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rsasaki0109 / lidarslam_ros2

ROS 2 package of 3D lidar slam using ndt/gicp registration and pose-optimization
BSD 2-Clause "Simplified" License
510 stars 121 forks source link

Build Issue (PCL version error) #74

Closed NadimDeeb closed 8 months ago

NadimDeeb commented 1 year ago

I am using ROS Foxy. I've followed the steps described for cloning the repository in the readme.md file but when I colcon build my workspace i always get the following issue: `--- stderr: ndt_omp_ros2
CMake Error at CMakeLists.txt:23 (find_package): Could not find a configuration file for package "PCL" that is compatible with requested version "1.12".

The following configuration files were considered but not accepted:

/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake, version: 1.10.0
/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake, version: 1.10.0

make: *** [Makefile:370: cmake_check_build_system] Error 1

I tried to upgrade my PCL version to 1.12 but it doesn't seem to do the trick. I tried to download the repository as a zip and then run thegit submodule update --init --recursiveinside the package but it just gave me a longer series of g2o errors: --- stderr: graph_based_slam
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 CMake Warning (dev) at /usr/share/cmake-3.16/Modules/FindOpenGL.cmake:275 (message): Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when available. Run "cmake --help-policy CMP0072" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

FindOpenGL found both a legacy GL library:

OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

and GLVND libraries for OpenGL and GLX:

OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for compatibility with CMake 3.10 and below the legacy GL library will be used. Call Stack (most recent call first): /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package) /usr/local/lib/cmake/g2o/g2oConfig.cmake:4 (find_dependency) CMakeLists.txt:33 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

In file included from /usr/local/include/g2o/core/sparse_block_matrix.h:43, from /usr/local/include/g2o/core/sparse_optimizer.h:34, from /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/include/graph_based_slam/graph_based_slam_component.h:75, from /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:1: /usr/local/include/g2o/core/matrix_structure.h:57:19: error: ‘std::string_view’ has not been declared 57 | bool write(std::string_view filename) const; | ^~~ In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:39, from /usr/local/include/g2o/core/base_binary_edge.h:30, from /usr/local/include/g2o/types/slam3d/edge_se3.h:30, from /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/include/graph_based_slam/graph_based_slam_component.h:83, from /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:1: /usr/local/include/g2o/stuff/tuple_tools.h: In function ‘void g2o::tuple_apply_i(F&&, T&, int)’: /usr/local/include/g2o/stuff/tuple_tools.h:41:46: error: ‘tuple_size_v’ is not a member of ‘std’; did you mean ‘tuple_size’? 41 | f, t, i, std::make_index_sequence<std::tuple_size_v<std::decay_t>>()); | ^~~~ | tuple_size /usr/local/include/g2o/stuff/tuple_tools.h:41:46: error: ‘tuple_size_v’ is not a member of ‘std’; did you mean ‘tuple_size’? 41 | f, t, i, std::make_index_sequence<std::tuple_size_v<std::decay_t>>()); | ^~~~ | tuple_size /usr/local/include/g2o/stuff/tuple_tools.h:41:73: error: template argument 1 is invalid 41 | f, t, i, std::make_index_sequence<std::tuple_size_v<std::decay_t>>()); | ^~ /usr/local/include/g2o/stuff/tuple_tools.h:41:77: error: expected primary-expression before ‘)’ token 41 | f, t, i, std::make_index_sequence<std::tuple_size_v<std::decay_t>>()); | ^ /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp: In member function ‘void graphslam::GraphBasedSlamComponent::doPoseAdjustment(lidarslam_msgs::msg::MapArray, bool)’: /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:272:10: error: ‘make_unique’ is not a member of ‘g2o’; did you mean ‘std::make_unique’? 272 | g2o::make_unique<g2o::LinearSolverEigen>(); | ^~~ In file included from /usr/include/c++/9/memory:80, from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:144, from /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/include/graph_based_slam/graph_based_slam_component.h:42, from /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:1: /usr/include/c++/9/bits/unique_ptr.h:868:5: note: ‘std::make_unique’ declared here 868 | make_unique(_Args&&...) = delete; | ^~~ /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:272:81: error: expected primary-expression before ‘>’ token 272 | g2o::make_unique<g2o::LinearSolverEigen>(); | ^~ /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:272:84: error: expected primary-expression before ‘)’ token 272 | g2o::make_unique<g2o::LinearSolverEigen>(); | ^ /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:274:10: error: ‘make_unique’ is not a member of ‘g2o’; did you mean ‘std::make_unique’? 274 | g2o::make_unique(std::move(linear_solver))); | ^~~ In file included from /usr/include/c++/9/memory:80, from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:144, from /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/include/graph_based_slam/graph_based_slam_component.h:42, from /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:1: /usr/include/c++/9/bits/unique_ptr.h:868:5: note: ‘std::make_unique’ declared here 868 | make_unique(_Args&&...) = delete; | ^~~ /home/nadimdib/ros2_3D/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:274:42: error: expected primary-expression before ‘>’ token 274 | g2o::make_unique(std::move(linear_solver))); | ^ make[2]: [CMakeFiles/graph_based_slam_component.dir/build.make:63: CMakeFiles/graph_based_slam_component.dir/src/graph_based_slam_component.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:107: CMakeFiles/graph_based_slam_component.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 ---`

rsasaki0109 commented 1 year ago

Did you use the humble branch? Please use the foxy branch. https://github.com/rsasaki0109/lidarslam_ros2/tree/foxy

NadimDeeb commented 1 year ago

When I git clone, I am obligated to use the the general branch correct? So I have to run git clone --recursive https://github.com/rsasaki0109/lidarslam_ros2 and then run cd lidarslam_ros2 && git checkout foxy followed by building the project from the workspace directory using colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

rsasaki0109 commented 1 year ago

With that, the humble branch's submodule will be used. Please use the following command.

git clone --recursive https://github.com/rsasaki0109/lidarslam_ros2 -b foxy
NadimDeeb commented 1 year ago

I ran the git clone command provided and then built the workspace like instructed and I got a really long error for a build failure. Here are some snipets (since the error message can't be fully read in terminal): /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::resize_if_allowed(DstXprType&, const SrcXprType&, const Eigen::internal::assign_op<T1, T2>&) [with DstXprType = Eigen::Matrix<int, 4, 1>; SrcXprType = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<int>, Eigen::Matrix<int, 4, 1> >; T1 = int; T2 = int]’: /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:734:20: required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<int, 4, 1>; SrcXprType = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<int>, Eigen::Matrix<int, 4, 1> >; Functor = Eigen::internal::assign_op<int, int>]’ /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:879:31: required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<int, 4, 1>; SrcXprType = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<int>, Eigen::Matrix<int, 4, 1> >; Functor = Eigen::internal::assign_op<int, int>; Weak = void]’ /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:836:49: required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, 4, 1>; Src = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<int>, Eigen::Matrix<int, 4, 1> >; Func = Eigen::internal::assign_op<int, int>]’ /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:732:41: required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set_noalias(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<int>, Eigen::Matrix<int, 4, 1> >; Derived = Eigen::Matrix<int, 4, 1>]’ /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:816:7: required from ‘void Eigen::PlainObjectBase<Derived>::_init1(const Eigen::DenseBase<ElseDerived>&) [with T = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<int>, Eigen::Matrix<int, 4, 1> >; OtherDerived = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<int>, Eigen::Matrix<int, 4, 1> >; Derived = Eigen::Matrix<int, 4, 1>]’ /usr/include/eigen3/Eigen/src/Core/Matrix.h:294:31: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const T&) [with T = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<int>, Eigen::Matrix<int, 4, 1> >; _Scalar = int; int _Rows = 4; int _Cols = 1; int _Options = 0; int _MaxRows = 4; int _MaxCols = 1]’ /usr/local/include/pcl-1.12/pcl/filters/voxel_grid.h:533:33: required from here /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:719:12: error: ‘class Eigen::Matrix<int, 4, 1>’ has no member named ‘rows’; did you mean ‘row’? 719 | if(((dst.rows()!=dstRows) || (dst.cols()!=dstCols))) | ~~~~^~~~ | row /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:719:37: error: ‘class Eigen::Matrix<int, 4, 1>’ has no member named ‘cols’; did you mean ‘cos’? 719 | if(((dst.rows()!=dstRows) || (dst.cols()!=dstCols))) | ~~~~^~~~ | cos In file included from /usr/include/eigen3/Eigen/Core:440, from /usr/local/include/pcl-1.12/pcl/memory.h:48, from /usr/local/include/pcl-1.12/pcl/pcl_base.h:46, from /usr/local/include/pcl-1.12/pcl/filters/filter.h:42, from /usr/local/include/pcl-1.12/pcl/filters/voxel_grid.h:42, from /home/nadimdib/Test/src/lidarslam_ros2/Thirdparty/ndt_omp_ros2/include/pclomp/voxel_grid_covariance_omp.h:42, from /home/nadimdib/Test/src/lidarslam_ros2/Thirdparty/ndt_omp_ros2/src/pclomp/voxel_grid_covariance_omp.cpp:1: /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘Eigen::internal::evaluator_wrapper_base<XprType>::evaluator_wrapper_base(const ArgType&) [with XprType = Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> >; Eigen::internal::evaluator_wrapper_base<XprType>::ArgType = Eigen::Matrix<int, 4, 1>]’: /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:1422:81: required from ‘Eigen::internal::unary_evaluator<Eigen::ArrayWrapper<Derived> >::unary_evaluator(const XprType&) [with TArgType = Eigen::Matrix<int, 4, 1>; typename Eigen::ArrayWrapper<Derived>::Scalar = int; typename Eigen::internal::evaluator_traits<typename Eigen::ArrayWrapper<Derived>::NestedExpression>::Kind = Eigen::internal::IndexBased; Eigen::internal::unary_evaluator<Eigen::ArrayWrapper<Derived> >::XprType = Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> >]’ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:93:64: required from ‘Eigen::internal::evaluator<T>::evaluator(const T&) [with T = Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> >]’ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:103:54: required from ‘Eigen::internal::evaluator<const T>::evaluator(const T&) [with T = Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> >]’ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:702:26: required from ‘Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>, Eigen::internal::IndexBased, Eigen::internal::IndexBased>::binary_evaluator(const XprType&) [with BinaryOp = Eigen::internal::scalar_cmp_op<int, int, Eigen::internal::cmp_LE>; Lhs = const Eigen::Array<int, 4, 1>; Rhs = const Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> >; typename Eigen::internal::traits<typename Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::Rhs>::Scalar = int; typename Eigen::internal::traits<typename Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::Lhs>::Scalar = int; Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>, Eigen::internal::IndexBased, Eigen::internal::IndexBased>::XprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_cmp_op<int, int, Eigen::internal::cmp_LE>, const Eigen::Array<int, 4, 1>, const Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> > >]’ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:671:70: required from ‘Eigen::internal::evaluator<Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::evaluator(const XprType&) [with BinaryOp = Eigen::internal::scalar_cmp_op<int, int, Eigen::internal::cmp_LE>; Lhs = const Eigen::Array<int, 4, 1>; Rhs = const Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> >; Eigen::internal::evaluator<Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::XprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_cmp_op<int, int, Eigen::internal::cmp_LE>, const Eigen::Array<int, 4, 1>, const Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> > >]’ /usr/include/eigen3/Eigen/src/Core/BooleanRedux.h:88:13: required from ‘bool Eigen::DenseBase<Derived>::all() const [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_cmp_op<int, int, Eigen::internal::cmp_LE>, const Eigen::Array<int, 4, 1>, const Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> > >]’ /usr/local/include/pcl-1.12/pcl/filters/voxel_grid.h:672:54: required from here /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:1343:30: error: uninitialized reference member in ‘Eigen::internal::evaluator_wrapper_base<Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> > >::Scalar&’ {aka ‘int&’} [-fpermissive] 1343 | EIGEN_DEVICE_FUNC explicit evaluator_wrapper_base(const ArgType& arg) : m_argImpl(arg) {} | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:1361:11: note: ‘Eigen::internal::evaluator_wrapper_base<Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> > >::Scalar& Eigen::internal::evaluator_wrapper_base<Eigen::ArrayWrapper<Eigen::Matrix<int, 4, 1> > >::coeffRef’ should be initialized 1361 | Scalar& coeffRef(Index row, Index col) `In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33, from /usr/include/c++/9/bits/allocator.h:46, from /usr/include/c++/9/string:41, from /usr/include/c++/9/bits/locale_classes.h:40, from /usr/include/c++/9/bits/ios_base.h:41, from /usr/include/c++/9/ios:42, from /usr/include/c++/9/istream:38, from /usr/include/boost/random/additive_combine.hpp:19, from /usr/include/boost/random.hpp:36, from /usr/local/include/pcl-1.12/pcl/filters/boost.h:49, from /home/nadimdib/Test/src/lidarslam_ros2/Thirdparty/ndt_omp_ros2/include/pclomp/voxel_grid_covariance_omp.h:41, from /home/nadimdib/Test/src/lidarslam_ros2/Thirdparty/ndt_omp_ros2/src/pclomp/voxel_grid_covariance_omp.cpp:1: /usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = pcl::PointXYZ; _Args = {const pcl::PointXYZ&}; _Tp = pcl::PointXYZ]’: /usr/include/c++/9/bits/alloc_traits.h:244:4: required from ‘static std::_Require<typename std::allocator_traits<_Alloc>::construct_helper<_Tp, _Args>::type> std::allocator_traits<_Alloc>::_S_construct(_Alloc&, _Tp, _Args&& ...) [with _Tp = pcl::PointXYZ; _Args = {const pcl::PointXYZ&}; _Alloc = Eigen::aligned_allocator; std::_Require<typename std::allocator_traits<_Alloc>::construct_helper<_Tp, _Args>::type> = void]’ /usr/include/c++/9/bits/alloc_traits.h:350:16: required from ‘static decltype (std::allocator_traits<_Alloc>::_S_construct(a, p, (forward<_Args>)(std::allocator_traits::construct::args)...)) std::allocator_traits<_Alloc>::construct(_Alloc&, _Tp, _Args&& ...) [with _Tp = pcl::PointXYZ; _Args = {const pcl::PointXYZ&}; _Alloc = Eigen::aligned_allocator; decltype (std::allocator_traits<_Alloc>::_S_construct(a, p, (forward<_Args>)(std::allocator_traits::construct::args)...)) = void]’ /usr/include/c++/9/bits/stl_uninitialized.h:293:25: required from ‘_ForwardIterator std::uninitialized_copy_a(_InputIterator, _InputIterator, _ForwardIterator, _Allocator&) [with _InputIterator = gnu_cxx::__normal_iterator<const pcl::PointXYZ, std::vector<pcl::PointXYZ, Eigen::aligned_allocator > >; _ForwardIterator = pcl::PointXYZ; _Allocator = Eigen::aligned_allocator]’ /usr/include/c++/9/bits/stl_vector.h:555:31: required from ‘std::vector<_Tp, _Alloc>::vector(const std::vector<_Tp, _Alloc>&) [with _Tp = pcl::PointXYZ; _Alloc = Eigen::aligned_allocator]’ /usr/local/include/pcl-1.12/pcl/point_cloud.h:172:21: required from ‘void pclomp::VoxelGridCovariance::filter(pclomp::VoxelGridCovariance::PointCloud&, bool) [with PointT = pcl::PointXYZ; pclomp::VoxelGridCovariance::PointCloud = pcl::PointCloud]’ /home/nadimdib/Test/src/lidarslam_ros2/Thirdparty/ndt_omp_ros2/src/pclomp/voxel_grid_covariance_omp.cpp:4:24: required from here /usr/include/c++/9/ext/new_allocator.h:146:4: error: no matching function for call to ‘operator new(sizetype, void)’ 146 | { ::new((void )p) _Up(std::forward<_Args>(__args)...); } | ^~~~~~~~~~~~~~

: note: candidate: ‘void* operator new(long unsigned int)’ : note: candidate expects 1 argument, 2 provided In file included from /usr/include/eigen3/Eigen/Core:472, from /usr/local/include/pcl-1.12/pcl/memory.h:48, from /usr/local/include/pcl-1.12/pcl/pcl_base.h:46, from /usr/local/include/pcl-1.12/pcl/filters/filter.h:42, from /usr/local/include/pcl-1.12/pcl/filters/voxel_grid.h:42, from /home/nadimdib/Test/src/lidarslam_ros2/Thirdparty/ndt_omp_ros2/include/pclomp/voxel_grid_covariance_omp.h:42, from /home/nadimdib/Test/src/lidarslam_ros2/Thirdparty/ndt_omp_ros2/src/pclomp/voxel_grid_covariance_omp.cpp:1: /usr/include/eigen3/Eigen/src/Core/Block.h: In instantiation of ‘Eigen::internal::BlockImpl_dense::BlockImpl_dense(XprType&, int, int, int, int) [with XprType = Eigen::Matrix; int BlockRows = -1; int BlockCols = 1; bool InnerPanel = false]’: /usr/include/eigen3/Eigen/src/Core/Block.h:166:59: required from ‘Eigen::BlockImpl::BlockImpl(XprType&, int, int, int, int) [with XprType = Eigen::Matrix; int BlockRows = -1; int BlockCols = 1; bool InnerPanel = false]’ /usr/include/eigen3/Eigen/src/Core/Block.h:142:59: required from ‘Eigen::Block::Block(XprType&, int, int, int, int) [with XprType = Eigen::Matrix; int BlockRows = -1; int BlockCols = 1; bool InnerPanel = false]’ /usr/include/eigen3/Eigen/src/Core/VectorBlock.h:78:61: required from ‘Eigen::VectorBlock::VectorBlock(VectorType&, int, int) [with VectorType = Eigen::Matrix; int Size = -1]’ /usr/include/eigen3/Eigen/src/plugins/BlockMethods.h:922:10: required from ‘Eigen::DenseBase::SegmentReturnType Eigen::DenseBase::head(int) [with Derived = Eigen::Matrix; Eigen::DenseBase::SegmentReturnType = Eigen::VectorBlock, -1>]’ /home/nadimdib/Test/src/lidarslam_ros2/Thirdparty/ndt_omp_ros2/include/pclomp/voxel_grid_covariance_omp_impl.hpp:454:61: required from ‘void pclomp::VoxelGridCovariance::getDisplayCloud(pcl::PointCloud&) [with PointT = pcl::PointXYZ]’ /home/nadimdib/Test/src/lidarslam_ros2/Thirdparty/ndt_omp_ros2/src/pclomp/voxel_grid_covariance_omp.cpp:4:24: required from here /usr/include/eigen3/Eigen/src/Core/Block.h:374:42: error: invalid operands of types ‘void’ and ‘int’ to binary ‘operator*’ 374 | : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol), blockRows, blockCols), /usr/include/eigen3/Eigen/src/Core/Block.h:374:100: error: invalid operands of types ‘void’ and ‘int’ to binary ‘operator*’ 374 | xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol), blockRows, blockCols), /usr/include/eigen3/Eigen/src/Core/Block.h:375:62: error: using invalid field ‘Eigen::internal::BlockImpl_dense::m_startRow’ 375 | m_xpr(xpr), m_startRow(startRow), m_startCol(startCol) | ^ /usr/include/eigen3/Eigen/src/Core/Block.h:375:62: error: using invalid field ‘Eigen::internal::BlockImpl_dense::m_startCol’ `
rsasaki0109 commented 1 year ago

How about deleting the 'install' and 'build' from the workspace and then building it again?

rsasaki0109 commented 1 year ago

Do you have a different version of PCL installed than the default one in ROS2 Foxy? If so, you might need to uninstall it.

NadimDeeb commented 1 year ago

What is the version I need specifically? When I run locate PCLConfig.cmake I get multiple versions like so: /home/nadimdib/.local/share/Trash/files/build.14/PCLConfig.cmake /home/nadimdib/.local/share/Trash/files/pcl/PCLConfig.cmake.in /home/nadimdib/.local/share/Trash/files/pcl/build/PCLConfig.cmake /home/nadimdib/.local/share/Trash/files/pcl-pcl-1.10.0/PCLConfig.cmake.in /home/nadimdib/.local/share/Trash/files/pcl-pcl-1.10.0/build/PCLConfig.cmake /home/nadimdib/.local/share/Trash/files/pcl-pcl-1.12.0/PCLConfig.cmake.in /home/nadimdib/.local/share/Trash/files/pcl-pcl-1.12.0/build/PCLConfig.cmake /home/nadimdib/.local/share/Trash/files/pcl-pcl-1.13.1-rc1/PCLConfig.cmake.in /home/nadimdib/.local/share/Trash/files/src.3/lidarslam_ros2/Thirdparty/ndt_omp_ros2/src/pcl/PCLConfig.cmake.in /home/nadimdib/.local/share/Trash/files/src.3/lidarslam_ros2/Thirdparty/ndt_omp_ros2/src/pcl/build/PCLConfig.cmake /home/nadimdib/Documents/pcl-pcl-1.10.0/PCLConfig.cmake.in /home/nadimdib/Documents/pcl-pcl-1.10.0/build/PCLConfig.cmake /home/nadimdib/Documents/pcl-pcl-1.12.0/PCLConfig.cmake.in /home/nadimdib/Documents/pcl-pcl-1.12.0/build/PCLConfig.cmake /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake /usr/local/share/pcl-1.12/PCLConfig.cmake

rsasaki0109 commented 1 year ago

I haven't used ros2 foxy for a while, so I forgot the pcl version.

rsasaki0109 commented 1 year ago

Perhaps 1.10.

NadimDeeb commented 1 year ago

I ended up running the locale pcl and looking through any possible versions and found out I have pcl-1.10 and pcl-1.12 installed as well as the pcl debian package. I ended up calling sudo rm -r on the paths to these location leaving only the pcl debian package which made the error no longer pop up. I am now getting a g2o related error with this following erro log, do you have any idea why: `Starting >>> lidarslam_msgs Starting >>> ndt_omp_ros2 Finished <<< lidarslam_msgs [4.04s]
stderr: ndt_omp_ros2
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

Finished <<< ndt_omp_ros2 [31.5s] Starting >>> graph_based_slam Starting >>> scanmatcher stderr: graph_based_slam
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 CMake Warning (dev) at /usr/share/cmake-3.16/Modules/FindOpenGL.cmake:275 (message): Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when available. Run "cmake --help-policy CMP0072" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

FindOpenGL found both a legacy GL library:

OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

and GLVND libraries for OpenGL and GLX:

OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for compatibility with CMake 3.10 and below the legacy GL library will be used. Call Stack (most recent call first): /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package) /usr/local/lib/cmake/g2o/g2oConfig.cmake:4 (find_dependency) CMakeLists.txt:33 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

In file included from /usr/local/include/g2o/core/sparse_block_matrix.h:43, from /usr/local/include/g2o/core/sparse_optimizer.h:34, from /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/include/graph_based_slam/graph_based_slam_component.h:75, from /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:1: /usr/local/include/g2o/core/matrix_structure.h:57:19: error: ‘std::string_view’ has not been declared 57 | bool write(std::string_view filename) const; | ^~~ In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:39, from /usr/local/include/g2o/core/base_binary_edge.h:30, from /usr/local/include/g2o/types/slam3d/edge_se3.h:30, from /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/include/graph_based_slam/graph_based_slam_component.h:83, from /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:1: /usr/local/include/g2o/stuff/tuple_tools.h: In function ‘void g2o::tuple_apply_i(F&&, T&, int)’: /usr/local/include/g2o/stuff/tuple_tools.h:41:46: error: ‘tuple_size_v’ is not a member of ‘std’; did you mean ‘tuple_size’? 41 | f, t, i, std::make_index_sequence<std::tuple_size_v<std::decay_t>>()); | ^~~~ | tuple_size /usr/local/include/g2o/stuff/tuple_tools.h:41:46: error: ‘tuple_size_v’ is not a member of ‘std’; did you mean ‘tuple_size’? 41 | f, t, i, std::make_index_sequence<std::tuple_size_v<std::decay_t>>()); | ^~~~ | tuple_size /usr/local/include/g2o/stuff/tuple_tools.h:41:73: error: template argument 1 is invalid 41 | f, t, i, std::make_index_sequence<std::tuple_size_v<std::decay_t>>()); | ^~ /usr/local/include/g2o/stuff/tuple_tools.h:41:77: error: expected primary-expression before ‘)’ token 41 | f, t, i, std::make_index_sequence<std::tuple_size_v<std::decay_t>>()); | ^ /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp: In member function ‘void graphslam::GraphBasedSlamComponent::doPoseAdjustment(lidarslam_msgs::msg::MapArray, bool)’: /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:272:10: error: ‘make_unique’ is not a member of ‘g2o’; did you mean ‘std::make_unique’? 272 | g2o::make_unique<g2o::LinearSolverEigen>(); | ^~~ In file included from /usr/include/c++/9/memory:80, from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:144, from /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/include/graph_based_slam/graph_based_slam_component.h:42, from /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:1: /usr/include/c++/9/bits/unique_ptr.h:868:5: note: ‘std::make_unique’ declared here 868 | make_unique(_Args&&...) = delete; | ^~~ /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:272:81: error: expected primary-expression before ‘>’ token 272 | g2o::make_unique<g2o::LinearSolverEigen>(); | ^~ /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:272:84: error: expected primary-expression before ‘)’ token 272 | g2o::make_unique<g2o::LinearSolverEigen>(); | ^ /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:274:10: error: ‘make_unique’ is not a member of ‘g2o’; did you mean ‘std::make_unique’? 274 | g2o::make_unique(std::move(linear_solver))); | ^~~ In file included from /usr/include/c++/9/memory:80, from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:144, from /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/include/graph_based_slam/graph_based_slam_component.h:42, from /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:1: /usr/include/c++/9/bits/unique_ptr.h:868:5: note: ‘std::make_unique’ declared here 868 | make_unique(_Args&&...) = delete; | ^~~ /home/nadimdib/test/src/lidarslam_ros2/graph_based_slam/src/graph_based_slam_component.cpp:274:42: error: expected primary-expression before ‘>’ token 274 | g2o::make_unique(std::move(linear_solver))); | ^ make[2]: [CMakeFiles/graph_based_slam_component.dir/build.make:63: CMakeFiles/graph_based_slam_component.dir/src/graph_based_slam_component.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:107: CMakeFiles/graph_based_slam_component.dir/all] Error 2 make: *** [Makefile:141: all] Error 2

Failed <<< graph_based_slam [21.6s, exited with code 2] Aborted <<< scanmatcher [1min 20s]

Summary: 2 packages finished [1min 52s] 1 package failed: graph_based_slam 1 package aborted: scanmatcher 3 packages had stderr output: graph_based_slam ndt_omp_ros2 scanmatcher 1 package not processed`

NadimDeeb commented 1 year ago

My g2o file which contains the core, types/slam3d and solver/eigen is in the usr/local/include directory. It is in the correct place?

NadimDeeb commented 1 year ago

Hey again, I noticed you labeled the foxy branch as failing. I managed to get it to build. -First I changed the C++ version from 14 to 17 which resolved a bunch of errors related to the compiler. -Second I changed the following namespaces form g2o to std (but I don't think that's a valid solution) at line 269 to 276:

g2o::SparseOptimizer optimizer; optimizer.setVerbose(false); std::unique_ptr linear_solver = // g2o::make_unique<g2o::LinearSolverEigen>(); std::make_unique<g2o::LinearSolverEigen>(); g2o::OptimizationAlgorithmLevenberg * solver = new g2o::OptimizationAlgorithmLevenberg( // g2o::make_unique(std::move(linear_solver))); std::make_unique(std::move(linear_solver)));

rsasaki0109 commented 8 months ago

It seems that the issue has been resolved, so I am closing it.