Issues during catkin_make (Step 3)

[gitouni]

Dear Authors: Thanks for sharing your work and detailed installation steps. I have trouble understanding superbuild-install-dir in Step2, and I have no idea how to set it in Step3 "-DSUPERBUILD_INSTALL_DIR=". Some information are shown below:

Environment

Ubuntu 20.04 CMake 3.25.0 gcc 9.4.0 ROS Noetic Python 3.8.10

Steps

I met no issues in Step 1 & 2, and I can find a superbuild_import.cmake file in the install dir at the root.

But I didn't see a CT_ICP subdirectory in Superbuild Directory (I'm not sure whether the Superbuild Directory refers to <path/to/ct_icp/.cmake-build-superbuild>).

I have link ct_icp_odometry and slam_roscore to my catkin workspace.

Command in Step 3

catkin_make -DSUPERBUILD_INSTALL_DIR="../ct_icp/.cmake-build-superbuild"

Errors

Base path: /home/bit/CODE/Drivers/CT_ICP_WS
Source space: /home/bit/CODE/Drivers/CT_ICP_WS/src
Build space: /home/bit/CODE/Drivers/CT_ICP_WS/build
Devel space: /home/bit/CODE/Drivers/CT_ICP_WS/devel
Install space: /home/bit/CODE/Drivers/CT_ICP_WS/install
####
#### Running command: "cmake /home/bit/CODE/Drivers/CT_ICP_WS/src -DSUPERBUILD_INSTALL_DIR=../ct_icp/.cmake-build-superbuild -DCATKIN_DEVEL_PREFIX=/home/bit/CODE/Drivers/CT_ICP_WS/devel -DCMAKE_INSTALL_PREFIX=/home/bit/CODE/Drivers/CT_ICP_WS/install -G Unix Makefiles" in "/home/bit/CODE/Drivers/CT_ICP_WS/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/bit/CODE/Drivers/CT_ICP_WS/devel
-- Using CMAKE_PREFIX_PATH: /home/bit/CODE/Drivers/ugv_noetic/devel;/opt/ros/noetic
-- This workspace overlays: /home/bit/CODE/Drivers/ugv_noetic/devel;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/bit/CODE/Drivers/CT_ICP_WS/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:4 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:45 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:56 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 2 packages in topological order:
-- ~~  - slam_roscore
-- ~~  - ct_icp_odometry
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'slam_roscore'
-- ==> add_subdirectory(slam_roscore)
CMake Error at slam_roscore/CMakeLists.txt:18 (include):
  include could not find requested file:

    ../ct_icp/.cmake-build-superbuild/CT_ICP/lib/cmake/cmake/includes.cmake

CMake Error at slam_roscore/CMakeLists.txt:19 (SLAM_DEFAULT_VARIABLES):
  Unknown CMake command "SLAM_DEFAULT_VARIABLES".

-- Configuring incomplete, errors occurred!
See also "/home/bit/CODE/Drivers/CT_ICP_WS/build/CMakeFiles/CMakeOutput.log".
See also "/home/bit/CODE/Drivers/CT_ICP_WS/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Possible causes

Maybe I set the wrong parameter -DSUPERBUILD_INSTALL_DIR, but I really don't know what is SUPERBUILD_INSTALL_DIR, or I have mistakes in Step 1 or 2.

Looking forward to your help.

[gitouni]

I have found SUPERBUILD_INSTALL_DIR in CMakeLists.txt, it is actually the install dir mentioned in Step 1.

Another tip is that using relative directory in Options such as "../ct_icp/install" is not OK.

[astronaunt]

Thanks a lot! I use the _" -DSUPERBUILD_INSTALL_DIR=～/catkin_ws(own folder)/cticp/install", the dir is the meaning of step1 _"If everything worked, a directory inst all should have been created with at its root a superbuildimport.cmake file."