SamuelChua
commented
1 month ago I did face a similar issue as well in ROS2 Foxy and Ubuntu 20.04. But the "rosidl_get_typesupport_target" does not exist in Foxy, instead I edited the CMakeLists.txt to have "rosidl_target_interfaces" instead. There was one other change I needed to make in map.cc as std::bind was causing issues with mismatch in types. Hopefully this helps!
cmake_minimum_required(VERSION 3.12.4) project(direct_lidar_inertial_odometry) find_package(rosidl_default_generators REQUIRED) find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(nav_msgs REQUIRED) find_package(pcl_ros REQUIRED)
find_package(PCL REQUIRED) find_package( Eigen3 REQUIRED ) find_package(Threads REQUIRED)
set(CMAKE_BUILD_TYPE "Release") set(CMAKE_CXX_STANDARD 17)
set(CMAKE_THREAD_PREFER_PTHREAD TRUE) set(THREADS_PREFER_PTHREAD_FLAG TRUE)
Not all machines have available
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
rosidl_generate_interfaces(
${PROJECT_NAME}
srv/SavePCD.srv
DEPENDENCIES
)
include_directories(${PCL_INCLUDE_DIRS}) include_directories(${EIGEN3_INCLUDE_DIR})
include_directories(include) include_directories(SYSTEM)
NanoFLANN
add_library(nanoflann STATIC src/nano_gicp/nanoflann.cc ) target_link_libraries(nanoflann ${PCL_LIBRARIES}) ament_target_dependencies(nanoflann)
NanoGICP
add_library(nano_gicp STATIC src/nano_gicp/lsq_registration.cc src/nano_gicp/nano_gicp.cc ) target_link_libraries(nano_gicp ${PCL_LIBRARIES} ${OpenMP_LIBS} nanoflann) ament_target_dependencies(nano_gicp)
Odometry Node
add_executable(dlio_odom_node src/dlio/odom_node.cc src/dlio/odom.cc) target_link_libraries(dlio_odom_node ${PCL_LIBRARIES} ${OpenMP_LIBS} Threads::Threads nano_gicp) ament_target_dependencies(dlio_odom_node "tf2_ros" "pcl_ros" "nav_msgs" "pcl_conversions" "rclcpp" "sensor_msgs" "geometry_msgs") rosidl_target_interfaces(dlio_odom_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
Mapping Node
add_executable (dlio_map_node src/dlio/map_node.cc src/dlio/map.cc) target_link_libraries(dlio_map_node ${PCL_LIBRARIES} ${cpp_typesupport_target}) ament_target_dependencies(dlio_map_node "tf2_ros" "pcl_ros" "pcl_conversions" "rclcpp") rosidl_target_interfaces(dlio_map_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
ament_export_include_directories(include) ament_export_libraries(${PROJECT_NAME} nano_gicp nanoflann) ament_export_dependencies(rclcpp std_msgs sensor_msgs geometry_msgs pcl_ros) ament_package()
Binaries
install( TARGETS dlio_odom_node dlio_map_node DESTINATION lib/${PROJECT_NAME} ) install( DIRECTORY cfg launch DESTINATION share/${PROJECT_NAME} )
add_compile_options(-std=c++14)
link_directories(${PCL_LIBRARY_DIRS})
include(FindOpenMP)
if(OPENMP_FOUND)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
else(OPENMP_FOUND)
message("ERROR: OpenMP could not be found.")
endif(OPENMP_FOUND)
file(WRITE ${CMAKE_BINARY_DIR}/test_cpuid.cpp "#include
target_compile_options(dlio_odom_node PRIVATE ${OpenMP_FLAGS})
target_compile_options(dlio_map_node PRIVATE ${OpenMP_FLAGS})
i have tried my best to find a solution, but it doesn't work. It seems that the problem occurs only in foxy, but i need foxy not humble. Did you meet this problem?