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robofit / but_velodyne

ROS packages for Velodyne 3D LIDARs provided by Robo@FIT group.
GNU Lesser General Public License v3.0
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Error during calibration_coarse #18

Open emilaz opened 7 years ago

emilaz commented 7 years ago

Hello, when trying to run the calibration_coarse launch file, I get the following error message

[calibration_coarse-1] process has died [pid 12730, exit code -11, cmd /home/eaz/catkin_ws/devel/lib/but_calibration_camera_velodyne/calibration __name:=calibration_coarse __log:=/home/eaz/.ros/log/913d49d4-67d6-11e7-8057-54ee7530ff70/calibration_coarse-1.log].
log file: /home/eaz/.ros/log/913d49d4-67d6-11e7-8057-54ee7530ff70/calibration_coarse-1*.log

I have the following topics running

Published topics:
 * /webcam/webcam_image_view/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /velodyne_nodelet_manager_cloud/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /webcam/image_raw/compressed/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /velodyne_nodelet_manager_cloud/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /velodyne_nodelet_manager_driver/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /webcam/image_raw/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /rosout_agg [rosgraph_msgs/Log] 1 publisher
 * /clicked_point [geometry_msgs/PointStamped] 1 publisher
 * /webcam/image_raw [sensor_msgs/Image] 1 publisher
 * /velodyne_nodelet_manager/bond [bond/Status] 3 publishers
 * /velodyne_packets [velodyne_msgs/VelodyneScan] 1 publisher
 * /velodyne_nodelet_manager_driver/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /diagnostics [diagnostic_msgs/DiagnosticArray] 1 publisher
 * /webcam/webcam_image_view/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /webcam/image_raw/compressedDepth [sensor_msgs/CompressedImage] 1 publisher
 * /webcam/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /rosout [rosgraph_msgs/Log] 8 publishers
 * /webcam/image_raw/theora [theora_image_transport/Packet] 1 publisher
 * /webcam/image_raw/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher
 * /velodyne_points [sensor_msgs/PointCloud2] 1 publisher
 * /initialpose [geometry_msgs/PoseWithCovarianceStamped] 1 publisher
 * /move_base_simple/goal [geometry_msgs/PoseStamped] 1 publisher
 * /webcam/webcam_image_view/output [sensor_msgs/Image] 1 publisher
 * /webcam/image_raw/compressedDepth/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /webcam/image_raw/compressed [sensor_msgs/CompressedImage] 1 publisher
 * /webcam/image_raw/theora/parameter_updates [dynamic_reconfigure/Config] 1 publisher
 * /webcam/image_raw/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription] 1 publisher

Subscribed topics:
 * /velodyne_nodelet_manager/bond [bond/Status] 3 subscribers
 * /webcam/image_raw [sensor_msgs/Image] 1 subscriber
 * /rosout [rosgraph_msgs/Log] 1 subscriber
 * /velodyne_points [sensor_msgs/PointCloud2] 1 subscriber
 * /tf [tf2_msgs/TFMessage] 1 subscriber
 * /tf_static [tf2_msgs/TFMessage] 1 subscriber
 * /velodyne_packets [velodyne_msgs/VelodyneScan] 1 subscriber
 * /rosout_agg [rosgraph_msgs/Log] 1 subscriber

I changed the provided config file as follows:

but_calibration_camera_velodyne:
  camera_frame_topic: /webcam/image_raw
  camera_info_topic: /webcam/camera_info
  marker: {circles_distance: 0.23, circles_radius: 0.0825}
  velodyne_topic: /velodyne_points

I am using ROS Indigo on Ubuntu 14.04 and OpenCV 2.4.

Any help is much appreciated!

Greetings, emilaz

martin-velas commented 7 years ago

Hi, try running the node with debugger to provide more info. This info is unfortunately not sufficient.

emilaz commented 7 years ago

Hey, thanks for the reply. In Debug mode, I get the following message (the crash occurs almost immediately)

debuThread 1 "calibration" received signal SIGSEGV, Segmentation fault.
0x00007ffff6c0cae0 in boost::math::lanczos::lanczos_initializer<boost::math::lanczos::lanczos17m64, long double>::init::init() () from /usr/lib/libpcl_sample_consensus.so.1.7

Also, is it neccessary to publish the pointcloud and image data via separate nodes that are not included in the but_velodyne_package (I'm thinking velodyne_driver for example)?

martin-velas commented 7 years ago

Aaaah! I have also occured this issue. It was really tricky but I finally found out, that PCL (at least the elder versions) has/had problem when compiling with C++11 (see for example https://github.com/felixendres/rgbdslam_v2/issues/8). Is it your case? Try to turn off C++11 compilation.

emilaz commented 7 years ago

I tried running it with C++03 and got a compilation error as some of the syntax is not understood by the compiler. C++14 yields the same error as C++11, so this unfortunately didn't help. I then installed the a newer PCL1.7.2 version you can see below, which also didn't help. I then installed PCL1.8 from source following the instructions on the link you posted and tried to uninstall PCL1.7 to avoid conflicts. However, the ros-pcl packages depend on PCL 1.7. I then had to reinstall PCL1.7 and rebuild the dependencies and now get the following error.

-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
--   iostreams
--   serialization
-- Could NOT find ensenso (missing:  ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) 
** WARNING ** io features related to ensenso will be disabled
-- Could NOT find DAVIDSDK (missing:  DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
** WARNING ** io features related to davidSDK will be disabled
-- Could NOT find DSSDK (missing:  _DSSDK_LIBRARIES) 
** WARNING ** io features related to dssdk will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- Could NOT find ensenso (missing:  ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) 
** WARNING ** visualization features related to ensenso will be disabled
-- Could NOT find DAVIDSDK (missing:  DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
** WARNING ** visualization features related to davidSDK will be disabled
-- Could NOT find DSSDK (missing:  _DSSDK_LIBRARIES) 
** WARNING ** visualization features related to dssdk will be disabled
-- Could NOT find RSSDK (missing:  _RSSDK_LIBRARIES) 
** WARNING ** visualization features related to rssdk will be disabled
-- looking for PCL_COMMON
-- looking for PCL_OCTREE
-- looking for PCL_IO
-- looking for PCL_KDTREE
-- looking for PCL_SEARCH
-- looking for PCL_SURFACE
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_FEATURES
-- looking for PCL_GEOMETRY
-- looking for PCL_VISUALIZATION
-- looking for PCL_ML
-- looking for PCL_TRACKING
-- looking for PCL_STEREO
-- looking for PCL_KEYPOINTS
-- looking for PCL_SEGMENTATION
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- +++ processing catkin package: 'velodyne_driver'
-- ==> add_subdirectory(velodyne_driver/velodyne_driver)
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   thread
-- +++ processing catkin package: 'velodyne_pointcloud'
-- ==> add_subdirectory(velodyne_driver/velodyne_pointcloud)
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   signals
-- +++ processing catkin package: 'but_calibration_camera_velodyne'
-- ==> add_subdirectory(but_velodyne/but_calibration_camera_velodyne)
-- Using these message generators: gencpp;genlisp;genpy
-- +++ processing catkin package: 'but_velodyne_odom'
-- ==> add_subdirectory(but_velodyne/but_velodyne_odom)
-- Using these message generators: gencpp;genlisp;genpy
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'video_stream_opencv'
-- ==> add_subdirectory(video_stream_opencv)
-- +++ processing catkin package: 'but_velodyne_proc'
-- ==> add_subdirectory(but_velodyne/but_velodyne_proc)
-- Using these message generators: gencpp;genlisp;genpy
-- Eigen found (include: /usr/include/eigen3)
-- Configuring done
CMake Warning at but_velodyne/but_velodyne_odom/CMakeLists.txt:175 (add_library):
  Cannot generate a safe linker search path for target
  butvelo_collar_line_odom_nodelet because files in some directories may
  conflict with libraries in implicit directories:

    link library [libpcl_common.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_octree.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_io.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_kdtree.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_search.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_sample_consensus.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_filters.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_features.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_keypoints.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_segmentation.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_visualization.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_outofcore.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_registration.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_recognition.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_surface.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_people.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_tracking.so] in /usr/lib may be hidden by files in:
      /usr/local/lib

  Some of these libraries may not be found correctly.

CMake Warning at but_velodyne/but_velodyne_odom/CMakeLists.txt:42 (add_library):
  Cannot generate a safe linker search path for target butveloodom because
  files in some directories may conflict with libraries in implicit
  directories:

    link library [libpcl_common.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_octree.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_io.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_kdtree.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_search.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_sample_consensus.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_filters.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_features.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_keypoints.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_segmentation.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_visualization.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_outofcore.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_registration.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_recognition.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_surface.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_people.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_tracking.so] in /usr/lib may be hidden by files in:
      /usr/local/lib

  Some of these libraries may not be found correctly.

CMake Warning at but_velodyne/but_velodyne_odom/CMakeLists.txt:171 (add_executable):
  Cannot generate a safe linker search path for target collar_line_odom
  because files in some directories may conflict with libraries in implicit
  directories:

    link library [libpcl_common.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_octree.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_io.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_kdtree.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_search.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_sample_consensus.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_filters.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_features.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_keypoints.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_segmentation.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_visualization.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_outofcore.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_registration.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_recognition.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_surface.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_people.so] in /usr/lib may be hidden by files in:
      /usr/local/lib
    link library [libpcl_tracking.so] in /usr/lib may be hidden by files in:
      /usr/local/lib

  Some of these libraries may not be found correctly.

-- Generating done
-- Build files have been written to: /home/eaz/catkin_ws/build
####
#### Running command: "make -j8 -l8" in "/home/eaz/catkin_ws/build"
####
[  0%] Built target std_msgs_generate_messages_lisp
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[  3%] [  3%] [  3%] [  3%] Built target actionlib_generate_messages_lisp
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Built target _velodyne_msgs_generate_messages_check_deps_VelodyneScan
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Built target bond_generate_messages_lisp
[  3%] [  7%] Built target dynamic_reconfigure_generate_messages_py
Built target velodyne_pointcloud_gencfg
[  7%] Built target dynamic_reconfigure_generate_messages_lisp
[ 13%] Built target velodyne_msgs_generate_messages_py
[ 19%] [ 19%] Built target video_stream
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[ 23%] Built target velodyne_msgs_generate_messages_cpp
[ 23%] Built target velodyne_msgs_generate_messages
[ 25%] Built target velodyne_input
[ 33%] [ 33%] Built target driver_nodelet
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[ 41%] Built target ringcolors_node
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Scanning dependencies of target coloring
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[ 62%] [ 66%] [ 66%] [ 68%] Building CXX object but_velodyne/but_velodyne_odom/CMakeFiles/butveloodom.dir/src/but_velodyne_lib/collar_line_odom.cpp.o
[ 74%] Built target butvelo
Building CXX object but_velodyne/but_calibration_camera_velodyne/CMakeFiles/coloring.dir/src/coloring-node.cpp.o
Building CXX object but_velodyne/but_calibration_camera_velodyne/CMakeFiles/coloring.dir/src/Velodyne.cpp.o
Building CXX object but_velodyne/but_calibration_camera_velodyne/CMakeFiles/coloring.dir/src/Image.cpp.o
[ 76%] Building CXX object but_velodyne/but_calibration_camera_velodyne/CMakeFiles/calibration.dir/src/calibration-node.cpp.o
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In file included from /usr/include/c++/4.8/backward/strstream:51:0,
                 from /usr/include/vtk-5.8/vtkIOStream.h:112,
                 from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
                 from /usr/include/vtk-5.8/vtkIndent.h:24,
                 from /usr/include/vtk-5.8/vtkObjectBase.h:43,
                 from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
                 from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
                 from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
                 from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:48,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/include/but_calibration_camera_velodyne/Velodyne.h:19,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/src/Velodyne.cpp:11:
/usr/include/c++/4.8/backward/backward_warning.h:32:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
 #warning \
  ^
In file included from /usr/include/c++/4.8/backward/strstream:51:0,
                 from /usr/include/vtk-5.8/vtkIOStream.h:112,
                 from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
                 from /usr/include/vtk-5.8/vtkIndent.h:24,
                 from /usr/include/vtk-5.8/vtkObjectBase.h:43,
                 from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
                 from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
                 from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
                 from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:48,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/include/but_calibration_camera_velodyne/Velodyne.h:19,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/src/Velodyne.cpp:11:
/usr/include/c++/4.8/backward/backward_warning.h:32:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
 #warning \
  ^
In file included from /usr/include/c++/4.8/backward/strstream:51:0,
                 from /usr/include/vtk-5.8/vtkIOStream.h:112,
                 from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
                 from /usr/include/vtk-5.8/vtkIndent.h:24,
                 from /usr/include/vtk-5.8/vtkObjectBase.h:43,
                 from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
                 from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
                 from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
                 from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:48,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/include/but_calibration_camera_velodyne/Velodyne.h:19,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/src/coloring-node.cpp:32:
/usr/include/c++/4.8/backward/backward_warning.h:32:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
 #warning \
  ^
In file included from /usr/include/c++/4.8/backward/strstream:51:0,
                 from /usr/include/vtk-5.8/vtkIOStream.h:112,
                 from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
                 from /usr/include/vtk-5.8/vtkIndent.h:24,
                 from /usr/include/vtk-5.8/vtkObjectBase.h:43,
                 from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
                 from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
                 from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
                 from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:48,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/include/but_calibration_camera_velodyne/Velodyne.h:19,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/include/but_calibration_camera_velodyne/Similarity.h:25,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/src/Similarity.cpp:8:
/usr/include/c++/4.8/backward/backward_warning.h:32:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
 #warning \
  ^
In file included from /usr/include/c++/4.8/backward/strstream:51:0,
                 from /usr/include/vtk-5.8/vtkIOStream.h:112,
                 from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
                 from /usr/include/vtk-5.8/vtkIndent.h:24,
                 from /usr/include/vtk-5.8/vtkObjectBase.h:43,
                 from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
                 from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
                 from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
                 from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/cloud_viewer.h:39,
                 from /usr/local/include/but_velodyne-0.1/but_velodyne/Visualizer3D.h:33,
                 from /usr/local/include/but_velodyne-0.1/but_velodyne/CollarLinesRegistrationPipeline.h:39,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_velodyne_odom/include/but_velodyne_odom/collar_line_odom.h:33,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_velodyne_odom/src/but_velodyne_lib/collar_line_odom.cpp:26:
/usr/include/c++/4.8/backward/backward_warning.h:32:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
 #warning \
  ^
In file included from /usr/include/c++/4.8/backward/strstream:51:0,
                 from /usr/include/vtk-5.8/vtkIOStream.h:112,
                 from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
                 from /usr/include/vtk-5.8/vtkIndent.h:24,
                 from /usr/include/vtk-5.8/vtkObjectBase.h:43,
                 from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
                 from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
                 from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
                 from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:48,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/include/but_calibration_camera_velodyne/Velodyne.h:19,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/src/calibration-node.cpp:28:
/usr/include/c++/4.8/backward/backward_warning.h:32:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
 #warning \
  ^
In file included from /usr/include/c++/4.8/backward/strstream:51:0,
                 from /usr/include/vtk-5.8/vtkIOStream.h:112,
                 from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
                 from /usr/include/vtk-5.8/vtkIndent.h:24,
                 from /usr/include/vtk-5.8/vtkObjectBase.h:43,
                 from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
                 from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
                 from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
                 from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:48,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/include/but_calibration_camera_velodyne/Velodyne.h:19,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/include/but_calibration_camera_velodyne/Calibration3DMarker.h:26,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_calibration_camera_velodyne/src/Calibration3DMarker.cpp:8:
/usr/include/c++/4.8/backward/backward_warning.h:32:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
 #warning \
  ^
Linking CXX shared library /home/eaz/catkin_ws/devel/lib/libbutveloodom.so
[ 96%] Built target butveloodom
Scanning dependencies of target collar_line_odom
Scanning dependencies of target butvelo_collar_line_odom_nodelet
[ 98%] [100%] Building CXX object but_velodyne/but_velodyne_odom/CMakeFiles/collar_line_odom.dir/src/collar_line_odom_node.cpp.o
Building CXX object but_velodyne/but_velodyne_odom/CMakeFiles/butvelo_collar_line_odom_nodelet.dir/src/collar_line_odom_nodelet.cpp.o
In file included from /usr/include/c++/4.8/backward/strstream:51:0,
                 from /usr/include/vtk-5.8/vtkIOStream.h:112,
                 from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
                 from /usr/include/vtk-5.8/vtkIndent.h:24,
                 from /usr/include/vtk-5.8/vtkObjectBase.h:43,
                 from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
                 from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
                 from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
                 from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/cloud_viewer.h:39,
                 from /usr/local/include/but_velodyne-0.1/but_velodyne/Visualizer3D.h:33,
                 from /usr/local/include/but_velodyne-0.1/but_velodyne/CollarLinesRegistrationPipeline.h:39,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_velodyne_odom/include/but_velodyne_odom/collar_line_odom.h:33,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_velodyne_odom/src/collar_line_odom_node.cpp:27:
/usr/include/c++/4.8/backward/backward_warning.h:32:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
 #warning \
  ^
In file included from /usr/include/c++/4.8/backward/strstream:51:0,
                 from /usr/include/vtk-5.8/vtkIOStream.h:112,
                 from /usr/include/vtk-5.8/vtkSystemIncludes.h:40,
                 from /usr/include/vtk-5.8/vtkIndent.h:24,
                 from /usr/include/vtk-5.8/vtkObjectBase.h:43,
                 from /usr/include/vtk-5.8/vtkSmartPointerBase.h:26,
                 from /usr/include/vtk-5.8/vtkSmartPointer.h:23,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_geometry_handlers.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/point_cloud_handlers.h:41,
                 from /usr/include/pcl-1.7/pcl/visualization/common/actor_map.h:40,
                 from /usr/include/pcl-1.7/pcl/visualization/pcl_visualizer.h:48,
                 from /usr/include/pcl-1.7/pcl/visualization/cloud_viewer.h:39,
                 from /usr/local/include/but_velodyne-0.1/but_velodyne/Visualizer3D.h:33,
                 from /usr/local/include/but_velodyne-0.1/but_velodyne/CollarLinesRegistrationPipeline.h:39,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_velodyne_odom/include/but_velodyne_odom/collar_line_odom.h:33,
                 from /home/eaz/catkin_ws/src/but_velodyne/but_velodyne_odom/src/collar_line_odom_nodelet.cpp:27:
/usr/include/c++/4.8/backward/backward_warning.h:32:2: warning: #warning This file includes at least one deprecated or antiquated header which may be removed without further notice at a future date. Please use a non-deprecated interface with equivalent functionality instead. For a listing of replacement headers and interfaces, consult the file backward_warning.h. To disable this warning use -Wno-deprecated. [-Wcpp]
 #warning \
  ^
Linking CXX executable /home/eaz/catkin_ws/devel/lib/but_calibration_camera_velodyne/coloring
[100%] Built target coloring
Linking CXX executable /home/eaz/catkin_ws/devel/lib/but_calibration_camera_velodyne/calibration
Linking CXX executable /home/eaz/catkin_ws/devel/lib/but_velodyne_odom/collar_line_odom
[100%] Built target calibration
Linking CXX shared library /home/eaz/catkin_ws/devel/lib/libbutvelo_collar_line_odom_nodelet.so
/usr/local/lib/libbut_velodyne.so: undefined reference to `pcl::search::KdTree<pcl::PointXYZ>::KdTree(bool)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/eaz/catkin_ws/devel/lib/but_velodyne_odom/collar_line_odom] Error 1
make[1]: *** [but_velodyne/but_velodyne_odom/CMakeFiles/collar_line_odom.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[100%] Built target butvelo_collar_line_odom_nodelet
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

I think the problem lies in the complications of PCL1.8 and PCL1.7 both being installed, but as mentioned, uninstalling 1.7 seems to be no option.

martin-velas commented 7 years ago

Currently I'm using Ubuntu 16.04 with ROS Indigo and PCL 1.8.0 where C++11 works just fine. Using both PCL 1.7 as ROS dependency and 1.8 installed from source can be quite tricky. Unfortunately I have no quick solution for you.