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tu-darmstadt-ros-pkg / hector_slam

hector_slam contains ROS packages related to performing SLAM in unstructed environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition.
http://wiki.ros.org/hector_slam
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undefined reference to `tf2_ros::TransformListener::TransformListener(tf2::BufferCore&, ros::NodeHandle const&, bool)' #92

Closed quangvu16 closed 3 years ago

quangvu16 commented 3 years ago

Dear Friends, My system: Jetson Nano, Ros Melodic Desktop Full. When I catkin_make this package, it shows below issue. Please help me. Thank you.

[ 94%] Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/hector_imu_attitude_to_tf/imu_attitude_to_tf_node /opt/ros/melodic/lib/libtf.so: undefined reference to tf2_ros::TransformListener::TransformListener(tf2::BufferCore&, ros::NodeHandle const&, bool)' collect2: error: ld returned 1 exit status RPLidar_Hector_SLAM/hector_slam/hector_imu_attitude_to_tf/CMakeFiles/imu_attitude_to_tf_node.dir/build.make:118: recipe for target '/home/ubuntu/catkin_ws/devel/lib/hector_imu_attitude_to_tf/imu_attitude_to_tf_node' failed make[2]: *** [/home/ubuntu/catkin_ws/devel/lib/hector_imu_attitude_to_tf/imu_attitude_to_tf_node] Error 1 CMakeFiles/Makefile2:6308: recipe for target 'RPLidar_Hector_SLAM/hector_slam/hector_imu_attitude_to_tf/CMakeFiles/imu_attitude_to_tf_node.dir/all' failed make[1]: *** [RPLidar_Hector_SLAM/hector_slam/hector_imu_attitude_to_tf/CMakeFiles/imu_attitude_to_tf_node.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 95%] Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/hector_imu_tools/pose_and_orientation_to_imu_node /opt/ros/melodic/lib/libtf.so: undefined reference totf2_ros::TransformListener::TransformListener(tf2::BufferCore&, ros::NodeHandle const&, bool)' collect2: error: ld returned 1 exit status RPLidar_Hector_SLAM/hector_slam/hector_imu_tools/CMakeFiles/pose_and_orientation_to_imu_node.dir/build.make:118: recipe for target '/home/ubuntu/catkin_ws/devel/lib/hector_imu_tools/pose_and_orientation_to_imu_node' failed make[2]: [/home/ubuntu/catkin_ws/devel/lib/hector_imu_tools/pose_and_orientation_to_imu_node] Error 1 CMakeFiles/Makefile2:6364: recipe for target 'RPLidar_Hector_SLAM/hector_slam/hector_imu_tools/CMakeFiles/pose_and_orientation_to_imu_node.dir/all' failed make[1]: [RPLidar_Hector_SLAM/hector_slam/hector_imu_tools/CMakeFiles/pose_and_orientation_to_imu_node.dir/all] Error 2 [ 95%] Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/tf2_ros/buffer_server [ 95%] Built target tf2_ros_buffer_server [ 95%] Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/hector_map_server/hector_map_server /opt/ros/melodic/lib/libtf.so: undefined reference to `tf2_ros::TransformListener::TransformListener(tf2::BufferCore&, ros::NodeHandle const&, bool)' collect2: error: ld returned 1 exit status RPLidar_Hector_SLAM/hector_slam/hector_map_server/CMakeFiles/hector_map_server.dir/build.make:118: recipe for target '/home/ubuntu/catkin_ws/devel/lib/hector_map_server/hector_map_server' failed make[2]: [/home/ubuntu/catkin_ws/devel/lib/hector_map_server/hector_map_server] Error 1 CMakeFiles/Makefile2:6480: recipe for target 'RPLidar_Hector_SLAM/hector_slam/hector_map_server/CMakeFiles/hector_map_server.dir/all' failed make[1]: [RPLidar_Hector_SLAM/hector_slam/hector_map_server/CMakeFiles/hector_map_server.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed

marcelino-pensa commented 3 years ago

Did you try sudo apt install ros-melodic-tf2-ros?

quangvu16 commented 3 years ago

I solved this. Thank you

ju-mingyue commented 3 years ago

@quangvu16 I am sorry that I also encountered this problem. I would like to ask you how to solve it?

quangvu16 commented 3 years ago

1) If you install from this github, you should choose devel (noetic, kniectic, kinetic) which you install

2) The other simple way is to isntall as below command. Noetic: sudo apt install ros-noetic-tf2-ros Melodic: sudo apt install ros-melodic-tf2-ros Kinetic: sudo apt install ros-kinetic-tf2-ros After that you use sudo nano to change parameters. https://ardupilot.org/dev/docs/ros-slam.html

bears0 commented 2 years ago

I solved this by making sure that I cloned the melodic-devel branch. I'm running on an RPI4 so I have to compile everything from source. I've found that its best to check github for available branches before blindly cloning.

davidschep commented 2 years ago

Hi unfortunately after looking at this issue and similar posts I still run into this problem.

I use catkin build, building the melodic-devel branch (on an ubuntu 18.04 machine), I tried noetic-devel too just to see. ros-melodic-tf2-ros is installed (and ros completely reinstalled using apt-get to see if that would solve it).

Here is the full console output: https://pastebin.com/iqD4GMAg

What other solutions could I try?

marcelino-pensa commented 2 years ago

David, it doesn't seem like your error is anything like the OP error Looking at your console output it seems like there is something wrong with your ROS installation. For instance this error:

/opt/ros/melodic/include/tf/tf.h:403:8: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<tf2_ros::Buffer> tf2_buffer_ptr_;

It seems to me that ROS isn't properly installed in your device, as it can't compile the native library tf.h. Did you modify any of tf.h? I don't know how wouldn't it find shared_ptr as part of std

I don't have much of an idea of how you got there, but a few things to try might be to reinstall tf (apt install ros-melodic-tf) or just trying to purge all of ROS and reinstalling, since other libraries might also be compromised

davidschep commented 2 years ago

Thanks for the help Marcelino.

That was my guess too, so I did a full purge of ROS and reinstalled it (full ros installation), still no luck, all on a clean Ubuntu installation.

david@david-desktop:~$ sudo apt list ros-melodic-tf* --installed
Listing... Done
ros-melodic-tf/bionic,now 1.12.1-1bionic.20210921.212307 amd64 [installed,automatic]
ros-melodic-tf-conversions/bionic,now 1.12.1-1bionic.20210921.221840 amd64 [installed,automatic]
ros-melodic-tf2/bionic,now 0.6.5-0bionic.20210505.012642 amd64 [installed,automatic]
ros-melodic-tf2-eigen/bionic,now 0.6.5-0bionic.20210505.012921 amd64 [installed,automatic]
ros-melodic-tf2-geometry-msgs/bionic,now 0.6.5-0bionic.20210921.221714 amd64 [installed,automatic]
ros-melodic-tf2-kdl/bionic,now 0.6.5-0bionic.20210921.212349 amd64 [installed,automatic]
ros-melodic-tf2-msgs/bionic,now 0.6.5-0bionic.20210505.012524 amd64 [installed,automatic]
ros-melodic-tf2-py/bionic,now 0.6.5-0bionic.20210921.203201 amd64 [installed,automatic]
ros-melodic-tf2-ros/bionic,now 0.6.5-0bionic.20210921.211805 amd64 [installed,automatic]

I found these related questions https://githubmemory.com/repo/WPI-AIM/ambf/issues/77 https://answers.ros.org/question/320943/unable-to-build-geometry-package-in-ros-kinetic/

Is there a chance that it is not using c++11 for compilation?

Update: Adding add_compile_options(-std=c++11) at the top of the CMakeList files in: hector_geotiff, hector_geotiff_plugins, hector_imu_attitude_to_tf, hector_imu_tools, hector_map_server, hector_mapping, hector_trajectory_server, allowed me to build. Does this give a better indication as to what could be going wrong?

marcelino-pensa commented 2 years ago

@davidschep I was also wondering if the issue would be in building with c++11. Note that since your issue is unrelated to the OP, you'd better create your own issue. In addition, I don't know why yours isn't building, I build hector_mapping with no issues on ROS Noetic / Ubuntu 20.04. I also see no harm in adding the compile options to the CMakeLists file, but that's for the repository maintainer to decide

StefanFabian commented 2 years ago

Shared ptr was introduced in C++11 (Docs). Hence, it makes sense that it won't compile with older C++ standards. Since Melodic allows up to C++14, I would be okay with adding set(CMAKE_CXX_STANDARD 11) which is preferable over add_compile_options if it is available (requires CMake version >=3.1, but I think Ubuntu 18.04 comes with 3.5.2) and updating the min required cmake version accordingly.