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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
957 stars 557 forks source link

make error: /usr/bin/ld: cannot find -lvtkGUISupportQt #312

Open hachbani2019 opened 5 years ago

hachbani2019 commented 5 years ago

, I'm trying to install rtabmap_ros for a 3D mapping object using a LiDAR. I followed the instructions explained in the readme file. When I execute the make command, I get this error:

hamza@hamza-Latitude-5590:~/rtabmap/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Checking for module 'eigen3'
--   Found eigen3, version 3.2.92
-- Found eigen: /usr/include/eigen3  
-- Checking for module 'libopenni'
--   Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so  
-- Found libusb-1.0: /usr/include  
-- Checking for module 'flann'
--   Found flann, version 1.8.4
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a  
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so  
-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so  
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so  
-- Found PCL_IO: /usr/local/lib/libpcl_io.so  
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so  
-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so  
-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so  
-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so  
-- Found PCL_2D: /usr/local/include/pcl-1.8  
-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so  
-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so  
-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so  
-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.8  
-- Found PCL_ML: /usr/local/lib/libpcl_ml.so  
-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so  
-- Found PCL_VISUALIZATION: /usr/local/lib/libpcl_visualization.so  
-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).
-- Found Sqlite3: /usr/include /usr/lib/x86_64-linux-gnu/libsqlite3.so
-- Try OpenMP C flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [-fopenmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: -fopenmp  
-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv
-- Found PCL: /usr/local/include/pcl-1.8;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/local/include/vtk-7.1
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL2
-- Found Freenect: /usr/include
-- Found DC1394: /usr/include/dc1394
-- Found CSPARSE: /usr/include/suitesparse  
-- Old g2o version detected with c++03 interface (config file: /opt/ros/kinetic/include/g2o/config.h).
-- Found g2o: /opt/ros/kinetic/include;/usr/include/suitesparse;/usr/include/suitesparse
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Found octomap 1.8.1: /opt/ros/kinetic/include
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   Version : 0.19.2
--   CMAKE_INSTALL_PREFIX = /usr/local
--   CMAKE_BUILD_TYPE =     Release
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   BUILD_SHARED_LIBS =    ON
--   CMAKE_CXX_FLAGS =  -fmessage-length=0  -fopenmp -std=c++11
--   FLANN_KDTREE_MEM_OPT = OFF
--   PCL_DEFINITIONS = -DEIGEN_USE_NEW_STDVECTOR;-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET;-DFLANN_STATIC;-Dqh_QHpointer
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
--   With external SQLite3     = YES (License: Public Domain)
--   With ORB OcTree           = YES (License: GPLv3)
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = NO (OpenNI2 not found)
--   With Freenect2            = NO (libfreenect2 not found)
--   With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = YES (License: BSD)
--  *With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--  *With libpointmatcher      = NO (libpointmatcher not found)
--   With loam_velodyne        = NO (loam_velodyne not found)
--   With ZED                  = NO (ZED sdk not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = NO (librealsense2 not found)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With libfovis             = NO (libfovis not found)
--   With libviso2             = NO (libviso2 not found)
--   With dvo_core             = NO (dvo_core not found)
--   With okvis                = NO (okvis not found)
--   With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)
--   With VINS-Fusion          = NO (VINS-Fusion not found)
--   With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/hamza/rtabmap/build
hamza@hamza-Latitude-5590:~/rtabmap/build$ make
Scanning dependencies of target rtabmap_utilite
[  0%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UEventsManager.cpp.o
[  0%] 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
[  1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UFile.cpp.o
[  1%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UDirectory.cpp.o
[  2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UConversion.cpp.o
[  2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/ULogger.cpp.o
[  2%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UThread.cpp.o
[  3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UTimer.cpp.o
[  3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UProcessInfo.cpp.o
[  3%] Building CXX object utilite/src/CMakeFiles/rtabmap_utilite.dir/UVariant.cpp.o
[  4%] Linking CXX shared library ../../../bin/librtabmap_utilite.so
[  4%] Built target rtabmap_utilite
Scanning dependencies of target res_tool
[  4%] Building CXX object utilite/resource_generator/CMakeFiles/res_tool.dir/main.cpp.o
[  4%] Linking CXX executable ../../../bin/rtabmap-res_tool
[  4%] Built target res_tool
[  4%] [Creating resources]
 Using namespace=rtabmap
 Using target directory=/home/hamza/rtabmap/build/corelib/src
Input file "/home/hamza/rtabmap/corelib/src/resources/DatabaseSchema.sql" size = 5664 bytes
Output file "/home/hamza/rtabmap/build/corelib/src/DatabaseSchema_sql.h" size = 11555 bytes
Scanning dependencies of target rtabmap_core
[  4%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o
[  5%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RtabmapThread.cpp.o
[  5%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Statistics.cpp.o
[  5%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Memory.cpp.o
[  6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriver.cpp.o
[  6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBDriverSqlite3.cpp.o
[  6%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/DBReader.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Recovery.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Camera.cpp.o
[  7%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o
[  8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraModel.cpp.o
[  8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect.cpp.o
[  8%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraFreenect2.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraImages.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraK4W2.cpp.o
[  9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenni.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNI2.cpp.o
[ 10%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraOpenNICV.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRealSense2.cpp.o
[ 11%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraRGBDImages.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoDC1394.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoFlyCapture2.cpp.o
[ 12%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoImages.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoVideo.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoZed.cpp.o
[ 13%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraStereoTara.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/camera/CameraVideo.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/EpipolarGeometry.cpp.o
[ 14%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VisualWord.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/VWDictionary.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/BayesFilter.cpp.o
[ 15%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Parameters.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Signature.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Features2d.cpp.o
[ 16%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Transform.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/GeodeticCoords.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util2d.cpp.o
[ 17%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_filtering.cpp.o
In file included from /usr/local/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
                 from /usr/local/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
                 from /usr/local/include/pcl-1.8/pcl/segmentation/sac_segmentation.h:49,
                 from /home/hamza/rtabmap/corelib/src/util3d_filtering.cpp:44:
/usr/local/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’:
/usr/local/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
   SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
   ^
/usr/local/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_mapping.cpp.o
[ 18%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_transforms.cpp.o
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_registration.cpp.o
In file included from /usr/local/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
                 from /usr/local/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
                 from /usr/local/include/pcl-1.8/pcl/sample_consensus/ransac.h:44,
                 from /usr/local/include/pcl-1.8/pcl/registration/icp.h:45,
                 from /home/hamza/rtabmap/corelib/src/util3d_registration.cpp:34:
/usr/local/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’:
/usr/local/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
   SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));
   ^
/usr/local/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here
[ 19%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_surface.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_features.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_correspondences.cpp.o
[ 20%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/util3d_motion_estimation.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/SensorData.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Graph.cpp.o
[ 21%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Compression.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Link.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/LaserScan.cpp.o
[ 22%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Optimizer.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerTORO.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerG2O.cpp.o
[ 23%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o
[ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerCVSBA.cpp.o
[ 24%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Registration.cpp.o
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[ 40%] Linking CXX shared library ../../../bin/librtabmap_core.so
/usr/bin/ld: cannot find -lvtkGUISupportQt
collect2: error: ld returned 1 exit status
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:3041: recipe for target '../bin/librtabmap_core.so.0.19.2' failed
make[2]: *** [../bin/librtabmap_core.so.0.19.2] 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

Any help please ?

matlabbe commented 5 years ago

I see /usr/local/include/vtk-7.1, make sure VTK is built with Qt module:

$ cd VTK/build
$ cmake -DVTK_Group_Qt=ON -DVTK_QT_VERSION=5 ..
$ make 
$ make install

cheers, Mathieu

hachbani2019 commented 5 years ago

Hi, Thanks your for your response. Though, I don't understand your instructions since Im a ROS beginner, Do I have to download the QT module ? there's no build folder in the VTK project

matlabbe commented 5 years ago

For a beginner, I don't recommend to build VTK and PCL from source. There is no Qt module to download, it should be built. From the log you shown, you have built VTK from source somewhere (as it is installed in /usr/local). When building VTK, we should enable the options I've shown in my previous post so that vtkGUISupportQt library is built. Not sure which Qt version is installed on your computer, but set "-DVTK_QT_VERSION=4" instead if it is Qt4.

Another approach (the normal approach) is to uninstall your PCL and VTK versions installed in /usr/local to use the binary ones instead (for which the vtk Qt module is already built).