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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 Foxy won't compile, rtabmap will compile but just is not found. #747

Closed FPSychotic closed 1 year ago

FPSychotic commented 2 years ago

X64, RTX3060 with 510 and Cuda 11.4, Opencv 4.5.5 with Cuda and cudnn compiled, 20.04, ROS Foxy. Rtabmap Foxy compiles sucesfully into ws with colcon build symlink install or sudo make install in system, but in both is not accesible with the comand rtabmap.

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//path to pcl_features library
PCL_FEATURES_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_features.so

//path to pcl_features library debug
PCL_FEATURES_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_features.so

//path to filters headers
PCL_FILTERS_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_filters library
PCL_FILTERS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_filters.so

//path to pcl_filters library debug
PCL_FILTERS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_filters.so

//path to geometry headers
PCL_GEOMETRY_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to io headers
PCL_IO_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_io library
PCL_IO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so

//path to pcl_io library debug
PCL_IO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so

//path to kdtree headers
PCL_KDTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_kdtree library
PCL_KDTREE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so

//path to pcl_kdtree library debug
PCL_KDTREE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so

//path to ml headers
PCL_ML_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_ml library
PCL_ML_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_ml.so

//path to pcl_ml library debug
PCL_ML_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_ml.so

//path to octree headers
PCL_OCTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_octree library
PCL_OCTREE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so

//path to pcl_octree library debug
PCL_OCTREE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so

//With PCL OMP implementations
PCL_OMP:BOOL=ON

//path to registration headers
PCL_REGISTRATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_registration library
PCL_REGISTRATION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_registration.so

//path to pcl_registration library debug
PCL_REGISTRATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_registration.so

//path to sample_consensus headers
PCL_SAMPLE_CONSENSUS_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_sample_consensus library
PCL_SAMPLE_CONSENSUS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so

//path to pcl_sample_consensus library debug
PCL_SAMPLE_CONSENSUS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so

//path to search headers
PCL_SEARCH_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_search library
PCL_SEARCH_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_search.so

//path to pcl_search library debug
PCL_SEARCH_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_search.so

//path to segmentation headers
PCL_SEGMENTATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_segmentation library
PCL_SEGMENTATION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so

//path to pcl_segmentation library debug
PCL_SEGMENTATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so

//path to surface headers
PCL_SURFACE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_surface library
PCL_SURFACE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_surface.so

//path to pcl_surface library debug
PCL_SURFACE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_surface.so

//path to visualization headers
PCL_VISUALIZATION_INCLUDE_DIR:PATH=/usr/include/pcl-1.10

//path to pcl_visualization library
PCL_VISUALIZATION_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_visualization.so

//path to pcl_visualization library debug
PCL_VISUALIZATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_visualization.so

//The directory containing a CMake configuration file for PDAL.
PDAL_DIR:PATH=PDAL_DIR-NOTFOUND

//pkg-config executable
PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config

//Path to a file.
PTHREADS_INCLUDE_DIR:PATH=/usr/include

//The Portable Threads Library
PTHREADS_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpthread.so

//Path to a library.
QHULL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libqhull.so

//Path to a library.
QHULL_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libqhull.so

//The directory containing a CMake configuration file for Qt5Core.
Qt5Core_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Core

//The directory containing a CMake configuration file for Qt5Gui.
Qt5Gui_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Gui

//The directory containing a CMake configuration file for Qt5PrintSupport.
Qt5PrintSupport_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5PrintSupport

//The directory containing a CMake configuration file for Qt5Sql.
Qt5Sql_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Sql

//The directory containing a CMake configuration file for Qt5Svg.
Qt5Svg_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Svg

//The directory containing a CMake configuration file for Qt5Widgets.
Qt5Widgets_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets

//Force a specific Qt version.
RTABMAP_QT_VERSION:STRING=AUTO

//Value Computed by CMake
RTABMap_BINARY_DIR:STATIC=/home/igcs/ros2_rtabmap_ws/src/rtabmap/build

//Value Computed by CMake
RTABMap_SOURCE_DIR:STATIC=/home/igcs/ros2_rtabmap_ws/src/rtabmap

//Path to a library.
RealSenseImage_LIBRARY:FILEPATH=RealSenseImage_LIBRARY-NOTFOUND

//Path to a library.
RealSenseSP_Core_LIBRARY:FILEPATH=RealSenseSP_Core_LIBRARY-NOTFOUND

//Path to a file.
RealSenseSlam_INCLUDE_DIRS:PATH=RealSenseSlam_INCLUDE_DIRS-NOTFOUND

//Path to a library.
RealSenseSlam_LIBRARY:FILEPATH=RealSenseSlam_LIBRARY-NOTFOUND

//Path to a library.
RealSenseTracker_LIBRARY:FILEPATH=RealSenseTracker_LIBRARY-NOTFOUND

//Path to a file.
RealSense_INCLUDE_DIRS:PATH=RealSense_INCLUDE_DIRS-NOTFOUND

//Path to a library.
RealSense_LIBRARY:FILEPATH=/snap/bin

//Path to a file.
Sqlite3_INCLUDE_DIR:PATH=/usr/include

//Path to a library.
Sqlite3_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libsqlite3.so

//Path to a file.
SuiteSparse_AMD_INCLUDE_DIR:PATH=/usr/include/suitesparse

//Path to a library.
SuiteSparse_AMD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libamd.so

//Path to a file.
SuiteSparse_CAMD_INCLUDE_DIR:PATH=/usr/include/suitesparse

//Path to a library.
SuiteSparse_CAMD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcamd.so

//Path to a file.
SuiteSparse_CCOLAMD_INCLUDE_DIR:PATH=/usr/include/suitesparse

//Path to a library.
SuiteSparse_CCOLAMD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libccolamd.so

//Path to a file.
SuiteSparse_CHOLMOD_INCLUDE_DIR:PATH=/usr/include/suitesparse

//Path to a library.
SuiteSparse_CHOLMOD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcholmod.so

//Path to a file.
SuiteSparse_COLAMD_INCLUDE_DIR:PATH=/usr/include/suitesparse

//Path to a library.
SuiteSparse_COLAMD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libcolamd.so

//Path to a file.
SuiteSparse_Config_INCLUDE_DIR:PATH=/usr/include/suitesparse

//Path to a library.
SuiteSparse_Config_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so

//The directory containing a CMake configuration file for SuiteSparse.
SuiteSparse_DIR:PATH=SuiteSparse_DIR-NOTFOUND

//Path to a file.
SuiteSparse_SPQR_INCLUDE_DIR:PATH=/usr/include/suitesparse

//Path to a library.
SuiteSparse_SPQR_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libspqr.so

//The directory containing a CMake configuration file for TBB.
TBB_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/TBB

//Path to a file.
Triclops_INCLUDE_DIR:PATH=Triclops_INCLUDE_DIR-NOTFOUND

//Path to a library.
Triclops_LIBRARY:FILEPATH=Triclops_LIBRARY-NOTFOUND

//Path to a file.
USB_10_INCLUDE_DIR:PATH=/usr/include

//Path to a library.
USB_10_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so

//The directory containing VTKConfig.cmake
VTK_DIR:PATH=/usr/lib/cmake/vtk-7.1

//Include AliceVision support
WITH_ALICE_VISION:BOOL=OFF

//Include CCCoreLib support
WITH_CCCORELIB:BOOL=OFF

//Include Ceres support
WITH_CERES:BOOL=ON

//Include CPUTSDF support
WITH_CPUTSDF:BOOL=OFF

//Include cvsba support
WITH_CVSBA:BOOL=OFF

//Include dc1394 support
WITH_DC1394:BOOL=ON

//Include depthai-core support
WITH_DEPTHAI:BOOL=ON

//Include DVO support
WITH_DVO:BOOL=OFF

//Include FastCV support
WITH_FASTCV:BOOL=ON

//Include FLOAM support
WITH_FLOAM:BOOL=OFF

//Include FlyCapture2/Triclops support
WITH_FLYCAPTURE2:BOOL=ON

//Include FOVIS support
WITH_FOVIS:BOOL=OFF

//Include Freenect support
WITH_FREENECT:BOOL=ON

//Include Freenect2 support
WITH_FREENECT2:BOOL=ON

//Include g2o support
WITH_G2O:BOOL=ON

//Include GTSAM support
WITH_GTSAM:BOOL=ON

//Include Kinect for Azure support
WITH_K4A:BOOL=ON

//Include Kinect for Windows v2 support
WITH_K4W2:BOOL=ON

//Include LOAM support
WITH_LOAM:BOOL=OFF

//Include Madgwick IMU filtering support
WITH_MADGWICK:BOOL=ON

//Include MSCKF_VIO support
WITH_MSCKF_VIO:BOOL=OFF

//Include mynteye-s support
WITH_MYNTEYE:BOOL=OFF

//Include Octomap support
WITH_OCTOMAP:BOOL=ON

//Include OKVIS support
WITH_OKVIS:BOOL=OFF

//Include Open3D support
WITH_OPEN3D:BOOL=ON

//Include open_chisel support
WITH_OPENCHISEL:BOOL=OFF

//Include OpenMP support
WITH_OPENMP:BOOL=ON

//Include OpenNI2 support
WITH_OPENNI2:BOOL=ON

//Include OpenVINS support
WITH_OPENVINS:BOOL=OFF

//Include ORB Octree feature support
WITH_ORB_OCTREE:BOOL=ON

//Include ORB_SLAM2 or ORB_SLAM3  support
WITH_ORB_SLAM:BOOL=OFF

//Include PDAL support
WITH_PDAL:BOOL=ON

//Include libpointmatcher support
WITH_POINTMATCHER:BOOL=ON

//Include Python3 support (PyMatcher, PyDetector)
WITH_PYTHON:BOOL=OFF

//Use more than one Python interpreter.
WITH_PYTHON_THREADING:BOOL=OFF

//Include Qt support
WITH_QT:BOOL=ON

//Include RealSense support
WITH_REALSENSE:BOOL=ON

//Include RealSense support
WITH_REALSENSE2:BOOL=ON

//Include RealSenseSlam support
WITH_REALSENSE_SLAM:BOOL=ON

//Include Torch support (SuperPoint)
WITH_TORCH:BOOL=OFF

//Include TORO support
WITH_TORO:BOOL=ON

//Include Vertigo support
WITH_VERTIGO:BOOL=ON

//Include VINS-Fusion support
WITH_VINS:BOOL=OFF

//Include VISO2 support
WITH_VISO2:BOOL=OFF

//Include ZED sdk support
WITH_ZED:BOOL=OFF

//Include ZED Open Capture support
WITH_ZEDOC:BOOL=ON

//The directory containing a CMake configuration file for XLink.
XLink_DIR:PATH=/home/igcs/depthai-core/build/install/lib/cmake/depthai/dependencies/lib/cmake/XLink

//Path to a file.
ZEDOC_INCLUDE_DIR:PATH=ZEDOC_INCLUDE_DIR-NOTFOUND

//Path to a library.
ZEDOC_LIBRARY:FILEPATH=ZEDOC_LIBRARY-NOTFOUND

//The directory containing a CMake configuration file for ZED.
ZED_DIR:PATH=ZED_DIR-NOTFOUND

//Path to a file.
ZLIB_INCLUDE_DIR:PATH=/usr/include

//Path to a library.
ZLIB_LIBRARY_DEBUG:FILEPATH=ZLIB_LIBRARY_DEBUG-NOTFOUND

//Path to a library.
ZLIB_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libz.so

//The directory containing a CMake configuration file for depthai.
depthai_DIR:PATH=/home/igcs/depthai-core/build/install/lib/cmake/depthai

//The directory containing a CMake configuration file for flann.
flann_DIR:PATH=flann_DIR-NOTFOUND

//The directory containing a CMake configuration file for freenect2.
freenect2_DIR:PATH=/usr/local/freenect2/lib/cmake/freenect2

//Path to a file.
freenect2_INCLUDE_DIR:PATH=/usr/local/freenect2/include

//Path to a library.
freenect2_LIBRARY:FILEPATH=/usr/local/freenect2/lib/libfreenect2.so

//The directory containing a CMake configuration file for g2o.
g2o_DIR:PATH=/opt/ros/foxy/lib/cmake/g2o

//The directory containing a CMake configuration file for k4a.
k4a_DIR:PATH=k4a_DIR-NOTFOUND

//The directory containing a CMake configuration file for k4arecord.
k4arecord_DIR:PATH=k4arecord_DIR-NOTFOUND

//The directory containing a CMake configuration file for libnabo.
libnabo_DIR:PATH=/opt/ros/foxy/share/libnabo/cmake

//The directory containing a CMake configuration file for libnop.
libnop_DIR:PATH=/home/igcs/depthai-core/build/install/lib/cmake/depthai/dependencies/lib/cmake/libnop

//The directory containing a CMake configuration file for libpointmatcher.
libpointmatcher_DIR:PATH=/usr/local/share/libpointmatcher/cmake

//The directory containing a CMake configuration file for mynteye.
mynteye_DIR:PATH=mynteye_DIR-NOTFOUND

//The directory containing a CMake configuration file for nlohmann_json.
nlohmann_json_DIR:PATH=/home/igcs/depthai-core/build/install/lib/cmake/depthai/dependencies/lib/cmake/nlohmann_json

//The directory containing a CMake configuration file for octomap.
octomap_DIR:PATH=/opt/ros/foxy/share/octomap

//Path to a library.
pkgcfg_lib_PC_FLANN_flann:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann.so

//Path to a library.
pkgcfg_lib_PC_FLANN_flann_cpp:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp.so

//Path to a library.
pkgcfg_lib_PC_FLANN_lz4:FILEPATH=/usr/lib/x86_64-linux-gnu/liblz4.so

//Path to a library.
pkgcfg_lib_PC_OPENNI_OpenNI:FILEPATH=/usr/lib/libOpenNI.so

//Path to a library.
pkgcfg_lib_PC_USB_10_usb-1.0:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so

//Path to a library.
pnmutils_LIBRARY:FILEPATH=pnmutils_LIBRARY-NOTFOUND

//The directory containing a CMake configuration file for realsense2.
realsense2_DIR:PATH=/opt/ros/foxy/lib/x86_64-linux-gnu/cmake/realsense2

//Dependencies for the target
.....................................................

`

Rtabmap-ros fails to compile trying any combination, even modifying cmakelists to find opencv 4.5.5 or compilint again cv_bridge into the ws

~/ros2_rtabmap_ws$ colcon build --symlink-install 
[0.498s] WARNING:colcon.colcon_core.verb:Some selected packages are already built in one or more underlay workspaces:
    'cv_bridge' is in: /home/igcs/isaac_ws/install/cv_bridge, /opt/ros/foxy
    'image_geometry' is in: /home/igcs/isaac_ws/install/image_geometry, /opt/ros/foxy
    'opencv_tests' is in: /home/igcs/isaac_ws/install/opencv_tests
    'vision_opencv' is in: /home/igcs/isaac_ws/install/vision_opencv, /opt/ros/foxy
....................................................
.....................................................
Starting >>> rtabmap_ros
[Processing: rtabmap_ros]                                  
[Processing: rtabmap_ros]                                      
[Processing: rtabmap_ros]e] [rtabmap_ros:build 90% - 1min 30.1s]
[Processing: rtabmap_ros]                                       
--- stderr: rtabmap_ros                                        
In file included from /usr/include/pcl-1.10/pcl/octree/octree_base.h:45,
                 from /usr/include/pcl-1.10/pcl/octree/octree_pointcloud.h:41,
                 from /usr/include/pcl-1.10/pcl/octree/octree_search.h:43,
                 from /usr/include/pcl-1.10/pcl/search/octree.h:42,
                 from /usr/include/pcl-1.10/pcl/search/pcl_search.h:44,
                 from /usr/include/pcl-1.10/pcl/filters/radius_outlier_removal.h:43,
                 from /home/igcs/ros2_rtabmap_ws/src/rtabmap_ros-foxy-devel/src/nodelets/point_cloud_assembler.cpp:35:
/usr/include/pcl-1.10/pcl/octree/octree_key.h:155:9: warning: ISO C++ prohibits anonymous structs [-Wpedantic]
  155 |         };
      |         ^
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_point_cloud_aggregator.dir/build.make:373: point_cloud_aggregator] Error 1
make[1]: *** [CMakeFiles/Makefile2:705: CMakeFiles/rtabmap_point_cloud_aggregator.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_rgb_sync.dir/build.make:387: rgb_sync] Error 1
make[1]: *** [CMakeFiles/Makefile2:1139: CMakeFiles/rtabmap_rgb_sync.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_rgbd_relay.dir/build.make:387: rgbd_relay] Error 1
make[1]: *** [CMakeFiles/Makefile2:1170: CMakeFiles/rtabmap_rgbd_relay.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_stereo_sync.dir/build.make:387: stereo_sync] Error 1
make[1]: *** [CMakeFiles/Makefile2:312: CMakeFiles/rtabmap_stereo_sync.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_rgbd_sync.dir/build.make:387: rgbd_sync] Error 1
make[1]: *** [CMakeFiles/Makefile2:765: CMakeFiles/rtabmap_rgbd_sync.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_pointcloud_to_depthimage.dir/build.make:387: pointcloud_to_depthimage] Error 1
make[1]: *** [CMakeFiles/Makefile2:195: CMakeFiles/rtabmap_pointcloud_to_depthimage.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_rgbdx_sync.dir/build.make:387: rgbdx_sync] Error 1
make[1]: *** [CMakeFiles/Makefile2:1015: CMakeFiles/rtabmap_rgbdx_sync.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_point_cloud_xyz.dir/build.make:373: point_cloud_xyz] Error 1
make[1]: *** [CMakeFiles/Makefile2:454: CMakeFiles/rtabmap_point_cloud_xyz.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_point_cloud_xyzrgb.dir/build.make:387: point_cloud_xyzrgb] Error 1
make[1]: *** [CMakeFiles/Makefile2:425: CMakeFiles/rtabmap_point_cloud_xyzrgb.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_obstacles_detection.dir/build.make:373: obstacles_detection] Error 1
make[1]: *** [CMakeFiles/Makefile2:955: CMakeFiles/rtabmap_obstacles_detection.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_point_cloud_assembler.dir/build.make:373: point_cloud_assembler] Error 1
make[1]: *** [CMakeFiles/Makefile2:224: CMakeFiles/rtabmap_point_cloud_assembler.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_rgbd_odometry.dir/build.make:392: rgbd_odometry] Error 1
make[1]: *** [CMakeFiles/Makefile2:1077: CMakeFiles/rtabmap_rgbd_odometry.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_stereo_odometry.dir/build.make:392: stereo_odometry] Error 1
make[1]: *** [CMakeFiles/Makefile2:566: CMakeFiles/rtabmap_stereo_odometry.dir/all] Error 2
/usr/bin/ld: librtabmap_plugins.so: undefined reference to `image_transport::create_subscription(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::function<void (std::shared_ptr<sensor_msgs::msg::Image_<std::allocator<void> > const> const&)> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rmw_qos_profile_t)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_icp_odometry.dir/build.make:392: icp_odometry] Error 1
make[1]: *** [CMakeFiles/Makefile2:1108: CMakeFiles/rtabmap_icp_odometry.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< rtabmap_ros [2min 10s, exited with code 2]

Summary: 5 packages finished [5min 31s]
  1 package failed: rtabmap_ros
  3 packages had stderr output: opencv_tests rtabmap rtabmap_ros

Thanks by share !!!!

matlabbe commented 1 year ago

This is maybe resolved on latest ros2 branch as foxy build is green: https://github.com/introlab/rtabmap/actions/runs/3555309659/jobs/5971928114