oblivione
commented
8 years ago so u can change it to Catkin branch by
cd lsd_slam/
git checkout catkin
you run " ls"
response should :
LICENSE lsd_slam lsd_slam_core lsd_slam_viewer README.md
Then add "build_depend>cmake_modules</build_depend"
"run_depend>cmake_modules</run_depend"
in "package.xml" both in the folder "lsd_slam/lsd_slam_viewer" and in the folder "lsd_slam/lsd_slam_core".
In "CMakeFiles.txt" both in the folder "lsd_slam/lsd_slam_viewer" and in the folder "lsd_slam/lsd_slam_core"
add:
find_package(cmake_modules REQUIRED)
check the line below (X11 may be mising )
target_link_libraries(lsdslam ${FABMAP_LIB} ${G2O_LIBRARIES} ${catkin_LIBRARIES} csparse cxsparse X11)
Then u can build your workspace by cd path_to_catkin_ws catkin_make
Then again if got some error of header file missing then "CMakeFiles.txt" in the folder "lsd_slam/lsd_slam_core" add: add_dependencies(lsdslam lsd_slam_viewer_generate_messages_cpp) add_dependencies(live_slam lsd_slam_viewer_generate_messages_cpp) add_dependencies(dataset lsd_slam_viewer_generate_messages_cpp)
"CMakeFiles.txt" in the folder "lsd_slam/lsd_slam_viewer" add: add_dependencies(viewer lsd_slam_viewer_generate_messages_cpp)
QinZiwen
TungTNguyen
ulkesh11
thatfreefish
johnchars
I compile the lsd_slam by typing: rosmake lsd_slam. But I get some failures, which shows that "[ rosmake Built 42 packages with 1 failures]". Can you kindly help me solve the problem? Below are the whole messages.
[ rosmake ] rosmake starting...::setScale(const Scalar&) const [with Derived = Sophus::Sim3Group; Sophus::Sim3GroupBase::Scalar = double]’:
/home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/util/SophusUtil.h:56:23: required from here
/opt/ros/indigo/include/sophus/sim3.hpp:339:5: error: passing ‘const RxSO3Type {aka const Sophus::RxSO3Group}’ as ‘this’ argument of ‘void Sophus::RxSO3GroupBase::setScale(const Scalar&) [with Derived = Sophus::RxSO3Group; Sophus::RxSO3GroupBase::Scalar = double]’ discards qualifiers [-fpermissive]
rxso3().setScale(scale);
^
make[3]: * [CMakeFiles/lsdslam.dir/src/LiveSLAMWrapper.cpp.o] Error 1
make[3]: * Waiting for unfinished jobs....
make[3]: * [CMakeFiles/lsdslam.dir/src/DataStructures/FrameMemory.cpp.o] Error 1
make[3]: * [CMakeFiles/lsdslam.dir/src/DataStructures/FramePoseStruct.cpp.o] Error 1
make[3]: * [CMakeFiles/lsdslam.dir/src/DataStructures/Frame.cpp.o] Error 1
In file included from /home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/util/SophusUtil.h:23:0,
from /home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/DepthEstimation/DepthMap.h:26,
from /home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/DepthEstimation/DepthMap.cpp:21:
/opt/ros/indigo/include/sophus/sim3.hpp: In instantiation of ‘void Sophus::Sim3GroupBase::setScale(const Scalar&) const [with Derived = Sophus::Sim3Group; Sophus::Sim3GroupBase::Scalar = double]’:
/home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/util/SophusUtil.h:56:23: required from here
/opt/ros/indigo/include/sophus/sim3.hpp:339:5: error: passing ‘const RxSO3Type {aka const Sophus::RxSO3Group}’ as ‘this’ argument of ‘void Sophus::RxSO3GroupBase::setScale(const Scalar&) [with Derived = Sophus::RxSO3Group; Sophus::RxSO3GroupBase::Scalar = double]’ discards qualifiers [-fpermissive]
rxso3().setScale(scale);
^
make[3]: * [CMakeFiles/lsdslam.dir/src/DepthEstimation/DepthMapPixelHypothesis.cpp.o] Error 1
make[3]: * [CMakeFiles/lsdslam.dir/src/util/globalFuncs.cpp.o] Error 1
In file included from /home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/util/SophusUtil.h:23:0,
from /home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/SlamSystem.h:31,
from /home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/SlamSystem.cpp:21:
/opt/ros/indigo/include/sophus/sim3.hpp: In instantiation of ‘void Sophus::Sim3GroupBase::setScale(const Scalar&) const [with Derived = Sophus::Sim3Group; Sophus::Sim3GroupBase::Scalar = double]’:
/home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/util/SophusUtil.h:56:23: required from here
/opt/ros/indigo/include/sophus/sim3.hpp:339:5: error: passing ‘const RxSO3Type {aka const Sophus::RxSO3Group}’ as ‘this’ argument of ‘void Sophus::RxSO3GroupBase::setScale(const Scalar&) [with Derived = Sophus::RxSO3Group; Sophus::RxSO3GroupBase::Scalar = double]’ discards qualifiers [-fpermissive]
rxso3().setScale(scale);
^
make[3]: * [CMakeFiles/lsdslam.dir/src/DepthEstimation/DepthMap.cpp.o] Error 1
make[3]: * [CMakeFiles/lsdslam.dir/src/SlamSystem.cpp.o] Error 1
make[3]: Leaving directory `/home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/build'
make[2]: * [CMakeFiles/lsdslam.dir/all] Error 2
make[2]: Leaving directory
[ rosmake ] Packages requested are: ['lsd_slam']
[ rosmake ] Logging to directory /home/hwb/.ros/rosmake/rosmake_output-20160704-204027 [ rosmake ] Expanded args ['lsd_slam'] to: ['lsd_slam_viewer', 'lsd_slam_core'] [rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin No Makefile in package catkin [rosmake-0] Starting >>> genmsg [ make ]
[rosmake-5] Starting >>> cpp_common [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg No Makefile in package genmsg [rosmake-0] Starting >>> genlisp [ make ]
[rosmake-6] Starting >>> genpy [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp No Makefile in package genlisp [rosmake-4] Starting >>> cmake_modules [ make ]
[rosmake-3] Starting >>> rosgraph [ make ]
[rosmake-1] Starting >>> gencpp [ make ]
[rosmake-2] Starting >>> roslang [ make ]
[rosmake-7] Starting >>> rosclean [ make ]
[rosmake-5] Finished <<< cpp_common ROS_NOBUILD in package cpp_common No Makefile in package cpp_common [rosmake-6] Finished <<< genpy ROS_NOBUILD in package genpy No Makefile in package genpy [rosmake-5] Starting >>> rostime [ make ]
[rosmake-6] Starting >>> xmlrpcpp [ make ]
[rosmake-4] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules No Makefile in package cmake_modules [rosmake-4] Starting >>> rospack [ make ]
[rosmake-7] Finished <<< rosclean ROS_NOBUILD in package rosclean No Makefile in package rosclean [rosmake-2] Finished <<< roslang ROS_NOBUILD in package roslang No Makefile in package roslang [rosmake-1] Finished <<< gencpp ROS_NOBUILD in package gencpp No Makefile in package gencpp [rosmake-1] Starting >>> message_generation [ make ]
[rosmake-3] Finished <<< rosgraph ROS_NOBUILD in package rosgraph No Makefile in package rosgraph [rosmake-3] Starting >>> rosparam [ make ]
[rosmake-6] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp No Makefile in package xmlrpcpp [rosmake-5] Finished <<< rostime ROS_NOBUILD in package rostime No Makefile in package rostime [rosmake-5] Starting >>> roscpp_traits [ make ]
[rosmake-6] Starting >>> rosmaster [ make ]
[rosmake-3] Finished <<< rosparam ROS_NOBUILD in package rosparam No Makefile in package rosparam [rosmake-1] Finished <<< message_generation ROS_NOBUILD in package message_generation No Makefile in package message_generation [rosmake-5] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits No Makefile in package roscpp_traits [rosmake-6] Finished <<< rosmaster ROS_NOBUILD in package rosmaster No Makefile in package rosmaster [rosmake-5] Starting >>> roscpp_serialization [ make ]
[rosmake-4] Finished <<< rospack ROS_NOBUILD in package rospack No Makefile in package rospack [rosmake-4] Starting >>> roslib [ make ]
[rosmake-5] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization No Makefile in package roscpp_serialization [rosmake-4] Finished <<< roslib ROS_NOBUILD in package roslib No Makefile in package roslib [rosmake-4] Starting >>> rosunit [ make ]
[rosmake-5] Starting >>> message_runtime [ make ]
[rosmake-4] Finished <<< rosunit ROS_NOBUILD in package rosunit No Makefile in package rosunit [rosmake-5] Finished <<< message_runtime ROS_NOBUILD in package message_runtime No Makefile in package message_runtime [rosmake-7] Starting >>> roslz4 [ make ]
[rosmake-5] Starting >>> std_msgs [ make ]
[rosmake-2] Starting >>> rosbuild [ make ]
[rosmake-5] Finished <<< std_msgs ROS_NOBUILD in package std_msgs No Makefile in package std_msgs [rosmake-5] Starting >>> geometry_msgs [ make ]
[rosmake-1] Starting >>> rosgraph_msgs [ make ]
[rosmake-7] Finished <<< roslz4 ROS_NOBUILD in package roslz4 No Makefile in package roslz4 [rosmake-7] Starting >>> rosbag_storage [ make ]
[rosmake-2] Finished <<< rosbuild ROS_NOBUILD in package rosbuild No Makefile in package rosbuild [rosmake-2] Starting >>> rosconsole [ make ]
[rosmake-5] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs No Makefile in package geometry_msgs [rosmake-1] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs No Makefile in package rosgraph_msgs [rosmake-5] Starting >>> sensor_msgs [ make ]
[rosmake-7] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage No Makefile in package rosbag_storage [rosmake-5] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs No Makefile in package sensor_msgs [rosmake-2] Finished <<< rosconsole ROS_NOBUILD in package rosconsole No Makefile in package rosconsole [rosmake-2] Starting >>> roscpp [ make ]
[rosmake-2] Finished <<< roscpp ROS_NOBUILD in package roscpp No Makefile in package roscpp [rosmake-2] Starting >>> rosout [ make ]
[rosmake-0] Starting >>> rospy [ make ]
[rosmake-2] Finished <<< rosout ROS_NOBUILD in package rosout No Makefile in package rosout [rosmake-2] Starting >>> roslaunch [ make ]
[rosmake-0] Finished <<< rospy ROS_NOBUILD in package rospytive 31/42 Complete ] No Makefile in package rospy [rosmake-2] Finished <<< roslaunch ROS_NOBUILD in package roslaunch No Makefile in package roslaunch [rosmake-2] Starting >>> rostest [ make ]
[rosmake-2] Finished <<< rostest ROS_NOBUILD in package rostest No Makefile in package rostest [rosmake-2] Starting >>> cv_bridge [ make ]
[rosmake-7] Starting >>> topic_tools [ make ]
[rosmake-2] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge No Makefile in package cv_bridge [rosmake-7] Finished <<< topic_tools ROS_NOBUILD in package topic_tools No Makefile in package topic_tools [rosmake-7] Starting >>> rosbag [ make ]
[rosmake-7] Finished <<< rosbag ROS_NOBUILD in package rosbag No Makefile in package rosbag [rosmake-7] Starting >>> rosmsg [ make ]
[rosmake-7] Finished <<< rosmsg ROS_NOBUILD in package rosmsg No Makefile in package rosmsg [rosmake-7] Starting >>> rosservice [ make ]
[rosmake-7] Finished <<< rosservice ROS_NOBUILD in package rosservice No Makefile in package rosservice [rosmake-7] Starting >>> dynamic_reconfigure [ make ]
[rosmake-7] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure No Makefile in package dynamic_reconfigure [rosmake-7] Starting >>> lsd_slam_viewer [ make ]
[ rosmake ] Output from build of package lsd_slam_viewer written to:2 Complete ] [ rosmake ] /home/hwb/.ros/rosmake/rosmake_output-20160704-204027/lsd_slam_viewer/build_output.log [rosmake-7] Finished <<< lsd_slam_viewer [PASS] [ 4.52 seconds ] [ 4 warnings ] [rosmake-7] Starting >>> lsd_slam_core [ make ]
[ rosmake ] Last 40 linesd_slam_core: 17.0 sec ] [ 1 Active 41/42 Complete ] {------------------------------------------------------------------------------- ^ In file included from /home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/util/SophusUtil.h:23:0, from /home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/util/globalFuncs.h:25, from /home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/util/globalFuncs.cpp:21: /opt/ros/indigo/include/sophus/sim3.hpp: In instantiation of ‘void Sophus::Sim3GroupBase
/home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/hwb/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package lsd_slam_core written to: [ rosmake ] /home/hwb/.ros/rosmake/rosmake_output-20160704-204027/lsd_slam_core/build_output.log [rosmake-7] Finished <<< lsd_slam_core [FAIL] [ 17.05 seconds ][ rosmake ] Halting due to failure in package lsd_slam_core. [ rosmake ] Waiting for other threads to complete. [ rosmake ] Results:
[ rosmake ] Built 42 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/hwb/.ros/rosmake/rosmake_output-20160704-204027