search

introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
952 stars 556 forks source link

Error in compiling rtabmap_ros: "undefined reference to `rtabmap::util3d::[...]" #855

Open mjpc13 opened 1 year ago

mjpc13 commented 1 year ago

Hi, I am trying to compile rtabmap_ros using catkin_tools but it is giving me the following error:

Errors     << rtabmap_ros:make /work/Documents/catkin_ws/logs/rtabmap_ros/build.make.004.log                                               
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so, may conflict with libopencv_core.so.406
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_wifi_signal_pub.dir/build.make:549: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/wifi_signal_pub] Error 1
make[1]: *** [CMakeFiles/Makefile2:1772: CMakeFiles/rtabmap_wifi_signal_pub.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so, may conflict with libopencv_core.so.406
/usr/bin/ld: warning: libopencv_imgproc.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.406
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_stereo_camera.dir/build.make:549: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/stereo_camera] Error 1
make[1]: *** [CMakeFiles/Makefile2:492: CMakeFiles/rtabmap_stereo_camera.dir/all] Error 2
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so, may conflict with libopencv_core.so.406
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_odom_msg_to_tf.dir/build.make:549: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/odom_msg_to_tf] Error 1
make[1]: *** [CMakeFiles/Makefile2:2921: CMakeFiles/rtabmap_odom_msg_to_tf.dir/all] Error 2
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so, may conflict with libopencv_core.so.406
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_map_assembler.dir/build.make:549: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/map_assembler] Error 1
make[1]: *** [CMakeFiles/Makefile2:605: CMakeFiles/rtabmap_map_assembler.dir/all] Error 2
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so, may conflict with libopencv_core.so.406
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_data_player.dir/build.make:549: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/data_player] Error 1
make[1]: *** [CMakeFiles/Makefile2:740: CMakeFiles/rtabmap_data_player.dir/all] Error 2
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so, may conflict with libopencv_core.so.406
/usr/bin/ld: CMakeFiles/rtabmap_wifi_signal_sub.dir/src/WifiSignalSubNode.cpp.o: in function `mapDataCallback(boost::shared_ptr<rtabmap_ros::MapData_<std::allocator<void> > const> const&)':
WifiSignalSubNode.cpp:(.text+0x15bb): undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_wifi_signal_sub.dir/build.make:549: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/wifi_signal_sub] Error 1
make[1]: *** [CMakeFiles/Makefile2:4498: CMakeFiles/rtabmap_wifi_signal_sub.dir/all] Error 2
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so, may conflict with libopencv_core.so.406
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_map_optimizer.dir/build.make:549: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/map_optimizer] Error 1
make[1]: *** [CMakeFiles/Makefile2:6297: CMakeFiles/rtabmap_map_optimizer.dir/all] Error 2
/usr/bin/ld: warning: libopencv_core.so.406, needed by /usr/local/lib/librtabmap_core.so, may conflict with libopencv_core.so.4.2
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_external_loop_detectionexample.dir/build.make:839: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/external_loop_detection_example] Error 1
make[1]: *** [CMakeFiles/Makefile2:551: CMakeFiles/rtabmap_external_loop_detectionexample.dir/all] Error 2
/usr/bin/ld: warning: libopencv_core.so.406, needed by /usr/local/lib/librtabmap_core.so, may conflict with libopencv_core.so.4.2
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_save_objects_example.dir/build.make:919: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/save_objects_example] Error 1
make[1]: *** [CMakeFiles/Makefile2:5832: CMakeFiles/rtabmap_save_objects_example.dir/all] Error 2
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so, may conflict with libopencv_core.so.406
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::concatenate(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&, boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmapviz.dir/build.make:580: /work/Documents/catkin_ws/devel/.private/rtabmap_ros/lib/rtabmap_ros/rtabmapviz] Error 1
make[1]: *** [CMakeFiles/Makefile2:465: CMakeFiles/rtabmapviz.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

I have the following software in the system:

Output of $ rtabmap --version:

RTAB-Map:              0.20.22
PCL:                    1.11.1
With VTK:                7.1.1
OpenCV:              4.6.0-dev
With OpenCV xfeatures2d:  true
With OpenCV nonfree:      true
With ORB OcTree:          true
With SuperPoint Torch:   false
With Python3:            false
With FastCV:             false
With OpenGV:             false
With Madgwick:            true
With PDAL:               false
With TORO:                true
With g2o:                false
With GTSAM:               true
With Vertigo:             true
With CVSBA:              false
With Ceres:               true
With OpenNI2:             true
With Freenect:            true
With Freenect2:          false
With K4W2:               false
With K4A:                false
With DC1394:              true
With FlyCapture2:        false
With ZED:                false
With ZED Open Capture:   false
With RealSense:          false
With RealSense SLAM:     false
With RealSense2:         false
With MYNT EYE S:         false
With DepthAI:            false
With libpointmatcher:     true
With CCCoreLib:          false
With octomap:             true
With cpu-tsdf:           false
With open chisel:        false
With Alice Vision:       false
With LOAM:               false
With FLOAM:              false
With FOVIS:              false
With Viso2:              false
With DVO:                false
With ORB_SLAM:           false
With OKVIS:              false
With MSCKF_VIO:          false
With VINS-Fusion:        false
With OpenVINS:           false

Can you help me?

matlabbe commented 1 year ago

On Focal/Noetic, if you don't want conflicts with opencv binaries (4.2.0) used by cv_bridge (thus rtabmap_ros), build/install OpenCV 4.2.0 from source (with xfeatures2d, nonfree modules...). If you really need OpenCV 4.6.0, uninstall opencv 4.2.0 binaries from your system. You will have to rebuild every packages depending on opencv 4.2.0... which can be painful.

For PCL, maybe it is the version. Based on CI, rtabmap can build with PCL 1.12.1 (Ubuntu 22.04), PCL 1.10.0 (Ubuntu 20.04) and PCL 1.8.1 (Ubuntu 18.04). For the in-between PCL releases, I cannot really test all of them, I generarly try to support the latest and the official binaries of each LTS ubuntu distro.

Not sure to understad why there is a .private folder in that path: /work/Documents/catkin_ws/devel/.private/.... You can try cleanup your catkin_ws and rebuild from clean slate.

an99990 commented 1 year ago

currently encoutering this issue with a clean make

PCL 1.13. I was not able to build rtabmap with PCL 1.12.1 please help @matlabbe 

RTAB-Map:               0.21.0
PCL:                    1.13.0
With VTK:                9.2.6
OpenCV:                  4.2.0
With OpenCV xfeatures2d: false
With OpenCV nonfree:     false
With ORB OcTree:          true
With SuperPoint Torch:   false
With Python3:            false
With FastCV:             false
With OpenGV:             false
With Madgwick:            true
With PDAL:               false
With TORO:                true
With g2o:                 true
With GTSAM:               true
With Vertigo:             true
With CVSBA:              false
With Ceres:              false
With OpenNI2:             true
With Freenect:           false
With Freenect2:          false
With K4W2:               false
With K4A:                false
With DC1394:              true
With FlyCapture2:        false
With ZED:                false
With ZED Open Capture:   false
With RealSense:          false
With RealSense SLAM:     false
With RealSense2:         false
With MYNT EYE S:         false
With DepthAI:            false
With libpointmatcher:    false
With CCCoreLib:          false
With octomap:            false
With cpu-tsdf:           false
With open chisel:        false
With Alice Vision:       false
With LOAM:               false
With FLOAM:              false
With FOVIS:              false
With Viso2:              false
With DVO:                false
With ORB_SLAM:           false
With OKVIS:              false
With MSCKF_VIO:          false
With VINS-Fusion:        false
With OpenVINS:           false
/usr/bin/ld: /home/huynh-anh/catkin_ws/devel/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /home/huynh-anh/catkin_ws/devel/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [rtabmap_ros-0.20.23-noetic/CMakeFiles/rtabmap_map_optimizer.dir/build.make:413: /home/huynh-anh/catkin_ws/devel/lib/rtabmap_ros/map_optimizer] Error 1
make[1]: *** [CMakeFiles/Makefile2:8373: rtabmap_ros-0.20.23-noetic/CMakeFiles/rtabmap_map_optimizer.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 83%] Building CXX object rtabmap_ros-0.20.23-noetic/CMakeFiles/rtabmap_sync.dir/src/impl/CommonDataSubscriberStereo.cpp.o
[ 83%] Linking CXX executable /home/huynh-anh/catkin_ws/devel/lib/rtabmap_ros/map_assembler
/usr/bin/ld: /home/huynh-anh/catkin_ws/devel/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::transformPointCloud(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, rtabmap::Transform const&)'
/usr/bin/ld: /home/huynh-anh/catkin_ws/devel/lib/librtabmap_ros.so: undefined reference to `rtabmap::util3d::voxelize(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> > const&, float)'
collect2: error: ld returned 1 exit status
make[2]: *** [rtabmap_ros-0.20.23-noetic/CMakeFiles/rtabmap_map_assembler.dir/build.make:413: /home/huynh-anh/catkin_ws/devel/lib/rtabmap_ros/map_assembler] Error 1
make[1]: *** [CMakeFiles/Makefile2:8402: rtabmap_ros-0.20.23-noetic/CMakeFiles/rtabmap_map_assembler.dir/all] Error 2
matlabbe commented 1 year ago

Just tried with latest PCL code, and it should build:

$ cd rtabmap
$ docker build -t rtabmap_latest -f docker/latest_deps/Dockerfile .

[+] Building 1728.9s (15/15) FINISHED                                                                                          
 => [internal] load build definition from Dockerfile                                                                      0.0s
 => => transferring dockerfile: 2.04kB                                                                                    0.0s
 => [internal] load .dockerignore                                                                                         0.0s
 => => transferring context: 48B                                                                                          0.0s
 => [internal] load metadata for docker.io/osrf/ros:humble-desktop                                                        1.3s
 => [auth] osrf/ros:pull token for registry-1.docker.io                                                                   0.0s
 => [internal] load build context                                                                                         0.1s
 => => transferring context: 4.65MB                                                                                       0.1s
 => [1/9] FROM docker.io/osrf/ros:humble-desktop@sha256:a0783dfdd456d938049f9da0e7e1c394a6b2985add72ffb76e31992ae211d1  123.8s
 => => resolve docker.io/osrf/ros:humble-desktop@sha256:a0783dfdd456d938049f9da0e7e1c394a6b2985add72ffb76e31992ae211d123  0.0s
 => => sha256:53526f807b310160f31f38198712da92a6786e162fdf80506ab7bb864ad5dec3 6.13kB / 6.13kB                            0.0s
 => => sha256:74ac377868f863e123f24c409f79709f7563fa464557c36a09cf6f85c8b92b7f 30.43MB / 30.43MB                         15.6s
 => => sha256:41ad1f8f26857dba14fd27f7d8af8cd5f9ce4c25d5e4264090e4e33665838f4a 1.17MB / 1.17MB                            0.8s
 => => sha256:a0783dfdd456d938049f9da0e7e1c394a6b2985add72ffb76e31992ae211d123 2.84kB / 2.84kB                            0.0s
 => => sha256:4af12f0c8d10d787a739ce0beb1339ad34542095ac563892b59872c9b9229991 3.83MB / 3.83MB                            1.4s
 => => sha256:ab4f122dfff7592e93555f020a3ba95ce2e1d60b0b138d39e444d80b29e1fdce 230B / 230B                                1.0s
 => => sha256:55c195d49a74ea3cc9e44dd424ab6c5a62643eb9cc1fd60c335335d24eaee3fd 1.99kB / 1.99kB                            1.3s
 => => sha256:a62e2d9c70cd1fb5cfb879150c7d04b63ab2922e154e11b0fd47031a52c16a5a 106.34MB / 106.34MB                       32.7s
 => => sha256:273cc0c60a3141d6e964d07b9ac39f9126b3d3ca36a70493cc8496448375fd55 196B / 196B                                1.5s
 => => sha256:3a0800e2c533d39c10eda1c33c4cc5e7d8c164ae5d620b68a5674ec6ff18427d 97.89MB / 97.89MB                         15.2s
 => => sha256:130e7a70d397d234ae4137584d1d00a5ddf4d23b258ecf856deeefab1fe664f5 314.07kB / 314.07kB                       15.3s
 => => sha256:e4a79070b854f777682eb1cc3a62e2cf75029fdd5105fe7ed8e85a993ea5226c 2.40kB / 2.40kB                           15.5s
 => => sha256:84cfb85e0aafffb281729a9c1323877d16e594d6ccd10b8d798b53c0925247c4 23.07MB / 23.07MB                         20.5s
 => => sha256:53391740e69a4ddea057f37cb45328267ce1528da4571ce86314239f719db2bb 948.24MB / 948.24MB                      113.4s
 => => extracting sha256:74ac377868f863e123f24c409f79709f7563fa464557c36a09cf6f85c8b92b7f                                 0.3s
 => => extracting sha256:41ad1f8f26857dba14fd27f7d8af8cd5f9ce4c25d5e4264090e4e33665838f4a                                 0.1s
 => => extracting sha256:4af12f0c8d10d787a739ce0beb1339ad34542095ac563892b59872c9b9229991                                 0.0s
 => => extracting sha256:ab4f122dfff7592e93555f020a3ba95ce2e1d60b0b138d39e444d80b29e1fdce                                 0.0s
 => => extracting sha256:55c195d49a74ea3cc9e44dd424ab6c5a62643eb9cc1fd60c335335d24eaee3fd                                 0.0s
 => => extracting sha256:a62e2d9c70cd1fb5cfb879150c7d04b63ab2922e154e11b0fd47031a52c16a5a                                 1.5s
 => => extracting sha256:273cc0c60a3141d6e964d07b9ac39f9126b3d3ca36a70493cc8496448375fd55                                 0.0s
 => => extracting sha256:3a0800e2c533d39c10eda1c33c4cc5e7d8c164ae5d620b68a5674ec6ff18427d                                 0.9s
 => => extracting sha256:130e7a70d397d234ae4137584d1d00a5ddf4d23b258ecf856deeefab1fe664f5                                 0.0s
 => => extracting sha256:e4a79070b854f777682eb1cc3a62e2cf75029fdd5105fe7ed8e85a993ea5226c                                 0.0s
 => => extracting sha256:84cfb85e0aafffb281729a9c1323877d16e594d6ccd10b8d798b53c0925247c4                                 0.3s
 => => extracting sha256:53391740e69a4ddea057f37cb45328267ce1528da4571ce86314239f719db2bb                                 9.7s
 => [2/9] RUN apt-get update &&     apt-get install -y git software-properties-common ros-humble-rtabmap-ros libqt6* q  111.1s
 => [3/9] WORKDIR /root/                                                                                                  0.1s
 => [4/9] RUN rm /bin/sh && ln -s /bin/bash /bin/sh                                                                       0.4s
 => [5/9] RUN git clone https://github.com/Kitware/VTK.git &&     cd VTK &&     mkdir build &&     cd build &&     cma  430.2s
 => [6/9] RUN git clone https://github.com/PointCloudLibrary/pcl.git &&     cd pcl &&     mkdir build &&     cd build   583.7s
 => [7/9] RUN git clone https://github.com/opencv/opencv.git &&     git clone https://github.com/opencv/opencv_contrib  314.5s
 => [8/9] COPY . /root/rtabmap                                                                                            0.8s
 => [9/9] RUN source /ros_entrypoint.sh &&     cd rtabmap/build &&     cmake .. &&     make -j$(nproc) &&     make ins  157.0s
 => exporting to image                                                                                                    5.9s
 => => exporting layers                                                                                                   5.9s
 => => writing image sha256:09338bca635fd8b17064dbde8c7f64f5b74bca4f2bd05645dcc67f0f7c4df0b5                              0.0s
 => => naming to docker.io/library/rtabmap_latest