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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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Catkin_make -j1 Error #440

Open doomb007 opened 4 years ago

doomb007 commented 4 years ago

CameraMyntEye.h.txt

I'm trying to install rtabmap_ros by following this tutorial, everything goes smoothly, but when I install RTAB-Map ros-pkg in the src folder of my Catkin workspace and run catkin_make -j1, I got an error:

Base path: /home/martin/catkin_ws
Source space: /home/martin/catkin_ws/src
Build space: /home/martin/catkin_ws/build
Devel space: /home/martin/catkin_ws/devel
Install space: /home/martin/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/martin/catkin_ws/build"
####
####
#### Running command: "make -j1" in "/home/martin/catkin_ws/build"
####
[  0%] Built target _beginner_tutorials_generate_messages_check_deps_Num
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target _beginner_tutorials_generate_messages_check_deps_AddTwoInts
[  1%] Built target beginner_tutorials_generate_messages_eus
[  1%] Built target std_msgs_generate_messages_lisp
[  2%] Built target beginner_tutorials_generate_messages_lisp
[  2%] Built target std_msgs_generate_messages_py
[  4%] Built target beginner_tutorials_generate_messages_py
[  4%] Built target std_msgs_generate_messages_nodejs
[  4%] Built target beginner_tutorials_generate_messages_nodejs
[  4%] Built target std_msgs_generate_messages_cpp
[  4%] Built target beginner_tutorials_generate_messages_cpp
[  4%] Built target beginner_tutorials_generate_messages
[  4%] Built target _lsd_slam_viewer_generate_messages_check_deps_keyframeGraphMsg
[  4%] Built target _lsd_slam_viewer_generate_messages_check_deps_keyframeMsg
[  5%] Built target lsd_slam_viewer_generate_messages_py
[  6%] Built target lsd_slam_viewer_generate_messages_cpp
[  7%] Built target lsd_slam_viewer_generate_messages_eus
[  7%] Built target lsd_slam_viewer_generate_messages_lisp
[  8%] Built target lsd_slam_viewer_generate_messages_nodejs
[  8%] Built target lsd_slam_viewer_generate_messages
[  8%] Built target lsd_slam_viewer_gencfg
[ 10%] Built target viewer
[ 11%] Built target lsd_slam_core_gencfg
[ 18%] Built target lsdslam
[ 19%] Built target live_slam
[ 19%] Built target dataset
[ 19%] Built target bond_generate_messages_lisp
[ 19%] Built target _catkin_empty_exported_target
[ 19%] Built target roscpp_generate_messages_py
[ 19%] Built target rosgraph_msgs_generate_messages_eus
[ 19%] Built target rosgraph_msgs_generate_messages_nodejs
[ 19%] Built target roscpp_generate_messages_cpp
[ 19%] Built target rosgraph_msgs_generate_messages_cpp
[ 19%] Built target roscpp_generate_messages_eus
[ 19%] Built target rosgraph_msgs_generate_messages_py
[ 19%] Built target rosgraph_msgs_generate_messages_lisp
[ 19%] Built target roscpp_generate_messages_nodejs
[ 19%] Built target roscpp_generate_messages_lisp
[ 19%] Built target dynamic_reconfigure_generate_messages_lisp
[ 19%] Built target dynamic_reconfigure_generate_messages_py
[ 19%] Built target dynamic_reconfigure_generate_messages_cpp
[ 19%] Built target dynamic_reconfigure_generate_messages_nodejs
[ 19%] Built target dynamic_reconfigure_generate_messages_eus
[ 19%] Built target sensor_msgs_generate_messages_nodejs
[ 19%] Built target geometry_msgs_generate_messages_cpp
[ 19%] Built target dynamic_reconfigure_gencfg
[ 19%] Built target sensor_msgs_generate_messages_eus
[ 19%] Built target geometry_msgs_generate_messages_py
[ 19%] Built target geometry_msgs_generate_messages_eus
[ 19%] Built target geometry_msgs_generate_messages_lisp
[ 19%] Built target geometry_msgs_generate_messages_nodejs
[ 19%] Built target sensor_msgs_generate_messages_cpp
[ 19%] Built target sensor_msgs_generate_messages_lisp
[ 19%] Built target sensor_msgs_generate_messages_py
[ 19%] Built target tf_generate_messages_cpp
[ 19%] Built target actionlib_generate_messages_eus
[ 19%] Built target nodelet_generate_messages_nodejs
[ 19%] Built target nav_msgs_generate_messages_lisp
[ 19%] Built target tf2_msgs_generate_messages_eus
[ 19%] Built target nodelet_generate_messages_cpp
[ 19%] Built target nodelet_generate_messages_lisp
[ 19%] Built target bond_generate_messages_cpp
[ 19%] Built target nodelet_generate_messages_py
[ 19%] Built target nav_msgs_generate_messages_cpp
[ 19%] Built target nav_msgs_generate_messages_eus
[ 19%] Built target nav_msgs_generate_messages_py
[ 19%] Built target tf2_msgs_generate_messages_py
[ 19%] Built target actionlib_msgs_generate_messages_nodejs
[ 19%] Built target actionlib_generate_messages_cpp
[ 19%] Built target tf_generate_messages_eus
[ 19%] Built target bond_generate_messages_py
[ 19%] Built target diagnostic_msgs_generate_messages_eus
[ 19%] Built target _realsense2_camera_generate_messages_check_deps_Extrinsics
[ 19%] Built target _realsense2_camera_generate_messages_check_deps_IMUInfo
[ 19%] Built target realsense2_camera_generate_messages_cpp
[ 19%] Built target actionlib_msgs_generate_messages_lisp
[ 19%] Built target nav_msgs_generate_messages_nodejs
[ 19%] Built target actionlib_generate_messages_py
[ 19%] Built target actionlib_msgs_generate_messages_py
[ 19%] Built target bond_generate_messages_nodejs
[ 19%] Built target nodelet_generate_messages_eus
[ 19%] Built target tf2_msgs_generate_messages_nodejs
[ 19%] Built target tf_generate_messages_nodejs
[ 19%] Built target diagnostic_msgs_generate_messages_cpp
[ 19%] Built target tf_generate_messages_py
[ 19%] Built target actionlib_msgs_generate_messages_eus
[ 19%] Built target actionlib_generate_messages_lisp
[ 19%] Built target actionlib_msgs_generate_messages_cpp
[ 19%] Built target actionlib_generate_messages_nodejs
[ 19%] Built target tf2_msgs_generate_messages_cpp
[ 19%] Built target tf2_msgs_generate_messages_lisp
[ 19%] Built target bond_generate_messages_eus
[ 19%] Built target diagnostic_msgs_generate_messages_lisp
[ 19%] Built target diagnostic_msgs_generate_messages_nodejs
[ 19%] Built target tf_generate_messages_lisp
[ 19%] Built target diagnostic_msgs_generate_messages_py
[ 21%] Built target realsense2_camera
[ 22%] Built target realsense2_camera_generate_messages_py
[ 23%] Built target realsense2_camera_generate_messages_nodejs
[ 24%] Built target realsense2_camera_generate_messages_lisp
[ 25%] Built target realsense2_camera_generate_messages_eus
[ 25%] Built target realsense2_camera_generate_messages
[ 26%] Built target usb_cam
[ 27%] Built target usb_cam_node
[ 27%] Built target rtabmap_costmap_plugins2
[ 28%] Built target rtabmap_costmap_plugins
[ 28%] Built target rtabmap_ros_gencfg
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_KeyPoint
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_ResetPose
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_RGBDImage
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_MapGraph
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_OdomInfo
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_GetMap2
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_NodeData
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_ScanDescriptor
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_PublishMap
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_GPS
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_Link
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_Goal
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_Point2f
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_GetMap
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_ListLabels
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_GetNodeData
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_SetLabel
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_MapData
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_SetGoal
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_GetPlan
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_Point3f
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_UserData
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_GlobalDescriptor
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_Path
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_Info
[ 28%] Built target _rtabmap_ros_generate_messages_check_deps_AddLink
[ 37%] Built target rtabmap_ros_generate_messages_eus
[ 45%] Built target rtabmap_ros_generate_messages_cpp
[ 53%] Built target rtabmap_ros_generate_messages_lisp
[ 62%] Built target rtabmap_ros_generate_messages_nodejs
[ 71%] Built target rtabmap_ros_generate_messages_py
[ 73%] Built target rtabmap_ros
[ 77%] Built target rtabmap_rviz_plugins
[ 78%] Built target rtabmap_point_cloud_assembler
[ 79%] Built target rtabmap_pointcloud_to_depthimage
[ 80%] Built target rtabmap_data_player
[ 80%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_stereo_camera.dir/src/StereoCameraNode.cpp.o
In file included from /usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/CameraStereo.h:36:0,
                 from /home/martin/catkin_ws/src/rtabmap_ros/src/StereoCameraNode.cpp:31:
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:76:33: error: ‘std::uint64_t’ has not been declared
  double hardTimeToSoftTime(std::uint64_t hardTime);
                                 ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:78:31: error: ‘std::uint64_t’ has not been declared
  double checkUpTimeStamp(std::uint64_t _hard_time, std::uint8_t stream);
                               ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:78:57: error: ‘std::uint8_t’ has not been declared
  double checkUpTimeStamp(std::uint64_t _hard_time, std::uint8_t stream);
                                                         ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:80:7: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
  std::shared_ptr<mynteye::Device> device_;
       ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:81:7: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
  std::shared_ptr<mynteye::API> api_;
       ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:97:7: error: ‘uint64_t’ in namespace ‘std’ does not name a type
  std::uint64_t stamp_;
       ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:104:7: error: ‘uint64_t’ in namespace ‘std’ does not name a type
  std::uint64_t hardTimeBegin_;
       ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:105:7: error: ‘uint64_t’ in namespace ‘std’ does not name a type
  std::uint64_t unitHardTime_;
       ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:106:14: error: ‘uint64_t’ is not a member of ‘std’
  std::vector<std::uint64_t> lastHardTimes_;
              ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:106:14: note: suggested alternatives:
In file included from /usr/lib/gcc/x86_64-linux-gnu/5/include/stdint.h:9:0,
                 from /opt/ros/kinetic/include/ros/duration.h:53,
                 from /opt/ros/kinetic/include/ros/time.h:57,
                 from /opt/ros/kinetic/include/ros/ros.h:38,
                 from /home/martin/catkin_ws/src/rtabmap_ros/src/StereoCameraNode.cpp:28:
/usr/include/stdint.h:55:27: note:   ‘uint64_t’
 typedef unsigned long int uint64_t;
                           ^
/usr/include/stdint.h:55:27: note:   ‘uint64_t’
In file included from /usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/CameraStereo.h:36:0,
                 from /home/martin/catkin_ws/src/rtabmap_ros/src/StereoCameraNode.cpp:31:
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:106:14: error: ‘uint64_t’ is not a member of ‘std’
  std::vector<std::uint64_t> lastHardTimes_;
              ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:106:14: note: suggested alternatives:
In file included from /usr/lib/gcc/x86_64-linux-gnu/5/include/stdint.h:9:0,
                 from /opt/ros/kinetic/include/ros/duration.h:53,
                 from /opt/ros/kinetic/include/ros/time.h:57,
                 from /opt/ros/kinetic/include/ros/ros.h:38,
                 from /home/martin/catkin_ws/src/rtabmap_ros/src/StereoCameraNode.cpp:28:
/usr/include/stdint.h:55:27: note:   ‘uint64_t’
 typedef unsigned long int uint64_t;
                           ^
/usr/include/stdint.h:55:27: note:   ‘uint64_t’
In file included from /usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/CameraStereo.h:36:0,
                 from /home/martin/catkin_ws/src/rtabmap_ros/src/StereoCameraNode.cpp:31:
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:106:27: error: template argument 1 is invalid
  std::vector<std::uint64_t> lastHardTimes_;
                           ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:106:27: error: template argument 2 is invalid
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:107:14: error: ‘uint64_t’ is not a member of ‘std’
  std::vector<std::uint64_t> acc_;
              ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:107:14: note: suggested alternatives:
In file included from /usr/lib/gcc/x86_64-linux-gnu/5/include/stdint.h:9:0,
                 from /opt/ros/kinetic/include/ros/duration.h:53,
                 from /opt/ros/kinetic/include/ros/time.h:57,
                 from /opt/ros/kinetic/include/ros/ros.h:38,
                 from /home/martin/catkin_ws/src/rtabmap_ros/src/StereoCameraNode.cpp:28:
/usr/include/stdint.h:55:27: note:   ‘uint64_t’
 typedef unsigned long int uint64_t;
                           ^
/usr/include/stdint.h:55:27: note:   ‘uint64_t’
In file included from /usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/CameraStereo.h:36:0,
                 from /home/martin/catkin_ws/src/rtabmap_ros/src/StereoCameraNode.cpp:31:
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:107:14: error: ‘uint64_t’ is not a member of ‘std’
  std::vector<std::uint64_t> acc_;
              ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:107:14: note: suggested alternatives:
In file included from /usr/lib/gcc/x86_64-linux-gnu/5/include/stdint.h:9:0,
                 from /opt/ros/kinetic/include/ros/duration.h:53,
                 from /opt/ros/kinetic/include/ros/time.h:57,
                 from /opt/ros/kinetic/include/ros/ros.h:38,
                 from /home/martin/catkin_ws/src/rtabmap_ros/src/StereoCameraNode.cpp:28:
/usr/include/stdint.h:55:27: note:   ‘uint64_t’
 typedef unsigned long int uint64_t;
                           ^
/usr/include/stdint.h:55:27: note:   ‘uint64_t’
In file included from /usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/CameraStereo.h:36:0,
                 from /home/martin/catkin_ws/src/rtabmap_ros/src/StereoCameraNode.cpp:31:
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:107:27: error: template argument 1 is invalid
  std::vector<std::uint64_t> acc_;
                           ^
/usr/local/lib/rtabmap-0.20/../../include/rtabmap-0.20/rtabmap/core/camera/CameraMyntEye.h:107:27: error: template argument 2 is invalid
rtabmap_ros/CMakeFiles/rtabmap_stereo_camera.dir/build.make:62: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_stereo_camera.dir/src/StereoCameraNode.cpp.o' failed
make[2]: *** [rtabmap_ros/CMakeFiles/rtabmap_stereo_camera.dir/src/StereoCameraNode.cpp.o] Error 1
CMakeFiles/Makefile2:5107: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_stereo_camera.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_stereo_camera.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed

the software env is: Ubuntu16.04+Ros Kinetic

what should I do to solve the problem? thank you in advance!

matlabbe commented 4 years ago

Can you try with catkin_make VERBOSE=1 to see compilation flags. It seems catkin is not building with c++11 support.

Here is an example of build on xenial+kinetic: https://travis-ci.org/github/introlab/rtabmap_ros/jobs/708450819

doomb007 commented 4 years ago

Can you try with catkin_make VERBOSE=1 to see compilation flags. It seems catkin is not building with c++11 support.

Here is an example of build on xenial+kinetic: https://travis-ci.org/github/introlab/rtabmap_ros/jobs/708450819

Thank you for your answer!

The output of catkin_make VERBOSE=1 is a very long document, like this:

[ 93%] Linking CXX shared library /home/martin/catkin_ws/devel/lib/librtabmap_plugins.so
cd /home/martin/catkin_ws/build/rtabmap_ros && /usr/bin/cmake -E cmake_link_script CMakeFiles/rtabmap_plugins.dir/link.txt --verbose=1
/usr/bin/c++  -fPIC   -O3 -DNDEBUG   -shared -Wl,-soname,librtabmap_plugins.so -o /home/martin/catkin_ws/devel/lib/librtabmap_plugins.so CMakeFiles/rtabmap_plugins.dir/src/nodelets/rgbd_odometry.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/stereo_odometry.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/rgbdicp_odometry.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/icp_odometry.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/data_throttle.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/stereo_throttle.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/data_odom_sync.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/point_cloud_xyzrgb.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/point_cloud_xyz.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/disparity_to_depth.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/pointcloud_to_depthimage.cpp.o CMakeFiles/rtabmap_plugins.dir/src/nodelets/obstacles_detection.cpp.o 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-Wl,-rpath,/opt/ros/kinetic/lib:/usr/local/lib:/home/martin/catkin_ws/devel/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib:/usr/lib/openmpi/lib:/usr/lib/x86_64-linux-gnu/hdf5/serial/lib: 
make[2]: Leaving directory '/home/martin/catkin_ws/build'
[ 93%] Built target rtabmap_plugins
make[1]: Leaving directory '/home/martin/catkin_ws/build'
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make VERBOSE=1 -j8 -l8" failed

How can I confirm the problem from this text？

I‘ll try to follow the link you provided to reinstall RTABmap_ros next, thank you!

doomb007 commented 4 years ago

Hi, matlabbe@matlabbe, the output of following this example is as follow:

martin@martin-TM1701:~/catkin_ws$ catkin_make
Base path: /home/martin/catkin_ws
Source space: /home/martin/catkin_ws/src
Build space: /home/martin/catkin_ws/build
Devel space: /home/martin/catkin_ws/devel
Install space: /home/martin/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/martin/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/martin/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/martin/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/martin/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: False
-- catkin 0.7.20
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 5 packages in topological order:
-- ~~  - realsense2_description
-- ~~  - beginner_tutorials
-- ~~  - rtabmap (plain cmake)
-- ~~  - realsense2_camera
-- ~~  - usb_cam
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:95 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:67 (catkin_workspace)

-- Configuring incomplete, errors occurred!
See also "/home/martin/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/martin/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:3274: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

Is it because the source file contains the ROS2 package?

matlabbe commented 4 years ago

Build/install rtabmap package outside the catkin workspace. See step 2 here, where rtabmap (not rtabmap_ros) is cloned outside the catkin workspace like a standard library.

doomb007 commented 4 years ago

Yes，rtabmap have been built outside the catkin workspace, and It can be run normally, but I always get errors when run catkin_make -j1

the command all I used is as follow:

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
sudo apt install ros-noetic-rtabmap ros-noetic-rtabmap-ros
sudo apt remove ros-noetic-rtabmap ros-noetic-rtabmap-ros
(install g2o, GTSAM, libpointmatcher)
cd ~
git clone https://github.com/introlab/rtabmap.git rtabmap
cd rtabmap/build
cmake .. 
make
sudo make install
cd ~/catkin_ws
git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
catkin_make -j1 -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON

Is the command I used wrong? @matlabbe