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rst-tu-dortmund / teb_local_planner

An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)
http://wiki.ros.org/teb_local_planner
BSD 3-Clause "New" or "Revised" License
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Build fails for foxy-devel/ros2 with g2o related incompatibilities #326

Open matteoderose opened 2 years ago

matteoderose commented 2 years ago

I'm trying to build teb_local_planner with ROS2 Foxy after having built g2o library. However, I get the following error when I try to build the package:

Starting >>> teb_local_planner
[Processing: teb_local_planner]                               
--- stderr: teb_local_planner                                 
In file included from /usr/local/include/g2o/core/base_variable_sized_edge.h:111,
                 from /usr/local/include/g2o/core/base_multi_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:51,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp: In member function ‘virtual void g2o::BaseVariableSizedEdge<D, E>::linearizeOplus()’:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:84:12: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘fill’
   84 |     add_vi.fill(0.);
      |            ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:88:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   88 |       vi->oplus(add_vi.data());
      |                        ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:94:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   94 |       vi->oplus(add_vi.data());
      |                        ^~~~
In file included from /usr/local/include/g2o/core/base_variable_sized_edge.h:111,
                 from /usr/local/include/g2o/core/base_multi_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:51,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/visualization.cpp:41:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp: In member function ‘virtual void g2o::BaseVariableSizedEdge<D, E>::linearizeOplus()’:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:84:12: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘fill’
   84 |     add_vi.fill(0.);
      |            ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:88:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   88 |       vi->oplus(add_vi.data());
      |                        ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:94:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   94 |       vi->oplus(add_vi.data());
      |                        ^~~~
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp: In static member function ‘static void teb_local_planner::TebOptimalPlanner::registerG2OTypes()’:
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:126:40: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::VertexPose>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  126 |   factory->registerType("VERTEX_POSE", new g2o::HyperGraphElementCreator<VertexPose>);
      |                                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                        |
      |                                        g2o::HyperGraphElementCreator<teb_local_planner::VertexPose>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:127:44: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::VertexTimeDiff>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  127 |   factory->registerType("VERTEX_TIMEDIFF", new g2o::HyperGraphElementCreator<VertexTimeDiff>);
      |                                            ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                            |
      |                                            g2o::HyperGraphElementCreator<teb_local_planner::VertexTimeDiff>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:129:46: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeTimeOptimal>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  129 |   factory->registerType("EDGE_TIME_OPTIMAL", new g2o::HyperGraphElementCreator<EdgeTimeOptimal>);
      |                                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                              |
      |                                              g2o::HyperGraphElementCreator<teb_local_planner::EdgeTimeOptimal>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:130:47: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeShortestPath>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  130 |   factory->registerType("EDGE_SHORTEST_PATH", new g2o::HyperGraphElementCreator<EdgeShortestPath>);
      |                                               ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                               |
      |                                               g2o::HyperGraphElementCreator<teb_local_planner::EdgeShortestPath>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:131:42: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeVelocity>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  131 |   factory->registerType("EDGE_VELOCITY", new g2o::HyperGraphElementCreator<EdgeVelocity>);
      |                                          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                          |
      |                                          g2o::HyperGraphElementCreator<teb_local_planner::EdgeVelocity>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:132:52: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeVelocityHolonomic>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  132 |   factory->registerType("EDGE_VELOCITY_HOLONOMIC", new g2o::HyperGraphElementCreator<EdgeVelocityHolonomic>);
      |                                                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                    |
      |                                                    g2o::HyperGraphElementCreator<teb_local_planner::EdgeVelocityHolonomic>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:133:46: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeAcceleration>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  133 |   factory->registerType("EDGE_ACCELERATION", new g2o::HyperGraphElementCreator<EdgeAcceleration>);
      |                                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                              |
      |                                              g2o::HyperGraphElementCreator<teb_local_planner::EdgeAcceleration>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:134:52: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationStart>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  134 |   factory->registerType("EDGE_ACCELERATION_START", new g2o::HyperGraphElementCreator<EdgeAccelerationStart>);
      |                                                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                    |
      |                                                    g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationStart>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:135:51: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationGoal>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  135 |   factory->registerType("EDGE_ACCELERATION_GOAL", new g2o::HyperGraphElementCreator<EdgeAccelerationGoal>);
      |                                                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                   |
      |                                                   g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationGoal>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:136:56: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationHolonomic>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  136 |   factory->registerType("EDGE_ACCELERATION_HOLONOMIC", new g2o::HyperGraphElementCreator<EdgeAccelerationHolonomic>);
      |                                                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                        |
      |                                                        g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationHolonomic>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:137:62: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationHolonomicStart>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  137 |   factory->registerType("EDGE_ACCELERATION_HOLONOMIC_START", new g2o::HyperGraphElementCreator<EdgeAccelerationHolonomicStart>);
      |                                                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                              |
      |                                                              g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationHolonomicStart>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:138:61: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationHolonomicGoal>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  138 |   factory->registerType("EDGE_ACCELERATION_HOLONOMIC_GOAL", new g2o::HyperGraphElementCreator<EdgeAccelerationHolonomicGoal>);
      |                                                             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                             |
      |                                                             g2o::HyperGraphElementCreator<teb_local_planner::EdgeAccelerationHolonomicGoal>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:139:55: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeKinematicsDiffDrive>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  139 |   factory->registerType("EDGE_KINEMATICS_DIFF_DRIVE", new g2o::HyperGraphElementCreator<EdgeKinematicsDiffDrive>);
      |                                                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                       |
      |                                                       g2o::HyperGraphElementCreator<teb_local_planner::EdgeKinematicsDiffDrive>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:140:52: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeKinematicsCarlike>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  140 |   factory->registerType("EDGE_KINEMATICS_CARLIKE", new g2o::HyperGraphElementCreator<EdgeKinematicsCarlike>);
      |                                                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                    |
      |                                                    g2o::HyperGraphElementCreator<teb_local_planner::EdgeKinematicsCarlike>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:141:42: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeObstacle>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  141 |   factory->registerType("EDGE_OBSTACLE", new g2o::HyperGraphElementCreator<EdgeObstacle>);
      |                                          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                          |
      |                                          g2o::HyperGraphElementCreator<teb_local_planner::EdgeObstacle>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:142:51: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeInflatedObstacle>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  142 |   factory->registerType("EDGE_INFLATED_OBSTACLE", new g2o::HyperGraphElementCreator<EdgeInflatedObstacle>);
      |                                                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                   |
      |                                                   g2o::HyperGraphElementCreator<teb_local_planner::EdgeInflatedObstacle>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:143:50: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeDynamicObstacle>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  143 |   factory->registerType("EDGE_DYNAMIC_OBSTACLE", new g2o::HyperGraphElementCreator<EdgeDynamicObstacle>);
      |                                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                                  |
      |                                                  g2o::HyperGraphElementCreator<teb_local_planner::EdgeDynamicObstacle>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:144:43: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgeViaPoint>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  144 |   factory->registerType("EDGE_VIA_POINT", new g2o::HyperGraphElementCreator<EdgeViaPoint>);
      |                                           ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                           |
      |                                           g2o::HyperGraphElementCreator<teb_local_planner::EdgeViaPoint>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:145:47: error: cannot convert ‘g2o::HyperGraphElementCreator<teb_local_planner::EdgePreferRotDir>*’ to ‘const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&’
  145 |   factory->registerType("EDGE_PREFER_ROTDIR", new g2o::HyperGraphElementCreator<EdgePreferRotDir>);
      |                                               ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                                               |
      |                                               g2o::HyperGraphElementCreator<teb_local_planner::EdgePreferRotDir>*
In file included from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:56,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/factory.h:63:78: note:   initializing argument 2 of ‘void g2o::Factory::registerType(const string&, const std::shared_ptr<g2o::AbstractHyperGraphElementCreator>&)’
   63 |                     const std::shared_ptr<AbstractHyperGraphElementCreator>& c);
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
In file included from /usr/local/include/g2o/core/base_variable_sized_edge.h:111,
                 from /usr/local/include/g2o/core/base_multi_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:51,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h:59,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/homotopy_class_planner.cpp:39:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp: In member function ‘virtual void g2o::BaseVariableSizedEdge<D, E>::linearizeOplus()’:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:84:12: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘fill’
   84 |     add_vi.fill(0.);
      |            ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:88:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   88 |       vi->oplus(add_vi.data());
      |                        ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:94:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   94 |       vi->oplus(add_vi.data());
      |                        ^~~~
In file included from /usr/local/include/g2o/core/base_variable_sized_edge.h:111,
                 from /usr/local/include/g2o/core/base_multi_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:51,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:50,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/teb_local_planner_ros.cpp:39:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp: In member function ‘virtual void g2o::BaseVariableSizedEdge<D, E>::linearizeOplus()’:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:84:12: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘fill’
   84 |     add_vi.fill(0.);
      |            ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:88:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   88 |       vi->oplus(add_vi.data());
      |                        ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:94:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   94 |       vi->oplus(add_vi.data());
      |                        ^~~~
In file included from /usr/local/include/g2o/core/base_variable_sized_edge.h:111,
                 from /usr/local/include/g2o/core/base_multi_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:51,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h:59,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/graph_search.cpp:40:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp: In member function ‘virtual void g2o::BaseVariableSizedEdge<D, E>::linearizeOplus()’:
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:84:12: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘fill’
   84 |     add_vi.fill(0.);
      |            ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:88:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   88 |       vi->oplus(add_vi.data());
      |                        ^~~~
/usr/local/include/g2o/core/base_variable_sized_edge.hpp:94:24: error: ‘class ceres::internal::FixedArray<double>’ has no member named ‘data’
   94 |       vi->oplus(add_vi.data());
      |                        ^~~~
In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:292,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/optimal_planner.cpp:42:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:292,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/visualization.cpp:41:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:292,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h:59,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/graph_search.cpp:40:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:292,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h:59,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/homotopy_class_planner.cpp:39:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
make[2]: *** [CMakeFiles/teb_local_planner.dir/build.make:102: CMakeFiles/teb_local_planner.dir/src/visualization.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/teb_local_planner.dir/build.make:167: CMakeFiles/teb_local_planner.dir/src/graph_search.cpp.o] Error 1
make[2]: *** [CMakeFiles/teb_local_planner.dir/build.make:141: CMakeFiles/teb_local_planner.dir/src/homotopy_class_planner.cpp.o] Error 1
make[2]: *** [CMakeFiles/teb_local_planner.dir/build.make:76: CMakeFiles/teb_local_planner.dir/src/optimal_planner.cpp.o] Error 1
In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:292,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/base_teb_edges.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/g2o_types/edge_velocity.h:49,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/optimal_planner.h:63,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:50,
                 from /home/matteodr/ros2_ws/src/teb_local_planner/src/teb_local_planner_ros.cpp:39:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const Eigen::Matrix<double, 2, 1>*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = const teb_local_planner::Obstacle*; VertexTypes = {teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 1; E = double; VertexTypes = {teb_local_planner::VertexTimeDiff}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 1>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 1; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:192:43:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0, 1}; int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0, 1>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:200:3:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = double; VertexTypes = {teb_local_planner::VertexPose, teb_local_planner::VertexPose}]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:197:6:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:166:14: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘fill’
  166 |   add_vertex.fill(0.);
      |   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:173:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  173 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:179:30: error: ‘FixedArray’ {aka ‘class ceres::internal::FixedArray<double, 3>’} has no member named ‘data’
  179 |     vertex->oplus(add_vertex.data());
      |                   ~~~~~~~~~~~^~~~
make[2]: *** [CMakeFiles/teb_local_planner.dir/build.make:154: CMakeFiles/teb_local_planner.dir/src/teb_local_planner_ros.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/teb_local_planner.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< teb_local_planner [35.9s, exited with code 2]

Summary: 12 packages finished [43.2s]
  1 package failed: teb_local_planner
  1 package had stderr output: teb_local_planner
guilyx commented 2 years ago

Hey, for me installing g2o using apt install ros-foxy-libg2o made the compilation work fine. If you're building from source and absolutely require that, can't help.

fvillml commented 2 years ago

Any update on this? I would like to compile it from source too for Ubuntu 20 and I'm having the same problem. I compiled and installed g2o from source too because I don't want to install some packages with the ros apt package.

BIRL-xu commented 1 year ago

Any update on this? I would like to compile it from source too for Ubuntu 20 and I'm having the same problem. I compiled and installed g2o from source too because I don't want to install some packages with the ros apt package.

You could try the commit 565d1000 of g2o master branch, and commit 93511bfd of Ceres master branch. I built these on Ubuntu 20.04 and Galactic. Hope that help you.

gongbingyu commented 1 month ago

Any update on this? I would like to compile it from source too for Ubuntu 20 and I'm having the same problem. I compiled and installed g2o from source too because I don't want to install some packages with the ros apt package.

You could try the commit 565d1000 of g2o master branch, and commit 93511bfd of Ceres master branch. I built these on Ubuntu 20.04 and Galactic. Hope that help you.

I'm not find the commit 565d1000 of g2o master branch