cannot catkin_make, build error, ros indigo

[aaravrav142]

Hi,

I followed all the tutorials for installation from the wiki page and was able to install rtabmap with all optional dependencies (except freenect2 since I do not have usb 3.0). I put the rtabmap_ros package in the catkin_ws/src and when running catkin_make, I am getting the following errors. I tried to remove the package and re-installed - got same error. Can you help.

`~/catkin_ws$ catkin_make Base path: /home/alexr/catkin_ws Source space: /home/alexr/catkin_ws/src Build space: /home/alexr/catkin_ws/build Devel space: /home/alexr/catkin_ws/devel Install space: /home/alexr/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/alexr/catkin_ws/build"

Running command: "make -j4 -l4" in "/home/alexr/catkin_ws/build"

[ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_RegionsOfInterest [ 0%] [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_PointOfInterest Built target _homer_mapnav_msgs_generate_messages_check_deps_SaveMap [ 0%] Built target nav_msgs_generate_messages_py [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_DeletePointOfInterest [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_ModifyMap [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_StopNavigation [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_NavigateToPOI [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_GetPointsOfInterest [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_RegionOfInterest [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_ModifyPOI [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_DoMapping [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_LoadMap [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_StartNavigation [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_MapLayers [ 0%] Built target _homer_mapnav_msgs_generate_messages_check_deps_TargetUnreachable [ 0%] [ 0%] Built target geometry_msgs_generate_messages_cpp Built target _homer_mapnav_msgs_generate_messages_check_deps_PointsOfInterest [ 0%] Built target nav_msgs_generate_messages_cpp [ 0%] [ 0%] Built target geometry_msgs_generate_messages_lisp Built target nav_msgs_generate_messages_lisp [ 1%] [ 4%] Built target _homer_mapnav_msgs_generate_messages_check_deps_GetRegionsOfInterest Built target Math [ 5%] Built target String [ 7%] Built target TinyXML [ 7%] Built target Thread [ 7%] Built target _or_msgs_generate_messages_check_deps_KeyPointMatch [ 7%] Built target _or_msgs_generate_messages_check_deps_KeyPointMatchArray [ 7%] Built target _or_msgs_generate_messages_check_deps_OrMatchResult [ 7%] Built target _or_msgs_generate_messages_check_deps_RecognizeImage [ 7%] Built target _or_msgs_generate_messages_check_deps_KeyPoint [ 7%] Built target _or_msgs_generate_messages_check_deps_ExtractKeyPoints [ 7%] Built target _or_msgs_generate_messages_check_deps_Point2D [ 7%] [ 7%] Built target sensor_msgs_generate_messages_py Built target _or_msgs_generate_messages_check_deps_MatchResult [ 7%] [ 7%] Built target _or_msgs_generate_messages_check_deps_OrLearnCommand Built target _or_msgs_generate_messages_check_deps_BoundingBox2D [ 7%] [ 7%] Built target _or_msgs_generate_messages_check_deps_OrLearningStatus Built target _or_msgs_generate_messages_check_deps_OrCommand [ 7%] Built target sensor_msgs_generate_messages_cpp [ 7%] Built target sensor_msgs_generate_messages_lisp [ 7%] Built target rtimulib_ros [ 7%] Built target razor_imu_9dof_gencfg [ 7%] Built target imu_filter_madgwick_gencfg [ 7%] Built target Explorer [ 7%] Built target _or_msgs_generate_messages_check_deps_OrObjectNames [ 7%] Built target SpeedControl [ 8%] [ 8%] Built target MappingMath Built target std_srvs_generate_messages_cpp [ 8%] [ 8%] Built target actionlib_msgs_generate_messages_py Built target std_msgs_generate_messages_lisp [ 8%] Built target std_msgs_generate_messages_cpp [ 8%] Built target actionlib_msgs_generate_messages_cpp [ 8%] Built target std_msgs_generate_messages_py [ 8%] Built target actionlib_msgs_generate_messages_lisp [ 8%] Built target roscpp_generate_messages_cpp [ 8%] Built target roscpp_generate_messages_lisp [ 8%] Built target roscpp_generate_messages_py [ 8%] Built target rosgraph_msgs_generate_messages_lisp [ 8%] Built target rosgraph_msgs_generate_messages_py [ 8%] [ 8%] Built target rosgraph_msgs_generate_messages_cpp Built target actionlib_generate_messages_lisp [ 8%] Built target tf2_msgs_generate_messages_cpp [ 8%] Built target tf2_msgs_generate_messages_lisp [ 8%] [ 8%] Built target tf2_msgs_generate_messages_py Built target tf_generate_messages_lisp [ 8%] [ 8%] Built target tf_generate_messages_py Built target actionlib_generate_messages_cpp [ 8%] [ 8%] Built target actionlib_generate_messages_py Built target tf_generate_messages_cpp [ 8%] [ 8%] Built target std_srvs_generate_messages_lisp Built target std_srvs_generate_messages_py [ 8%] Built target ConnectedComponentAnalyzer [ 9%] [ 10%] Built target rbx1_nav_gencfg Built target complementary_filter [ 11%] Built target ParallelSurf [ 11%] Built target rosaria_gencfg [ 12%] Built target PointOfInterestGUI [ 12%] Automoc for target rviz_imu_plugin [ 12%] Built target demo_pioneer_joy2twist_pioneer_node [ 13%] Built target MapTab [ 13%] Built target rviz_imu_plugin_automoc [ 13%] Built target _rosaria_generate_messages_check_deps_BumperState [ 14%] Built target demo_pioneer_joy2twist_pioneer_pan_node [ 14%] Built target demo_pioneer_visual_servo_pioneer_node [ 14%] Built target demo_pioneer_visual_servo_pioneer_pan_node [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_KeyPoint [ 14%] [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_GetMap Built target _rtabmap_ros_generate_messages_check_deps_SetGoal [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_SetLabel [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_PublishMap [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_Point2f [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_MapGraph [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_Link [ 14%] [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_Info Built target _rtabmap_ros_generate_messages_check_deps_Goal [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_ListLabels [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_RGBDImage [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_MapData [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_Point3f [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_UserData [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_OdomInfo [ 14%] Built target rtabmap_ros_gencfg Linking CXX executable /home/alexr/catkin_ws/devel/lib/rtabmap_ros/icp_odometry [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_NodeData Linking CXX executable /home/alexr/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry [ 14%] Built target _rtabmap_ros_generate_messages_check_deps_ResetPose Linking CXX executable /home/alexr/catkin_ws/devel/lib/rtabmap_ros/rgbdicp_odometry [ 14%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap.dir/src/CoreNode.cpp.o /usr/local/lib/libopencv_nonfree.so.2.4: undefined reference to cv::ocl::integral(cv::ocl::oclMat const&, cv::ocl::oclMat&)' collect2: error: ld returned 1 exit status make[2]: *** [/home/alexr/catkin_ws/devel/lib/rtabmap_ros/rgbd_odometry] Error 1 make[1]: *** [rtabmap_ros/CMakeFiles/rgbd_odometry.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... /usr/local/lib/libopencv_nonfree.so.2.4: undefined reference tocv::ocl::integral(cv::ocl::oclMat const&, cv::ocl::oclMat&)' collect2: error: ld returned 1 exit status make[2]: * [/home/alexr/catkin_ws/devel/lib/rtabmap_ros/rgbdicp_odometry] Error 1 make[1]: * [rtabmap_ros/CMakeFiles/rgbdicp_odometry.dir/all] Error 2 /usr/local/lib/libopencv_nonfree.so.2.4: undefined reference to `cv::ocl::integral(cv::ocl::oclMat const&, cv::ocl::oclMat&)' collect2: error: ld returned 1 exit status make[2]: [/home/alexr/catkin_ws/devel/lib/rtabmap_ros/icp_odometry] Error 1 make[1]: [rtabmap_ros/CMakeFiles/icp_odometry.dir/all] Error 2 In file included from /home/alexr/catkin_ws/src/rtabmap_ros/src/CoreNode.cpp:28:0: /home/alexr/catkin_ws/src/rtabmap_ros/include/rtabmap_ros/CoreWrapper.h:47:32: fatal error: rtabmap_ros/GetMap.h: No such file or directory

include "rtabmap_ros/GetMap.h"

                            ^

compilation terminated. make[2]: [rtabmap_ros/CMakeFiles/rtabmap.dir/src/CoreNode.cpp.o] Error 1 make[1]: [rtabmap_ros/CMakeFiles/rtabmap.dir/all] Error 2 make: *** [all] Error 2 Invoking "make -j4 -l4" failed `

Thanks

[matlabbe]

Looks at these posts:

• https://github.com/introlab/rtabmap_ros/issues/11
• http://official-rtab-map-forum.206.s1.nabble.com/catkin-make-ros-pkg-failed-td22.html#a24

On your machine, you may need to disable OpenCV when building OpenCV:

$ cmake -D WITH_OPENCL=OFF

Make sure that rtabmap library was built against your OpenCV built from source "/usr/local". If you built OpenCV from source after building rtabmap and rtabmap_ros for the first time, clean the build directories (rtabmap/build and catkin_ws/build) to make sure that the correct OpenCV libraries are linked.

[aaravrav142]

Hi Mathieu,

Using the suggestion I can do catkin_make now without errors. I followed your advice to remove build files from rtabmap/build and catkin_ws/build. However after the successful build, when I try to open the standalone rtabmap via $ rtabmap I am getting the following error. I am on ubuntu 14.04 ros indigo

$ rtabmap rtabmap: error while loading shared libraries: librtabmap_core.so.0.11: cannot open shared object file: No such file or directory

[willdzeng]

Did you do sudo make install when you build rtabmap?

if you did, try use sudo ldconfig to fix the linkage problem.

if failed again, you need to uninstall rtabmap, try remove everything in /usr/local/lib that has rtabmap, and build and install rtabmap again.

[aaravrav142]

Ok, I fixed the issue by @willdzeng suggestion. Thanks.

Regards Alex