Error compiling on ROS kinetic

[aaravrav142]

Hi,

I am having the following errors when compiling on ROS Kinetic. I have catkin_make_isolated the libnabo and libpointmatcher.

/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/dynamic_trails.cpp:132:14: error: no matching function for call to ‘std::unique_ptr<PointMatcher<float>::Transformation>::unique_ptr(std::shared_ptr<PointMatcher<float>::Transformation>)’
  trailCount(0)

I would appreciate any help. Thanks.

[pomerlef]

I suggest you to compile and install libnabo and libpointmacher from master and without catkin_make_isolated.

Just follow the regular instructions here: https://github.com/ethz-asl/libpointmatcher/blob/master/doc/Compilation.md

[aaravrav142]

Hi, Thanks. Compiling and building outside the catkin_make_isolated resolved the issue. The package ethzasl_icp_mapper build as well. I am now having another issue. When launching the velodyne_puck launch file to test with the velodyne rosbag. Its throwing the following error

ERROR: cannot launch node of type [ethzasl_icp_mapper/dynamic_mapper]: can't locate node [dynamic_mapper] in package [ethzasl_icp_mapper]

I can however see the dynamic_mapper.cpp inside the ethzasl_icp_mapper/src. Any hints? Thanks

[gawela]

Did you source your catkin workspace before attempting to launch the node? I.e. source ~/catkin_ws/devel/setup.bash

[aaravrav142]

I met with another issue after cleaning the catkin workspace. The error is related to shared pointer from the dynamic_mapper node. Not sure how to resolve this - home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp: In constructor ‘MapMaintener::MapMaintener(ros::NodeHandle&, ros::NodeHandle&)’: /home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp:136:47: error: no matching function for call to ‘std::unique_ptr<PointMatcher<float>::Transformation>::unique_ptr(std::shared_ptr<PointMatcher<float>::Transformation>)’ mapFrame(getParam<string>("map_frame", "map")) ^ In file included from /usr/include/c++/5/bits/locale_conv.h:41:0, from /usr/include/c++/5/locale:43, from /usr/include/c++/5/iomanip:43, from /usr/include/boost/math/policies/error_handling.hpp:12, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/ros.h:38, from /home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp:5: /usr/include/c++/5/bits/unique_ptr.h:228:2: note: candidate: template<class _Up, class> std::unique_ptr<_Tp, _Dp>::unique_ptr(std::auto_ptr<_Up>&&) unique_ptr(auto_ptr<_Up>&& __u) noexcept; ^ /usr/include/c++/5/bits/unique_ptr.h:228:2: note: template argument deduction/substitution failed: /home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp:136:47: note: ‘std::shared_ptr<PointMatcher<float>::Transformation>’ is not derived from ‘std::auto_ptr<Y>’ mapFrame(getParam<string>("map_frame", "map")) ^ In file included from /usr/include/c++/5/bits/locale_conv.h:41:0, from /usr/include/c++/5/locale:43, from /usr/include/c++/5/iomanip:43, from /usr/include/boost/math/policies/error_handling.hpp:12, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/ros.h:38, from /home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp:5: /usr/include/c++/5/bits/unique_ptr.h:220:2: note: candidate: template<class _Up, class _Ep, class> std::unique_ptr<_Tp, _Dp>::unique_ptr(std::unique_ptr<_Up, _Ep>&&) unique_ptr(unique_ptr<_Up, _Ep>&& __u) noexcept ^ /usr/include/c++/5/bits/unique_ptr.h:220:2: note: template argument deduction/substitution failed: /home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp:136:47: note: ‘std::shared_ptr<PointMatcher<float>::Transformation>’ is not derived from ‘std::unique_ptr<_Tp, _Dp>’ mapFrame(getParam<string>("map_frame", "map")) ^ In file included from /usr/include/c++/5/bits/locale_conv.h:41:0, from /usr/include/c++/5/locale:43, from /usr/include/c++/5/iomanip:43, from /usr/include/boost/math/policies/error_handling.hpp:12, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/ros.h:38, from /home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp:5: /usr/include/c++/5/bits/unique_ptr.h:205:7: note: candidate: std::unique_ptr<_Tp, _Dp>::unique_ptr(std::unique_ptr<_Tp, _Dp>&&) [with _Tp = PointMatcher<float>::Transformation; _Dp = std::default_delete<PointMatcher<float>::Transformation>] unique_ptr(unique_ptr&& __u) noexcept ^ /usr/include/c++/5/bits/unique_ptr.h:205:7: note: no known conversion for argument 1 from ‘std::shared_ptr<PointMatcher<float>::Transformation>’ to ‘std::unique_ptr<PointMatcher<float>::Transformation>&&’ /usr/include/c++/5/bits/unique_ptr.h:200:17: note: candidate: constexpr std::unique_ptr<_Tp, _Dp>::unique_ptr(std::nullptr_t) [with _Tp = PointMatcher<float>::Transformation; _Dp = std::default_delete<PointMatcher<float>::Transformation>; std::nullptr_t = std::nullptr_t] constexpr unique_ptr(nullptr_t) noexcept : unique_ptr() { } ^ /usr/include/c++/5/bits/unique_ptr.h:200:17: note: no known conversion for argument 1 from ‘std::shared_ptr<PointMatcher<float>::Transformation>’ to ‘std::nullptr_t’ /usr/include/c++/5/bits/unique_ptr.h:193:7: note: candidate: std::unique_ptr<_Tp, _Dp>::unique_ptr(std::unique_ptr<_Tp, _Dp>::pointer, typename std::remove_reference<_To>::type&&) [with _Tp = PointMatcher<float>::Transformation; _Dp = std::default_delete<PointMatcher<float>::Transformation>; std::unique_ptr<_Tp, _Dp>::pointer = PointMatcher<float>::Transformation*; typename std::remove_reference<_To>::type = std::default_delete<PointMatcher<float>::Transformation>] unique_ptr(pointer __p, ^ /usr/include/c++/5/bits/unique_ptr.h:193:7: note: candidate expects 2 arguments, 1 provided /usr/include/c++/5/bits/unique_ptr.h:181:7: note: candidate: std::unique_ptr<_Tp, _Dp>::unique_ptr(std::unique_ptr<_Tp, _Dp>::pointer, typename std::conditional<std::is_reference<_Dp>::value, _Dp, const _Dp&>::type) [with _Tp = PointMatcher<float>::Transformation; _Dp = std::default_delete<PointMatcher<float>::Transformation>; std::unique_ptr<_Tp, _Dp>::pointer = PointMatcher<float>::Transformation*; typename std::conditional<std::is_reference<_Dp>::value, _Dp, const _Dp&>::type = const std::default_delete<PointMatcher<float>::Transformation>&] unique_ptr(pointer __p, ^ /usr/include/c++/5/bits/unique_ptr.h:181:7: note: candidate expects 2 arguments, 1 provided /usr/include/c++/5/bits/unique_ptr.h:169:7: note: candidate: std::unique_ptr<_Tp, _Dp>::unique_ptr(std::unique_ptr<_Tp, _Dp>::pointer) [with _Tp = PointMatcher<float>::Transformation; _Dp = std::default_delete<PointMatcher<float>::Transformation>; std::unique_ptr<_Tp, _Dp>::pointer = PointMatcher<float>::Transformation*] unique_ptr(pointer __p) noexcept ^ /usr/include/c++/5/bits/unique_ptr.h:169:7: note: no known conversion for argument 1 from ‘std::shared_ptr<PointMatcher<float>::Transformation>’ to ‘std::unique_ptr<PointMatcher<float>::Transformation>::pointer {aka PointMatcher<float>::Transformation*}’ /usr/include/c++/5/bits/unique_ptr.h:157:17: note: candidate: constexpr std::unique_ptr<_Tp, _Dp>::unique_ptr() [with _Tp = PointMatcher<float>::Transformation; _Dp = std::default_delete<PointMatcher<float>::Transformation>] constexpr unique_ptr() noexcept ^ /usr/include/c++/5/bits/unique_ptr.h:157:17: note: candidate expects 0 arguments, 1 provided /home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp:195:85: error: cannot convert ‘std::shared_ptr<PointMatcher<float>::DataPointsFilter>’ to ‘PointMatcher<float>::DataPointsFilter*’ in initialization PM::get().DataPointsFilterRegistrar.create("BoundingBoxDataPointsFilter", params); ^ /home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp:196:31: error: no matching function for call to ‘PointMatcher<float>::DataPointsFilters::push_back(PointMatcher<float>::DataPointsFilter*&)’ mapPreFilters.push_back(box); ^ In file included from /usr/include/c++/5/vector:64:0, from /usr/include/c++/5/bits/random.h:34, from /usr/include/c++/5/random:49, from /usr/include/c++/5/bits/stl_algo.h:66, from /usr/include/c++/5/algorithm:62, from /usr/include/boost/math/tools/config.hpp:17, from /usr/include/boost/math/special_functions/round.hpp:13, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/ros.h:38, from /home/arav/catkin_ws/src/ethzasl_icp_mapping/ethzasl_icp_mapper/src/map_maintainer.cpp:5: /usr/include/c++/5/bits/stl_vector.h:913:7: note: candidate: void std::vector<_Tp, _Alloc>::push_back(const value_type&) [with _Tp = std::shared_ptr<PointMatcher<float>::DataPointsFilter>; _Alloc = std::allocator<std::shared_ptr<PointMatcher<float>::DataPointsFilter> >; std::vector<_Tp, _Alloc>::value_type = std::shared_ptr<PointMatcher<float>::DataPointsFilter>] push_back(const value_type& __x) ^ /usr/include/c++/5/bits/stl_vector.h:913:7: note: no known conversion for argument 1 from ‘PointMatcher<float>::DataPointsFilter*’ to ‘const value_type& {aka const std::shared_ptr<PointMatcher<float>::DataPointsFilter>&}’ /usr/include/c++/5/bits/stl_vector.h:931:7: note: candidate: void std::vector<_Tp, _Alloc>::push_back(std::vector<_Tp, _Alloc>::value_type&&) [with _Tp = std::shared_ptr<PointMatcher<float>::DataPointsFilter>; _Alloc = std::allocator<std::shared_ptr<PointMatcher<float>::DataPointsFilter> >; std::vector<_Tp, _Alloc>::value_type = std::shared_ptr<PointMatcher<float>::DataPointsFilter>] push_back(value_type&& __x) ^ /usr/include/c++/5/bits/stl_vector.h:931:7: note: no known conversion for argument 1 from ‘PointMatcher<float>::DataPointsFilter*’ to ‘std::vector<std::shared_ptr<PointMatcher<float>::DataPointsFilter>, std::allocator<std::shared_ptr<PointMatcher<float>::DataPointsFilter> > >::value_type&& {aka std::shared_ptr<PointMatcher<float>::DataPointsFilter>&&}’ [ 88%] Linking CXX executable /home/arav/catkin_ws/devel/lib/hector_quadrotor_actions/pose_action [ 88%] Built target pose_action Scanning dependencies of target hector_quadrotor_controller_gazebo [ 88%] Building CXX object hector_quadrotor/hector_quadrotor_controller_gazebo/CMakeFiles/hector_quadrotor_controller_gazebo.dir/src/quadrotor_hardware_gazebo.cpp.o ethzasl_icp_mapping/ethzasl_icp_mapper/CMakeFiles/map_maintainer.dir/build.make:62: recipe for target 'ethzasl_icp_mapping/ethzasl_icp_mapper/CMakeFiles/map_maintainer.dir/src/map_maintainer.cpp.o' failed make[2]: *** [ethzasl_icp_mapping/ethzasl_icp_mapper/CMakeFiles/map_maintainer.dir/src/map_maintainer.cpp.o] Error 1 CMakeFiles/Makefile2:41833: recipe for target 'ethzasl_icp_mapping/ethzasl_icp_mapper/CMakeFiles/map_maintainer.dir/all' failed make[1]: *** [ethzasl_icp_mapping/ethzasl_icp_mapper/CMakeFiles/map_maintainer.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs....

[PhiBabin]

Is this related to changes of shared_ptr to unique_ptr at some places in the code?

[simonpierredeschenes]

This might be related to libpointmatcher release 1.3.0. We are working to fix this problem in ethzasl_icp_mapping.

[simonpierredeschenes]

A new commit was pushed to etzasl_icp_mapping. If you pull the new changes, the problem should be fixed.

[aaravrav142]

Hi, The latest pull solved the problem. Thanks a lot. Closing.