCALED_PRESSURE; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message, }’ from ‘’ to ‘mavros::plugin::PluginBase::Subscriptions {aka std::vector<std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> > >}’ }; ^ /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp: In member function ‘void mavros::std_plugins::IMUPlugin::handle_dynamixel(const mavlink_message_t*, int)’: /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:335:61: error: ‘dyn_s’ was not declared in this scope dynamixel_status->header.stamp = m_uas->synchronise_stamp(dyn_s.time_boot_us); ^ make[2]: [CMakeFiles/mavros_plugins.dir/src/plugins/imu.cpp.o] Error 1 make[2]: 正在等待未完成的任务.... make[1]: [CMakeFiles/mavros_plugins.dir/all] Error 2 make: [all] Error 2

[Schmluk]

This looks like mavros can not find a mavlink installation. Could you try installing mavros according to these instructions? Sometimes also clearing the build folder (~/catkin_ws/build/mavros) can help.

Also mavros_extras is not required for the pipeline, so you can touch ~/catkin_ws/src/mavros/mavros_extras/CATKIN_IGNORE if this package causes issues.

[LuLiu21]

@Schmluk Thanks for your respond, i have solve that problem by updating gzebo7 to gazebo9. But still have a problem when i run catkin build: Errors << voxblox:cmake /home/liulu/catkin_ws/logs/voxblox/build.cmake.000.log CMake Error at /home/liulu/catkin_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package): By not providing "Findprotobuf_catkin.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "protobuf_catkin", but CMake did not find one.

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

protobuf_catkinConfig.cmake
protobuf_catkin-config.cmake

Add the installation prefix of "protobuf_catkin" to CMAKE_PREFIX_PATH or set "protobuf_catkin_DIR" to a directory containing one of the above files. If "protobuf_catkin" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): CMakeLists.txt:5 (catkin_simple)

[Schmluk]

This package must have slipped through our installation testing, although we tested it on a clean system install. You can find it here: https://github.com/ethz-asl/protobuf_catkin. It has been added to the rosinstalls.

Thank you for your patience.

[LuLiu21]

@Schmluk Thank you for your help! The problem is solved.

But now I'm struggling with the data repository can not be downloaded successfully from https://www.polybox.ethz.ch/index.php/s/6vhPDINcISbEogg I hope to get your further help!

[LuLiu21]

I solved the download probolem by using ssr and wget. HAHA

[Schmluk]

Good to hear, let us know if you run into further trouble.

[sushiye]

Hello everyone! I am an amateur in ROS and trying to work with the mav_active_3d_planning. I followed the instruction in the readme and when i run catkin build, i got this error. Any suggestions on how to solve this one? I am using Ubuntu 16.04 and ros-kinetic. Thank you for any help :)

Errors << mavros:make /home/liulu/catkin_ws/logs/mavros/build.make.000.log /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:332:72: error: ‘mavlink::omav’ has not been declared void handle_dynamixel(const mavlink::mavlink_message_t _msg, mavlink::omav::msg::DYNAMIXEL_STATUS &dyn_s) ^ /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:332100 error: expected ‘,’ or ‘...’ before ‘&’ token void handle_dynamixel(const mavlink::mavlink_message_t _msg, mavlink::omav::msg::DYNAMIXEL_STATUS &dyn_s) ^ /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp: In member function ‘virtual mavros::plugin::PluginBase::Subscriptions mavros::std_plugins::IMUPlugin::get_subscriptions()’: /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:110:52: error: no matching function for call to ‘mavros::std_plugins::IMUPlugin::make_handler(void (mavros::stdplugins::IMUPlugin::)(const mavlink_messaget, int))’ make_handler(&IMUPlugin::handle_dynamixel), ^ In file included from /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:19:0: /home/liulu/catkin_ws/src/mavros/mavros/include/mavros/mavros_plugin.h:88:14: note: candidate: template mavros::plugin::PluginBase::HandlerInfo mavros::plugin::PluginBase::make_handler(mavlink::msgid_t, void (C::)(const mavlink_messaget, mavconn::Framing)) HandlerInfo make_handler(const mavlink::msgid_t id, void (_C::_fn)(const mavlink::mavlink_message_t _msg, const mavconn::Framing framing)) { ^ /home/liulu/catkin_ws/src/mavros/mavros/include/mavros/mavros_plugin.h:88:14: note: template argument deduction/substitution failed: /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:110:52: note: cannot convert ‘&mavros::std_plugins::IMUPlugin::handle_dynamixel’ (type ‘void (mavros::stdplugins::IMUPlugin::)(const mavlink_messaget, int) {aka void (mavros::stdplugins::IMUPlugin::)(const mavlink::mavlinkmessage, int)}’) to type ‘mavlink::msgid_t {aka unsigned int}’ make_handler(&IMUPlugin::handle_dynamixel), ^ In file included from /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:19:0: /home/liulu/catkin_ws/src/mavros/mavros/include/mavros/mavros_plugin.h:101:14: note: candidate: template<class _C, class _T> mavros::plugin::PluginBase::HandlerInfo mavros::plugin::PluginBase::make_handler(void (C::)(const mavlink_messaget, _T&)) HandlerInfo make_handler(void (_C::_fn)(const mavlink::mavlink_messaget, _T&)) { ^ /home/liulu/catkin_ws/src/mavros/mavros/include/mavros/mavros_plugin.h:101:14: note: template argument deduction/substitution failed: /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:110:52: note: mismatched types ‘_T&’ and ‘int’ make_handler(&IMUPlugin::handle_dynamixel), ^ /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:111:3: error: could not convert ‘{mavros::plugin::PluginBase::make_handler(void (C::)(const mavlink_messaget, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::ATTITUDE; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::mavlink_message, mavros::plugin::PluginBase::make_handler(void (C::)(const mavlink_messaget, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::ATTITUDE_QUATERNION; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::mavlink_message, mavros::plugin::PluginBase::make_handler(void (C::)(const mavlink_messaget, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::HIGHRES_IMU; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char*, long unsigned int, std::function<void(const mavlink::mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message, mavros::plugin::PluginBase::make_handler(void (C::)(const mavlink_messaget, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::RAW_IMU; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message, mavros::plugin::PluginBase::make_handler(void (C::)(const mavlink_messaget, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::SCALED_IMU; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message*, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::mavlink_message, mavros::plugin::PluginBase::make_handler(void (C::)(const mavlink_messaget, _T&)) with _C = mavros::std_plugins::IMUPlugin; _T = mavlink::common::msg::SCALED_PRESSURE; mavros::plugin::PluginBase::HandlerInfo = std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> >; mavlink::mavlink_message_t = mavlink::__mavlink_message, }’ from ‘’ to ‘mavros::plugin::PluginBase::Subscriptions {aka std::vector<std::tuple<unsigned int, const char, long unsigned int, std::function<void(const mavlink::__mavlink_message, mavconn::Framing)> > >}’ }; ^ /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp: In member function ‘void mavros::std_plugins::IMUPlugin::handle_dynamixel(const mavlink_message_t*, int)’: /home/liulu/catkin_ws/src/mavros/mavros/src/plugins/imu.cpp:335:61: error: ‘dyn_s’ was not declared in this scope dynamixel_status->header.stamp = m_uas->synchronise_stamp(dyn_s.time_boot_us); ^ make[2]: [CMakeFiles/mavros_plugins.dir/src/plugins/imu.cpp.o] Error 1 make[2]: 正在等待未完成的任务.... make[1]: [CMakeFiles/mavros_plugins.dir/all] Error 2 make: [all] Error 2

hello, i have the same problem like "mavlink::omav’ has not been declared" when i build the modified mavros of ethz-asl, could you please tell me the detailed solution to solve it ? what's your mavlink link or version? thanks a lot!

[Schmluk]

Hi @sushiye

mavros (the package that fails) is a third party dependency, so I can not tell you what is going wrong exactly. However, not all components of the dependencies are required for active_3d_planning. Can you try building only the required packages, i.e. catkin build active_3d_planning_app_reconstruction?

[sushiye]

Hi @Schmluk thanks for your reply! i had the problem in another project and i have solved the catkin build problem by deleting some parts of the modified mavros.