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uzh-rpg / rpg_svo_pro_open

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Catkin build issues on ubuntu 20.04 due to multiple invalid command errors #54

Closed TakShimoda closed 8 months ago

TakShimoda commented 10 months ago

My system is ROS noetic on Ubuntu 20.04. I made some modifications, such as manually cloning the github repositories from the dependencies.yaml file using HTTPS instead of SSH.

I'm trying to build with the global map using iSAM2 (option 2). After a couple of errors when first building, I installed tf_convrsions, and fixed gtsam so it can appropriately find Eigen. I also modified a file in the DBoW2 to git clone using HTTPS instead of SSH.

After fixing the above errors, the result of catkin build looks like the following:

-----------------------------------------------------------------------------------
Profile:                     default
Extending:        [explicit] /opt/ros/noetic
Workspace:                   /home/glenn/svo_ws
-----------------------------------------------------------------------------------
Build Space:        [exists] /home/glenn/svo_ws/build
Devel Space:        [exists] /home/glenn/svo_ws/devel
Install Space:      [unused] /home/glenn/svo_ws/install
Log Space:          [exists] /home/glenn/svo_ws/logs
Source Space:       [exists] /home/glenn/svo_ws/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=ON
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------------------
Buildlisted Packages:        None
Skiplisted Packages:         None
-----------------------------------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------------------------------
[build] Found 36 packages in 0.0 seconds.                                                                                                                                                                 
[build] Package table is up to date.                                                                                                                                                                      
Starting  >>> catkin_simple                                                                                                                                                                               
Starting  >>> gtsam                                                                                                                                                                                       
Starting  >>> rqt_svo                                                                                                                                                                                     
Starting  >>> svo_msgs                                                                                                                                                                                    
Starting  >>> vikit_py                                                                                                                                                                                    
Finished  <<< catkin_simple                                [ 0.1 seconds ]                                                                                                                                
Starting  >>> cmake_external_project_catkin                                                                                                                                                               
Starting  >>> eigen_catkin                                                                                                                                                                                
Starting  >>> fast                                                                                                                                                                                        
Starting  >>> gflags_catkin                                                                                                                                                                               
Starting  >>> rpg_trajectory_evaluation                                                                                                                                                                   
Starting  >>> svo_cmake                                                                                                                                                                                   
Finished  <<< eigen_catkin                                 [ 0.1 seconds ]                                                                                                                                
Starting  >>> opengv                                                                                                                                                                                      
Finished  <<< svo_msgs                                     [ 0.2 seconds ]                                                                                                                                
Finished  <<< gflags_catkin                                [ 0.1 seconds ]                                                                                                                                
Starting  >>> glog_catkin                                                                                                                                                                                 
Finished  <<< svo_cmake                                    [ 0.1 seconds ]                                                                                                                                
Finished  <<< fast                                         [ 0.2 seconds ]                                                                                                                                
Finished  <<< cmake_external_project_catkin                [ 0.1 seconds ]                                                                                                                                
Starting  >>> dbow2_catkin                                                                                                                                                                                
__________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << rqt_svo:cmake /home/glenn/svo_ws/logs/rqt_svo/build.cmake.009.log                                                                                                                           
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Warning (dev) at CMakeLists.txt:2 (project):
  Policy CMP0048 is not set: project() command manages VERSION variables.
  Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  The following variable(s) would be set to empty:

    CMAKE_PROJECT_VERSION
    CMAKE_PROJECT_VERSION_MAJOR
    CMAKE_PROJECT_VERSION_MINOR
    CMAKE_PROJECT_VERSION_PATCH
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:4 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:45 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:56 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

/opt/ros/noetic/lib/python3/dist-packages/_distutils_hack/__init__.py:18: UserWarning: Distutils was imported before Setuptools, but importing Setuptools also replaces the `distutils` module in `sys.modules`. This may lead to undesirable behaviors or errors. To avoid these issues, avoid using distutils directly, ensure that setuptools is installed in the traditional way (e.g. not an editable install), and/or make sure that setuptools is always imported before distutils.
  warnings.warn(
/opt/ros/noetic/lib/python3/dist-packages/_distutils_hack/__init__.py:33: UserWarning: Setuptools is replacing distutils.
  warnings.warn("Setuptools is replacing distutils.")
usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...]
   or: setup.py --help [cmd1 cmd2 ...]
   or: setup.py --help-commands
   or: setup.py cmd --help

ERROR: invalid command 'rqt_svo'
CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):

  execute_process(/home/glenn/svo_ws/build/rqt_svo/catkin_generated/env_cached.sh
  "/usr/bin/python3"
  "/opt/ros/noetic/share/catkin/cmake/interrogate_setup_dot_py.py" "rqt_svo"
  "/home/glenn/svo_ws/src/rpg_svo_pro_open/rqt_svo/setup.py"
  "/home/glenn/svo_ws/build/rqt_svo/catkin_generated/setup_py_interrogation.cmake")
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_python_setup.cmake:46 (safe_execute_process)
  CMakeLists.txt:11 (catkin_python_setup)

cd /home/glenn/svo_ws/build/rqt_svo; catkin build --get-env rqt_svo | catkin env -si  /home/linuxbrew/.linuxbrew/bin/cmake /home/glenn/svo_ws/src/rpg_svo_pro_open/rqt_svo --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/glenn/svo_ws/devel/.private/rqt_svo -DCMAKE_INSTALL_PREFIX=/home/glenn/svo_ws/install -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=ON; cd -

..........................................................................................................................................................................................................
Failed     << rqt_svo:cmake                                [ Exited with code 1 ]                                                                                                                         
Failed    <<< rqt_svo                                      [ 1.0 seconds ]                                                                                                                                
Abandoned <<< ceres_catkin                                 [ Unrelated job failed ]                                                                                                                       
Abandoned <<< eigen_checks                                 [ Unrelated job failed ]                                                                                                                       
Abandoned <<< minkindr                                     [ Unrelated job failed ]                                                                                                                       
Abandoned <<< minkindr_conversions                         [ Unrelated job failed ]                                                                                                                       
Abandoned <<< rpg_common                                   [ Unrelated job failed ]                                                                                                                       
Abandoned <<< vikit_common                                 [ Unrelated job failed ]                                                                                                                       
Abandoned <<< vikit_cameras                                [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_common                                   [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_pgo                                      [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_online_loopclosing                       [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_vio_common                               [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_global_map                               [ Unrelated job failed ]                                                                                                                       
Abandoned <<< vikit_ros                                    [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_test_utils                               [ Unrelated job failed ]                                                                                                                       
Abandoned <<< vikit_solver                                 [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_direct                                   [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_img_align                                [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_tracker                                  [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo                                          [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_ceres_backend                            [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_ros                                      [ Unrelated job failed ]                                                                                                                       
Abandoned <<< svo_benchmarking                             [ Unrelated job failed ]                                                                                                                       
Finished  <<< glog_catkin                                  [ 0.1 seconds ]                                                                                                                                
__________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << vikit_py:cmake /home/glenn/svo_ws/logs/vikit_py/build.cmake.009.log                                                                                                                         
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Warning (dev) at CMakeLists.txt:2 (project):
  Policy CMP0048 is not set: project() command manages VERSION variables.
  Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  The following variable(s) would be set to empty:

    CMAKE_PROJECT_VERSION
    CMAKE_PROJECT_VERSION_MAJOR
    CMAKE_PROJECT_VERSION_MINOR
    CMAKE_PROJECT_VERSION_PATCH
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:4 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:45 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:56 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

/opt/ros/noetic/lib/python3/dist-packages/_distutils_hack/__init__.py:18: UserWarning: Distutils was imported before Setuptools, but importing Setuptools also replaces the `distutils` module in `sys.modules`. This may lead to undesirable behaviors or errors. To avoid these issues, avoid using distutils directly, ensure that setuptools is installed in the traditional way (e.g. not an editable install), and/or make sure that setuptools is always imported before distutils.
  warnings.warn(
/opt/ros/noetic/lib/python3/dist-packages/_distutils_hack/__init__.py:33: UserWarning: Setuptools is replacing distutils.
  warnings.warn("Setuptools is replacing distutils.")
usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...]
   or: setup.py --help [cmd1 cmd2 ...]
   or: setup.py --help-commands
   or: setup.py cmd --help

ERROR: invalid command 'vikit_py'
CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):

  execute_process(/home/glenn/svo_ws/build/vikit_py/catkin_generated/env_cached.sh
  "/usr/bin/python3"
  "/opt/ros/noetic/share/catkin/cmake/interrogate_setup_dot_py.py" "vikit_py"
  "/home/glenn/svo_ws/src/rpg_svo_pro_open/vikit/vikit_py/setup.py"
  "/home/glenn/svo_ws/build/vikit_py/catkin_generated/setup_py_interrogation.cmake")
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_python_setup.cmake:46 (safe_execute_process)
  CMakeLists.txt:14 (catkin_python_setup)

cd /home/glenn/svo_ws/build/vikit_py; catkin build --get-env vikit_py | catkin env -si  /home/linuxbrew/.linuxbrew/bin/cmake /home/glenn/svo_ws/src/rpg_svo_pro_open/vikit/vikit_py --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/glenn/svo_ws/devel/.private/vikit_py -DCMAKE_INSTALL_PREFIX=/home/glenn/svo_ws/install -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=ON; cd -

..........................................................................................................................................................................................................
Failed     << vikit_py:cmake                               [ Exited with code 1 ]                                                                                                                         
Failed    <<< vikit_py                                     [ 0.8 seconds ]                                                                                                                                
Finished  <<< opengv                                       [ 0.3 seconds ]                                                                                                                                
__________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << rpg_trajectory_evaluation:cmake /home/glenn/svo_ws/logs/rpg_trajectory_evaluation/build.cmake.006.log                                                                                       
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Warning (dev) at CMakeLists.txt:2 (project):
  Policy CMP0048 is not set: project() command manages VERSION variables.
  Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  The following variable(s) would be set to empty:

    CMAKE_PROJECT_VERSION
    CMAKE_PROJECT_VERSION_MAJOR
    CMAKE_PROJECT_VERSION_MINOR
    CMAKE_PROJECT_VERSION_PATCH
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:4 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:45 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:56 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.

/opt/ros/noetic/lib/python3/dist-packages/_distutils_hack/__init__.py:18: UserWarning: Distutils was imported before Setuptools, but importing Setuptools also replaces the `distutils` module in `sys.modules`. This may lead to undesirable behaviors or errors. To avoid these issues, avoid using distutils directly, ensure that setuptools is installed in the traditional way (e.g. not an editable install), and/or make sure that setuptools is always imported before distutils.
  warnings.warn(
/opt/ros/noetic/lib/python3/dist-packages/_distutils_hack/__init__.py:33: UserWarning: Setuptools is replacing distutils.
  warnings.warn("Setuptools is replacing distutils.")
usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...]
   or: setup.py --help [cmd1 cmd2 ...]
   or: setup.py --help-commands
   or: setup.py cmd --help

ERROR: invalid command 'rpg_trajectory_evaluation'
CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):

  execute_process(/home/glenn/svo_ws/build/rpg_trajectory_evaluation/catkin_generated/env_cached.sh
  "/usr/bin/python3"
  "/opt/ros/noetic/share/catkin/cmake/interrogate_setup_dot_py.py"
  "rpg_trajectory_evaluation"
  "/home/glenn/svo_ws/src/rpg_trajectory_evaluation/setup.py"
  "/home/glenn/svo_ws/build/rpg_trajectory_evaluation/catkin_generated/setup_py_interrogation.cmake")
  returned error code 1
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_python_setup.cmake:46 (safe_execute_process)
  CMakeLists.txt:7 (catkin_python_setup)

cd /home/glenn/svo_ws/build/rpg_trajectory_evaluation; catkin build --get-env rpg_trajectory_evaluation | catkin env -si  /home/linuxbrew/.linuxbrew/bin/cmake /home/glenn/svo_ws/src/rpg_trajectory_evaluation --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/glenn/svo_ws/devel/.private/rpg_trajectory_evaluation -DCMAKE_INSTALL_PREFIX=/home/glenn/svo_ws/install -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=ON; cd -

..........................................................................................................................................................................................................
Failed     << rpg_trajectory_evaluation:cmake              [ Exited with code 1 ]                                                                                                                         
Failed    <<< rpg_trajectory_evaluation                    [ 0.8 seconds ]                                                                                                                                
__________________________________________________________________________________________________________________________________________________________________________________________________________
Warnings   << dbow2_catkin:make /home/glenn/svo_ws/logs/dbow2_catkin/build.make.007.log                                                                                                                   
make[3]: warning: jobserver unavailable: using -j1.  Add '+' to parent make rule.
make[3]: warning: jobserver unavailable: using -j1.  Add '+' to parent make rule.
cd /home/glenn/svo_ws/build/dbow2_catkin; catkin build --get-env dbow2_catkin | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

..........................................................................................................................................................................................................
Finished  <<< dbow2_catkin                                 [ 0.5 seconds ]                                                                                                                                
Finished  <<< gtsam                                        [ 3.5 seconds ]                                                                                                                                
[build] Summary: 11 of 36 packages succeeded.                                                                                                                                                             
[build]   Ignored:   None.                                                                                                                                                                                
[build]   Warnings:  1 packages succeeded with warnings.                                                                                                                                                  
[build]   Abandoned: 22 packages were abandoned.                                                                                                                                                          
[build]   Failed:    3 packages failed.                                                                                                                                                                   
[build] Runtime: 4.0 seconds total.

I tried looking around in the folder and there were folders for "vikit_py", "rqt_svo" and "rpg_trajectory_evaluation" but unsure why they are seen as invalidcommands. Any pointers would be appreciate. Thank you.

ta-jetson commented 7 months ago

Hey @TakShimoda , I am having issues with SVO when I use it with PX4. The drone is drifting, can you assist me with this?

Thanks

TakShimoda commented 7 months ago

Hi @ta-jetson , my issue was with a PC, and I resolved it when building this on a new computer. I wouldn't know how to do it with PX4. You should probably open a new issue for that.

Sadegh-Kalami commented 5 months ago

Hi, I'm using Jetson Orin, Do u have any idea how I can resolve this problem?

ta-jetson commented 5 months ago

Hey @Sadegh-Kalami , I've built it in Xavier which has Ubuntu 20 and it worked with some minor troubleshooting