Eigen3 build error and simple octomap install in ros2

About this problem like: $ colcon build --symlink-install --packages-select octomap_msgs octomap_server2 [0.105s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces: 'octomap_msgs' is in: /opt/ros/humble If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time. If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line: --allow-overriding octomap_msgs

This may be promoted to an error in a future release of colcon-override-check. Starting >>> octomap_msgs Finished <<< octomap_msgs [2.86s]
Starting >>> octomap_server2 [2.969s] WARNING:colcon.colcon_core.shell:The following packages are in the workspace but haven't been built:

pcl_msgs
pcl_conversions They are being used from the following locations instead:
/opt/ros/humble

/opt/ros/humble To suppress this warning ignore these packages in the workspace: --packages-ignore pcl_msgs pcl_conversions --- stderr: octomap_server2 WARNING io features related to pcap will be disabled In file included from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/conversions.h:50, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/conversions.cpp:40: /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.h:35:2: warning: #warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead [-Wcpp] 35	#warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead	^~~ In file included from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/conversions.h:50, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp:51, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:2: /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.h:35:2: warning: #warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead [-Wcpp] 35	#warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead	^~~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/conversions.cpp: In function ‘void octomap::pointsOctomapToPointCloud2(const point3d_list&, sensor_msgs::msg::PointCloud2&)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/conversions.cpp:53:57: warning: unused parameter ‘points’ [-Wunused-parameter] 53	void pointsOctomapToPointCloud2(const point3d_list& points,	~~~~^~ In file included from /usr/local/include/eigen3/Eigen/Eigenvalues:39, from /usr/local/include/eigen3/Eigen/Dense:7, from /usr/local/include/eigen3/Eigen/Eigen:1, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/transforms.hpp:6, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp:50, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:2: /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In member function ‘Eigen::SelfAdjointEigenSolver& Eigen::SelfAdjointEigenSolver<_MatrixType>::compute(const Eigen::EigenBase&, int)’: /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:413:3: error: there are no arguments to ‘EIGEN_USING_STD_MATH’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD_MATH’ must be available [-fpermissive] 413	EIGEN_USING_STD_MATH(abs);	^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:413:3: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In function ‘Eigen::ComputationInfo Eigen::internal::computeFromTridiagonal_impl(DiagType&, SubDiagType&, Eigen::Index, bool, MatrixType&)’: /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:492:3: error: there are no arguments to ‘EIGEN_USING_STD_MATH’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD_MATH’ must be available [-fpermissive] 492	EIGEN_USING_STD_MATH(abs);	^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In static member function ‘static void Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 3, false>::computeRoots(const MatrixType&, Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 3, false>::VectorType&)’: /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:577:5: error: there are no arguments to ‘EIGEN_USING_STD_MATH’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD_MATH’ must be available [-fpermissive] 577	EIGEN_USING_STD_MATH(sqrt)	^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:578:5: error: expected ‘;’ before ‘EIGEN_USING_STD_MATH’ 578	EIGEN_USING_STD_MATH(atan2)	^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:593:27: error: ‘s_inv3’ was not declared in this scope 593	Scalar c2_over_3 = c2*s_inv3;	^~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In static member function ‘static bool Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 3, false>::extract_kernel(Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 3, false>::MatrixType&, Eigen::Ref, Eigen::Ref)’: /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:616:5: error: there are no arguments to ‘EIGEN_USING_STD_MATH’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD_MATH’ must be available [-fpermissive] 616	EIGEN_USING_STD_MATH(abs);	^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:617:5: error: there are no arguments to ‘EIGEN_USING_STD_MATH’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD_MATH’ must be available [-fpermissive] 617	EIGEN_USING_STD_MATH(sqrt);	^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In static member function ‘static void Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 2, false>::computeRoots(const MatrixType&, Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 2, false>::VectorType&)’: /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:731:5: error: there are no arguments to ‘EIGEN_USING_STD_MATH’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD_MATH’ must be available [-fpermissive] 731	EIGEN_USING_STD_MATH(sqrt);	^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In static member function ‘static void Eigen::internal::direct_selfadjoint_eigenvalues<SolverType, 2, false>::run(SolverType&, const MatrixType&, int)’: /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:741:5: error: there are no arguments to ‘EIGEN_USING_STD_MATH’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD_MATH’ must be available [-fpermissive] 741	EIGEN_USING_STD_MATH(sqrt);	^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:742:5: error: there are no arguments to ‘EIGEN_USING_STD_MATH’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD_MATH’ must be available [-fpermissive] 742	EIGEN_USING_STD_MATH(abs);	^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h: In function ‘void Eigen::internal::tridiagonal_qr_step(RealScalar, RealScalar, Index, Index, Scalar*, Index)’: /usr/local/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h:819:3: error: there are no arguments to ‘EIGEN_USING_STD_MATH’ that depend on a template parameter, so a declaration of ‘EIGEN_USING_STD_MATH’ must be available [-fpermissive] 819	EIGEN_USING_STD_MATH(abs);	^~~~~~~~ In file included from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:2: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp: In member function ‘virtual void octomap_server::OctomapServer::handleNode(const iterator&)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp:210:58: warning: unused parameter ‘it’ [-Wunused-parameter] 210	virtual void handleNode(const OcTreeT::iterator& it) {};	~~~~~^~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp: In member function ‘virtual void octomap_server::OctomapServer::handleNodeInBBX(const iterator&)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp:211:63: warning: unused parameter ‘it’ [-Wunused-parameter] 211	virtual void handleNodeInBBX(const OcTreeT::iterator& it) {};	~~~~~^~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp: In constructor ‘octomap_server::OctomapServer::OctomapServer(const rclcpp::NodeOptions&, std::string)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp:148:14: warning: ‘octomap_server::OctomapServer::m_useColoredMap’ will be initialized after [-Wreorder] 148	bool m_useColoredMap;	^~~~~~~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp:118:16: warning: ‘double octomap_server::OctomapServer::m_colorFactor’ [-Wreorder] 118	double m_colorFactor;	^~~~~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:5:5: warning: when initialized here [-Wreorder] 5	OctomapServer::OctomapServer(	^~~~~ In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40, from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18, from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37, from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp:8, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:2: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp: In member function ‘virtual void octomap_server::OctomapServer::insertCloudCallback(const ConstSharedPtr&)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:341:50: warning: format ‘%s’ expects argument of type ‘char*’, but argument 5 has type ‘std::string’ {aka ‘std::__cxx11::basic_string’} [-Wformat=] 341	RCLCPP_ERROR(this->get_logger(), "%s %", msg, ex.what());	^~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:341:52: note: format string is defined here 341	RCLCPP_ERROR(this->get_logger(), "%s %", msg, ex.what());	~^
char*

In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40, from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18, from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37, from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp:8, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:2: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:341:50: warning: spurious trailing ‘%’ in format [-Wformat=] 341 | RCLCPP_ERROR(this->get_logger(), "%s %", msg, ex.what()); | ^~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:341:54: note: format string is defined here 341 | RCLCPP_ERROR(this->get_logger(), "%s %", msg, ex.what()); | ^ In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40, from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18, from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37, from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/include/octomap_server2/octomap_server.hpp:8, from /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:2: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:341:50: warning: too many arguments for format [-Wformat-extra-args] 341 | RCLCPP_ERROR(this->get_logger(), "%s %", msg, ex.what()); | ^~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp: In member function ‘virtual void octomap_server::OctomapServer::publishAll(const rclcpp::Time&)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:595:28: warning: unused variable ‘size’ [-Wunused-variable] 595 | double size = it.getSize(); | ^~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp: In member function ‘virtual bool octomap_server::OctomapServer::octomapBinarySrv(std::shared_ptr<octomap_msgs::srv::GetOctomapRequest<std::allocator > >, std::shared_ptr<octomap_msgs::srv::GetOctomapResponse<std::allocator > >)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:783:52: warning: unused parameter ‘req’ [-Wunused-parameter] 783 | const std::shared_ptr req, | ~~~^ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp: In member function ‘virtual bool octomap_server::OctomapServer::octomapFullSrv(std::shared_ptr<octomap_msgs::srv::GetOctomapRequest<std::allocator > >, std::shared_ptr<octomap_msgs::srv::GetOctomapResponse<std::allocator > >)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:802:52: warning: unused parameter ‘req’ [-Wunused-parameter] 802 | const std::shared_ptr req, | ~^ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp: In member function ‘bool octomap_server::OctomapServer::clearBBXSrv(std::shared_ptr<octomap_msgs::srv::BoundingBoxQueryRequest<std::allocator > >, std::shared_ptr<octomap_msgs::srv::BoundingBoxQueryResponse<std::allocator > >)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:817:43: warning: unused parameter ‘resp’ [-Wunused-parameter] 817 | std::shared_ptr resp) { | ~~~~^~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp: In member function ‘bool octomap_server::OctomapServer::resetSrv(std::shared_ptr<std_srvs::srv::EmptyRequest<std::allocator > >, std::shared_ptr<std_srvs::srv::EmptyResponse<std::allocator > >)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:855:28: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<visualizationmsgs::msg::Marker<std::allocator >, std::allocator<visualizationmsgs::msg::Marker<std::allocator > > >::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 855 | for (auto i = 0; i < occupiedNodesVis.markers.size(); ++i){ | ^ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:871:28: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<visualizationmsgs::msg::Marker<std::allocator >, std::allocator<visualizationmsgs::msg::Marker<std::allocator > > >::size_type’ {aka ‘long unsigned int’} [-Wsign-compare] 871 | for (auto i = 0; i < freeNodesVis.markers.size(); ++i) { | ^ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:835:62: warning: unused parameter ‘req’ [-Wunused-parameter] 835 | const std::shared_ptr req, | ~^ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:836:57: warning: unused parameter ‘resp’ [-Wunused-parameter] 836 | std::shared_ptr resp) { | ~~~~^~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp: In member function ‘virtual void octomap_server::OctomapServer::handlePreNodeTraversal(const rclcpp::Time&)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:1163:59: warning: comparison of integer expressions of different signedness: ‘unsigned int’ and ‘int’ [-Wsign-compare] 1163 | for (unsigned int j = mapUpdateBBXMinY; j <= mapUpdateBBXMaxY; ++j) { | ^~~ /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp: In member function ‘virtual void octomap_server::OctomapServer::handlePostNodeTraversal(const rclcpp::Time&)’: /home/tang/Desktop/slam/octo_slam/src/octomap_server2/src/octomap_server.cpp:1173:29: warning: unused parameter ‘rostime’ [-Wunused-parameter] 1173 | const rclcpp::Time& rostime){ | ^ gmake[2]: [CMakeFiles/octomap_server2.dir/build.make:76: CMakeFiles/octomap_server2.dir/src/octomap_server.cpp.o] Error 1 gmake[1]: [CMakeFiles/Makefile2:139: CMakeFiles/octomap_server2.dir/all] Error 2 gmake: *** [Makefile:146: all] Error 2

Failed <<< octomap_server2 [7.53s, exited with code 2]

Summary: 1 package finished [10.5s] 1 package failed: octomap_server2 1 package had stderr output: octomap_server2

The way to solution is find the octomap_server2/include/octomapserver2/transforms.hpp and change the #include <eigen3/Eigen/Eigen> to #include <Eigen/Dense>_

iKrishneel / octomap_server2

Eigen3 build error and simple octomap install in ros2 #21