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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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After GTSAM latest update, DerivedValue.h does not exist #290

Closed kosmastsk closed 5 years ago

kosmastsk commented 5 years ago

I installed gtsam by source, according to the instructions. Then, for installing rtabmap, cmake ..is completed successfully, but make does not finish.

The output of make is:

kosmastsk@kosmastsk-Inspiron-5567:~/Installations/rtabmap/build$ make Scanning dependencies of target rtabmap_utilite [ 1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o [ 1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsHandler.cpp.o [ 1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsSender.cpp.o [ 2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UFile.cpp.o [ 2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UDirectory.cpp.o [ 3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UConversion.cpp.o [ 3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/ULogger.cpp.o [ 3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UThread.cpp.o [ 4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UTimer.cpp.o [ 4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UProcessInfo.cpp.o [ 4%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UVariant.cpp.o [ 5%] Linking CXX shared library ../../../bin/librtabmap_utilite.so [ 5%] Built target rtabmap_utilite Scanning dependencies of target res_tool [ 5%] Building CXX object utilite/resource_generator/CMakeFiles/res_tool.dir/main.cpp.o [ 6%] Linking CXX executable ../../../bin/rtabmap-res_tool [ 6%] Built target res_tool [ 6%] [Creating resources] Using namespace=rtabmap Using target directory=/home/kosmastsk/Installations/rtabmap/build/corelib/src Input file "/home/kosmastsk/Installations/rtabmap/corelib/src/resources/DatabaseSchema.sql" size = 5664 bytes Output file "/home/kosmastsk/Installations/rtabmap/build/corelib/src/DatabaseSchema_sql.h" size = 11555 bytes Scanning dependencies of target rtabmap_core [ 7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o [ 7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RtabmapThread.cpp.o [ 8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Statistics.cpp.o [ 8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Memory.cpp.o [ 8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriver.cpp.o [ 9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriverSqlite3.cpp.o [ 9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBReader.cpp.o [ 9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Recovery.cpp.o [ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Camera.cpp.o [ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o [ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraModel.cpp.o [ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect.cpp.o [ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect2.cpp.o [ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraImages.cpp.o [ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraK4W2.cpp.o [ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenni.cpp.o [ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNI2.cpp.o [ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNICV.cpp.o [ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense.cpp.o [ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o [ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRGBDImages.cpp.o [ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoDC1394.cpp.o [ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoFlyCapture2.cpp.o [ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoImages.cpp.o [ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoVideo.cpp.o [ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoZed.cpp.o [ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoTara.cpp.o [ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraVideo.cpp.o [ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/EpipolarGeometry.cpp.o [ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VisualWord.cpp.o [ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VWDictionary.cpp.o [ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/BayesFilter.cpp.o [ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Parameters.cpp.o [ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Signature.cpp.o [ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Features2d.cpp.o [ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Transform.cpp.o [ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/GeodeticCoords.cpp.o [ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util2d.cpp.o [ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d.cpp.o [ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_filtering.cpp.o [ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_mapping.cpp.o [ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_transforms.cpp.o [ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_registration.cpp.o [ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_surface.cpp.o [ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_features.cpp.o [ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_correspondences.cpp.o [ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_motion_estimation.cpp.o [ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/SensorData.cpp.o [ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Graph.cpp.o [ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Compression.cpp.o [ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Link.cpp.o [ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/LaserScan.cpp.o [ 25%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Optimizer.cpp.o [ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerTORO.cpp.o [ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerG2O.cpp.o [ 26%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o In file included from /home/kosmastsk/Installations/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:17:0, from /home/kosmastsk/Installations/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:56: /home/kosmastsk/Installations/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:13:37: fatal error: gtsam/base/DerivedValue.h: No such file or directory compilation terminated. corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1387: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o' failed make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o] Error 1 CMakeFiles/Makefile2:267: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2 Makefile:149: recipe for target 'all' failed make: *** [all] Error 2

I suppose that the reason is this commit in the gtsam code. Now the rtabmap cannot locate the DerivedValue.h that is used in several files.

Is there a workaround for it or should we place manually the DerivedValue.h in the gtsam folder?

matlabbe commented 5 years ago

For now, I recommend to stick with GTSAM version 4.0.0-alpha2. We will try to make it compatible with latest GTSAM version soon.

cheers, Mahieu

cheers, Mathieu