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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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rtabmap_ros: catkin_make error: undefined reference to rtabmap::OctoMap::createCloud(...) #596

Open damianosa96 opened 3 years ago

damianosa96 commented 3 years ago

Hi, I have a problem when building rtabmap_ros from source. After all the previous steps indicated in the github guide, when I launch the command catkin_make I receive the following error:

Command: catkin_make -DRTABMAP_SYNC_MULTI_RGBD=ON -DRTABMAP_SYNC_USER_DATA=ON

err1 err2

My system configuration is: Ubuntu 20.04 Ros Noetic PCL version: 1.10

I have already tried the following solutions, but the error still remains:

Here is the output of the command cmake ..

-- MOBILE_BUILD=OFF
CMake Deprecation Warning at CMakeLists.txt:72 (cmake_policy):
  The OLD behavior for policy CMP0043 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.

-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
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-7.1/VTKTargets.cmake"
but not all the files it references.

-- 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-7.1/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-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
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-7.1/VTKTargets.cmake"
but not all the files it references.

-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.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: /usr/lib/gcc/x86_64-linux-gnu/9/libgomp.so;/usr/lib/x86_64-linux-gnu/libpthread.so
-- Found OpenCV: /usr/include/opencv4
-- Found PCL: /usr/include/pcl-1.10;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/vtk-7.1;/usr/include/freetype2;/usr/include/x86_64-linux-gnu
-- 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:294 (FIND_PACKAGE)

-- VTK_RENDERING_BACKEND=OpenGL2
-- Found Freenect: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
CMake Warning (dev) at /usr/share/cmake-3.16/Modules/FindOpenGL.cmake:275 (message):
  Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
  available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  FindOpenGL found both a legacy GL library:

    OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

  and GLVND libraries for OpenGL and GLX:

    OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
    OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

  OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
  compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /opt/ros/noetic/lib/cmake/g2o/g2oConfig.cmake:4 (find_dependency)
  CMakeLists.txt:432 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found g2o (targets)
-- 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 Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono atomic 
-- Found libpointmatcher: /usr/local/include;/usr/include/eigen3
-- Found Boost: /usr/include (found version "1.71.0") found components: thread filesystem system program_options date_time chrono timer atomic 
-- Found RealSense2: 
-- Found octomap 1.9.7: /opt/ros/noetic/include
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.3.7 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags
-- Detected gflags version: 2.2.2
-- Found required Ceres dependency: gflags
-- Found Ceres version: 1.14.0 installed in: /usr with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, OpenMP, Multithreading]
-- Architecture: x86_64
-- Found Pthreads
-- --------------------------------------------
-- Info :
--   RTAB-Map Version =     0.20.12
--   CMAKE_VERSION =        3.16.3
--   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++14
--   FLANN_KDTREE_MEM_OPT = OFF
--   PCL_DEFINITIONS = -DDISABLE_OPENNI2;-DDISABLE_PCAP;-DDISABLE_PNG;-DDISABLE_LIBUSB_1_0
--   PCL_VERSION = 1.10.0
-- 
-- Optional dependencies ('*' affects some default parameters) :
--  *With OpenCV 4.2.0 xfeatures2d = NO, nonfree = NO (License: BSD)
--   With Qt 5.12.8            = YES (License: Open Source or Commercial)
--   With VTK 7.1              = YES (License: BSD)
--   With external SQLite3     = YES (License: Public Domain)
--   With ORB OcTree           = YES (License: GPLv3)
--   With SupertPoint          = NO (WITH_TORCH=OFF)
--   With Python3              = NO (WITH_PYTHON=OFF)
--   With Madgwick             = YES (License: GPL)
--   With FastCV               = NO (FastCV not found)
--   With PDAL                 = NO (PDAL not found)
-- 
--  Solvers:
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--  *With g2o                  = YES (License: BSD)
--  *With GTSAM                = NO (GTSAM not found)
--  *With Ceres                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = NO (cvsba not found)
--  *With libpointmatcher      = YES (License: BSD)
--   With CCCoreLib            = NO (CCCoreLib not found)
-- 
--  Reconstruction Approaches:
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = NO (CPUTSDF not found)
--   With OpenChisel           = NO (open_chisel not found)
--   With AliceVision          = NO (WITH_ALICE_VISION=OFF)
-- 
--  Camera Drivers:
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   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 Kinect for Azure     = NO (Kinect for Azure SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With ZED                  = NO (ZED sdk and/or cuda not found)
--   With ZEDOC                = NO (ZED Open Capture not found)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = YES (License: Apache-2)
--   With MyntEyeS             = NO (mynteye s sdk not found)
--   With DepthAI              = NO (depthai-core not found)
-- 
--  Odometry Approaches:
--   With loam_velodyne        = NO (loam_velodyne 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 OpenVINS             = NO (ov_msckf not found)
--   With ORB_SLAM             = NO (WITH_G2O should be OFF as ORB_SLAM uses its own g2o version)
-- Show all options with: cmake -LA | grep WITH_
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: /home/damiano/rtabmap/build

I installed all the packages from source, so I guess that it's all set to the last version.

I don't know what else I can try, thank you for any suggestion.

sumitsarkar1 commented 3 years ago

@damianosa96 did you solve it? I am also facing same problem...I build Octomap from source and build rtabmap standalone with Octopmap and made sure sudo apt-get remove ros-noetic-octomapso that octomap from source is utilised.Still no luck

matlabbe commented 2 years ago

It seems linking on a different version of rtabmap library. Try building with catkin_make VERBOSE=1 to show to which libraries it is linking on. The function is there: https://github.com/introlab/rtabmap/blob/a5685c3e3104cb7f620fd5ad37e073521962b41e/corelib/src/OctoMap.cpp#L1031-L1038 and the buildfarm is building correctly: https://travis-ci.com/github/introlab/rtabmap_ros/jobs/525757785