Build pcl_conversion in Groovy against PCL 1.7

[Sanic]

Hi,

i am currently trying to build a PCL Overlay to work with PCL 1.7 under ROS Groovy. I therefore did the following steps (thanks to some mailinglist posts) :

mkdir -p ~/pcl_ws/src
cd ~/pcl_ws/src/
wstool init
git clone https://github.com/ros-perception/perception_pcl.git -b groovy-unstable-devel
cd perception_pcl
git clone https://github.com/ros-perception/pcl_conversions.git -b groovy-devel
git clone https://github.com/ros-perception/pcl_msgs.git
cd ~/pcl_ws
source /opt/ros/groovy/setup.bash
catkin_make_isolated --install

PCL seems to build fine so far, but the compilation of pcl_conversion breaks with a couple of similar errors messages. Here is the first one of them:

Wrote header file in /home/xxxx/pcl_ws/devel_isolated/pcl_ros/include/pcl_ros/SegmentDifferencesConfig.h
[ 38%] Generating dynamic reconfigure files from cfg/StatisticalOutlierRemoval.cfg: 
/home/xxxx/pcl_ws/devel_isolated/pcl_ros/include/pcl_ros/StatisticalOutlierRemovalConfig.h /home/xxxx/pcl_ws/devel_isolated/pcl_ros/lib/python2.7/dist-packages/pcl_ros/cfg/StatisticalOutlierRemovalConfig.py
Generating reconfiguration files for StatisticalOutlierRemoval in pcl_ros
Wrote header file in /home/xxxx/pcl_ws/devel_isolated/pcl_ros/include/pcl_ros/StatisticalOutlierRemovalConfig.h
[ 40%] Generating dynamic reconfigure files from cfg/VoxelGrid.cfg: /home/xxxx/pcl_ws/devel_isolated/pcl_ros/include/pcl_ros/VoxelGridConfig.h /home/xxxx/pcl_ws/devel_isolated/pcl_ros/lib/python2.7/dist-packages/pcl_ros/cfg/VoxelGridConfig.py
Generating reconfiguration files for VoxelGrid in pcl_ros
Wrote header file in /home/xxxx/pcl_ws/devel_isolated/pcl_ros/include/pcl_ros/VoxelGridConfig.h
[ 40%] Built target pcl_ros_gencfg
[ 42%] Building CXX object CMakeFiles/pcl_ros_features.dir/src/pcl_ros/features/boundary.cpp.o
In file included from /home/xxxx/pcl_ws/src/perception_pcl/pcl_ros/include/pcl_ros/pcl_nodelet.h:53:0,
                 from /home/xxxx/pcl_ws/src/perception_pcl/pcl_ros/include/pcl_ros/surface/convex_hull.h:41,
                 from /home/xxxx/pcl_ws/src/perception_pcl/pcl_ros/src/pcl_ros/surface/convex_hull.cpp:40:
/home/xxxx/pcl_ws/src/perception_pcl/pcl_ros/include/pcl_ros/point_cloud.h: In static member function ‘static ros::Time* ros::message_traits::TimeStamp<pcl::PointCloud<pcl::PointXYZ> >::pointer(pcl::PointCloud<pcl::PointXYZ>&)’:
/home/xxxx/pcl_ws/src/perception_pcl/pcl_ros/include/pcl_ros/point_cloud.h:126:54: error: no matching function for call to ‘fromPCL(pcl::PCLHeader&, std_msgs::Header_<std::allocator<void> >&)’
/home/xxxx/pcl_ws/src/perception_pcl/pcl_ros/include/pcl_ros/point_cloud.h:126:54: note: candidates are:
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:63:8: note: void pcl_conversions::fromPCL(const Header&, std_msgs::Header&)
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:63:8: note:   no known conversion for argument 1 from ‘pcl::PCLHeader’ to ‘const Header& {aka const std_msgs::Header_<std::allocator<void> >&}’
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:75:20: note: std_msgs::Header pcl_conversions::fromPCL(const Header&)
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:75:20: note:   candidate expects 1 argument, 2 provided
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:100:8: note: void pcl_conversions::fromPCL(const Image&, sensor_msgs::Image&)
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:100:8: note:   no known conversion for argument 1 from ‘pcl::PCLHeader’ to ‘const Image& {aka const sensor_msgs::Image_<std::allocator<void> >&}’
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:139:8: note: void pcl_conversions::fromPCL(const PointField&, sensor_msgs::PointField&)
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:139:8: note:   no known conversion for argument 1 from ‘pcl::PCLHeader’ to ‘const PointField& {aka const sensor_msgs::PointField_<std::allocator<void> >&}’
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:145:8: note: void pcl_conversions::fromPCL(const std::vector<sensor_msgs::PointField_<std::allocator<void> > >&, std::vector<sensor_msgs::PointField_<std::allocator<void> > >&)
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:145:8: note:   no known conversion for argument 1 from ‘pcl::PCLHeader’ to ‘const std::vector<sensor_msgs::PointField_<std::allocator<void> > >&’
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:178:8: note: void pcl_conversions::fromPCL(const PointCloud2&, sensor_msgs::PointCloud2&)
/home/xxxx/pcl_ws/install_isolated/include/pcl_conversions/pcl_conversions.h:178:8: note:   no known conversion for argument 1 from ‘pcl::PCLHeader’ to ‘const PointCloud2& {aka const sensor_msgs::PointCloud2_<std::allocator<void> >&}’

Does somebody know what causes this?

[wjwwood]

Sorry, I don't have any experience in using PCL 1.7 in Groovy, I would recommend using Hydro if you need PCL 1.7. Perhaps someone else has experience integrating the two though.

[LiliMeng]

How to use PCL1.7 in Groovy: It has been tested successfully :)

$ mkdir -p pcl_ws/src $ cd pcl_ws/src $ git clone https://github.com/ros-perception/perception_pcl.git -b groovy-unstable-devel $ cd perception_pcl $ git checkout 528328f $ cd .. $ catkin_init_workspace $ cd .. $ catkin_make_isolated [above step takes awhile] $ cd $ vim .rosinstall change this line:

• setup-file: {local-name: /opt/ros/groovy/setup.sh} to this (edit below path to point to your new workspace):
• setup-file: {local-name: ../pcl_ws/devel_isolated/setup.sh} $ source setup.bash [if you echo $ROS_PACKAGE_PATH you should now see both workspaces]

$ rosmake file

[okarabay]

running catkin_make_isolated fails and gives make errors and says: Failed to processs package 'pcl'

[wjwwood]

Please ask new questions on answers.ros.org.

And when you do, please include more information, we cannot do infer anything from "fails and gives make errors and says: Failed to processs package 'pcl'".