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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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Problems building rtab from source #322

Closed schmiran closed 5 years ago

schmiran commented 5 years ago

Hello, I'm trying to build RTAB from the source. The build breaks off at 80% and the error tells me nothing. I hope you can help me. I followed these instructions for the installation: https://github.com/introlab/rtabmap_ros (I installed all dependencies like OpenCV3, g2o and GTSAM)

Here is my cmake output:

schmiran@ubuntu:~/rtabmap/build$ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel ..
-- The C compiler identification is GNU 5.5.0
-- The CXX compiler identification is GNU 5.5.0
-- 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
CMake Deprecation Warning at CMakeLists.txt:64 (cmake_policy):
  The OLD behavior for policy CMP0020 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.

-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.4
-- Found eigen: /usr/include/eigen3  
-- Checking for module 'libopenni'
--   Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so  
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- Found libusb-1.0: /usr/include  
-- Checking for module 'flann'
--   Found flann, version 1.9.1
-- 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/lib/x86_64-linux-gnu/libpcl_common.so  
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so  
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so  
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so  
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so  
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so  
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so  
-- Found PCL_2D: /usr/include/pcl-1.8  
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so  
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so  
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so  
-- Found PCL_GEOMETRY: /usr/include/pcl-1.8  
-- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so  
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so  
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/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
-- Found OpenMP_C: -fopenmp (found version "4.0") 
-- Found OpenMP_CXX: -fopenmp (found version "4.0") 
-- Found OpenMP: TRUE (found version "4.0")  
-- Found OpenMP
-- Found OpenCV: /usr/local/include;/usr/local/include/opencv
-- Found PCL: /usr/include/pcl-1.8;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.3;/usr/include/freetype2;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent;/usr/lib/x86_64-linux-gnu/openmpi/include/openmpi/opal/mca/event/libevent2022/libevent/include;/usr/lib/x86_64-linux-gnu/openmpi/include;/usr/include/python2.7;/usr/include/x86_64-linux-gnu;/usr/include/hdf5/openmpi;/usr/include/libxml2;/usr/include/jsoncpp;/usr/include/tcl
-- Found ZLIB: /usr/include
-- Could NOT find Qt5Svg (missing: Qt5Svg_DIR)
CMake Warning at /usr/lib/x86_64-linux-gnu/cmake/Qt5/Qt5Config.cmake:39 (message):
  Failed to find Qt5 component "Svg" config file at
  "/usr/lib/x86_64-linux-gnu/cmake/Qt5Svg/Qt5SvgConfig.cmake"
Call Stack (most recent call first):
  CMakeLists.txt:268 (FIND_PACKAGE)

-- VTK_RENDERING_BACKEND=OpenGL
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- Found CSPARSE: /usr/include/suitesparse  
CMake Warning at cmake_modules/FindG2O.cmake:122 (MESSAGE):
  Latest g2o version detected with c++11 interface (config file:
  /opt/ros/melodic/include/g2o/config.h).  Make sure g2o is built with
  "-DBUILD_WITH_MARCH_NATIVE=OFF" to avoid segmentation faults caused by
  Eigen.
Call Stack (most recent call first):
  CMakeLists.txt:342 (FIND_PACKAGE)

-- Found g2o: /opt/ros/melodic/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 RealSense2: 
-- 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 : 0.19.4
--   CMAKE_INSTALL_PREFIX = /home/schmiran/catkin_ws/devel
--   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 =  ;-DDISABLE_ENSENSO;-DDISABLE_DAVIDSDK;-DDISABLE_DSSDK;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0;-DFLANN_STATIC;-Dqh_QHpointer;-DDISABLE_RSSDK
-- 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 Madgwick             = YES (License: GPL)
--   With Freenect             = NO (libfreenect not found)
--   With OpenNI2              = YES (License: Apache v2)
--   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           = YES (License: Apache-2)
--   With OCTOMAP              = NO (octomap not found)
--   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/schmiran/rtabmap/build

And this is the error:

[ 81%] Linking CXX executable ../../../bin/rtabmap
../../../bin/librtabmap_core.so.0.19.4: Warnung: undefinierter Verweis auf »pcl::search::Search<pcl::PointXYZ>::getName() const«
../../../bin/librtabmap_gui.so.0.19.4: Warnung: undefinierter Verweis auf »pcl::search::Search<pcl::PointXYZRGBNormal>::getName() const«
../../../bin/librtabmap_core.so.0.19.4: Warnung: undefinierter Verweis auf »pcl::search::Search<pcl::PointXYZI>::getName() const«
../../../bin/librtabmap_core.so.0.19.4: Warnung: undefinierter Verweis auf »pcl::search::Search<pcl::PointXYZRGB>::getName() const«
../../../bin/librtabmap_core.so.0.19.4: Warnung: undefinierter Verweis auf »pcl::search::Search<pcl::PointNormal>::getName() const«
collect2: error: ld returned 1 exit status
app/src/CMakeFiles/rtabmap.dir/build.make:500: recipe for target '../bin/rtabmap' failed
make[2]: *** [../bin/rtabmap] Error 1
CMakeFiles/Makefile2:416: recipe for target 'app/src/CMakeFiles/rtabmap.dir/all' failed
make[1]: *** [app/src/CMakeFiles/rtabmap.dir/all] Error 2
Makefile:151: recipe for target 'all' failed
make: *** [all] Error 2

To me it looks like there is a problem with VTK and QT, maybe you can tell me where I did something wrong. I am happy about any help. Many thanks in advance!

matlabbe commented 5 years ago

It seems a linker errors with PCL libraries. I cannot reproduce the problem (fresh build on docker):

$ git clone https://github.com/introlab/rtabmap_ros
$ cd rtabmap_ros/docker/melodic/latest
$ docker build -t introlab3it/rtabmap_ros:melodic-latest .

cheers, Mathieu