The branch with_g2o can't be compiled successfully

[drscopus]

The compilation errors are following: /home/scopus/scopus_planning_ws/src/karto_g2o/nav2d_karto/src/G2oSolver.cpp: In constructor ‘G2oSolver::G2oSolver()’: /home/scopus/scopus_planning_ws/src/karto_g2o/nav2d_karto/src/G2oSolver.cpp:27:65: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(SlamLinearSolver*&)’ SlamBlockSolver* blockSolver = new SlamBlockSolver(linearSolver); ^ /home/scopus/scopus_planning_ws/src/karto_g2o/nav2d_karto/src/G2oSolver.cpp:27:65: note: candidate is: In file included from /usr/local/include/g2o/core/block_solver.h:199:0, from /home/scopus/scopus_planning_ws/src/karto_g2o/nav2d_karto/src/G2oSolver.cpp:3: /usr/local/include/g2o/core/block_solver.hpp:40:1: note: g2o::BlockSolver<Traits>::BlockSolver(std::unique_ptr<typename Traits::LinearSolverType>) [with Traits = g2o::BlockSolverTraits<-1, -1>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >] BlockSolver<Traits>::BlockSolver(std::unique_ptr<LinearSolverType> linearSolver) ^ /usr/local/include/g2o/core/block_solver.hpp:40:1: note: no known conversion for argument 1 from ‘SlamLinearSolver* {aka g2o::LinearSolverCholmod<Eigen::Matrix<double, -1, -1> >*}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> > > >’ /home/scopus/scopus_planning_ws/src/karto_g2o/nav2d_karto/src/G2oSolver.cpp:28:79: error: no matching function for call to ‘g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(SlamBlockSolver*&)’ mOptimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(blockSolver)); ^ /home/scopus/scopus_planning_ws/src/karto_g2o/nav2d_karto/src/G2oSolver.cpp:28:79: note: candidate is: In file included from /home/scopus/scopus_planning_ws/src/karto_g2o/nav2d_karto/src/G2oSolver.cpp:6:0: /usr/local/include/g2o/core/optimization_algorithm_gauss_newton.h:46:16: note: g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(std::unique_ptr<g2o::Solver>) explicit OptimizationAlgorithmGaussNewton(std::unique_ptr<Solver> solver); ^ /usr/local/include/g2o/core/optimization_algorithm_gauss_newton.h:46:16: note: no known conversion for argument 1 from ‘SlamBlockSolver* {aka g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >*}’ to ‘std::unique_ptr<g2o::Solver>’ make[2]: *** [karto_g2o/nav2d_karto/CMakeFiles/mapper.dir/src/G2oSolver.cpp.o] Error 1 make[1]: *** [karto_g2o/nav2d_karto/CMakeFiles/mapper.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs....

[skasperski]

Have you tried building g2o from source? I remember there was an issue with the version that ships with ROS.

[drscopus]

I downloaded g2o from here , built and installed it. I didn't install ros-indigo-libg2o. So I think g2o is ok. Thank you!

[tyuownu]

I think you should install a special version of g2o, maybe the newest not compatible with old versions.