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gaowenliang / imu_utils

A ROS package tool to analyze the IMU performance.
https://gaowenliang.github.io/imu_utils
MIT License
1.48k stars 479 forks source link

I build this on Ubuntu20.04 ROS noetic, and get error... #39

Open fengyikawhi opened 2 years ago

fengyikawhi commented 2 years ago

error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 5>’ 315 | using Parameters = typename ParameterDims::Parameters; | ^~~~~~ /home/slam/cartographer_ws/install_isolated/include/ceres/internal/autodiff.h:348:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 5>’ 348 | Make1stOrderPerturbations::Apply(parameters, | ~~~~~~~~~~^~~~~~ 349 | parameters_as_jets.data()); | ~~~~~~ /home/slam/cartographer_ws/install_isolated/include/ceres/internal/autodiff.h:357:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 5>’ 357 | Take1stOrderParts::Apply( | ~~~~~~~~^ 358 | num_outputs, residuals_as_jets.data(), jacobians); | ~~~~~~~~~~~~~

DreamWaterFound commented 2 years ago

Maybe you need to compile with the correct version like 2.0.0 of Ceres-solver.

fengyikawhi commented 2 years ago

Maybe you need to compile with the correct version like 2.0.0 of Ceres-solver.

I have installed Ceres2.0.0 when build cartographer, but it was in the workspace of cartographer, does it matter?

DreamWaterFound commented 2 years ago

Maybe you need to compile with the correct version like 2.0.0 of Ceres-solver.

I have installed Ceres2.0.0 when build cartographer, but it was in the workspace of cartographer, does it matter?

Yes, in your case the compiler will only compile imu_utils with ceres-solver in the default path.

There are 2 ways to solve this problem:

  1. To complie and install ceres-slover in the same ROS workspace with imu_utils;
  2. Specify the path where ceres-solver 2.0 installed in CMakeLists.txt(Suggested methods). You can locate CeresConfig.cmake using command locate:
$ sudo updatedb
$ locate CeresConfig.cmake

Find the installation path for Ceres-Solver 2.0, like /home/robot/Libraries/Install/Ceres/2.0.0/lib/cmake/Ceres/CeresConfig.cmake. Then add following line in CMakeLists.txt:

...

find_package(OpenCV REQUIRED)

# HACK add here
# HACK begin
set(Ceres_DIR "/home/robot/Libraries/Install/Ceres/2.0.0/lib/cmake/Ceres/CeresConfig.cmake")
# HACK end

find_package(Ceres REQUIRED)

find_package(Eigen3  REQUIRED)

Be sure clean folders build and devel in this ROS worksapce and then re-build it by catkin_make. In this way gcc/g++ will use you specified ceres-solver.

Hezhexi2002 commented 1 year ago

Hi,I meet the same problem but the error still exits after I follow your second way to solve the problem: image I install the ceres under my /opt and here is the output of my locate CeresConfig.cmake: image and I have add set the path of ceres in the CMakeLists.txt: image so why dose it not work and is this means I have to re-compile the ceres under my ros workspace?