Where do toolkits come from

[git-chenjiqing]

Hello Where do toolkits come from The following error occurred when I compiled this project

fatal error: toolkits/point_cloud/MapManager.hpp: 
 #include <toolkits/point_cloud/MapManager.hpp>

[rsasaki0109]

@git-chenjiqing As you can see from the source code, there is no "#include <toolkits/point_cloud/MapManager.hpp>" description in ndt_mapping. I think there is a problem in your environment.(For example, you may have changed the version of pcl.)

[git-chenjiqing]

https://github.com/PointCloudLibrary/pcl Latest master branch

[git-chenjiqing]

about PCL What version should I install？

[rsasaki0109]

@git-chenjiqing It depends on the version of ros. It's probably a problem between ros and pcl, so you can use the pcl version that comes as standard when you install ros.

[git-chenjiqing]

Hello My ROS version is melodic I install PCL through source code compilation

[rsasaki0109]

I think you can uninstall that compiled pcl. If that doesn't work, try using the following command.

rosdep install -i --from-paths

If that doesn't work, you may need to reinstall ros or ubuntu.

[git-chenjiqing]

I found two versions of PCL installed, 1.8 and 1.12. Now I have uninstalled them all Execute this command

rosdep install -i --from-paths ndt_mapping-master
#All required rosdeps installed successfully

[git-chenjiqing]

When I completely uninstall PCL, compile it

/home/chenjiqing/kaijia_ws/src/ndt_mapping-master/include/ndt_mapping.h:38:10: fatal error: pcl/io/io.h: 没有那个文件或目录
 #include <pcl/io/io.h>
          ^~~~~~~~~~~~~
In file included from /home/chenjiqing/kaijia_ws/src/ndt_mapping-master/src/ndt_mapping.cpp:23:0:
/home/chenjiqing/kaijia_ws/src/ndt_mapping-master/include/ndt_mapping.h:38:10: fatal error: pcl/io/io.h: 没有那个文件或目录
 #include <pcl/io/io.h>
          ^~~~~~~~~~~~~
/home/chenjiqing/kaijia_ws/src/ndt_mapping-master/src/ndt_mapping_submaps.cpp:39:10: fatal error: pcl/io/io.h: 没有那个文件或目录
 #include <pcl/io/io.h>

Then I followed the dependency instructions as follows

sudo apt-get install ros-melodic-pcl-*

It seems better now Thank you for your continuous reply

[git-chenjiqing]

Hello, there's another question

How do I convert occupancymap to pointcloud2

[rsasaki0109]

@git-chenjiqing I've never done it before, so I'm not sure.

[rsasaki0109]

The issue in the title is resolved, so close this issue.