Build problem

[Carlosmct]

Hi!

I could build ssl_slam without problems, but when I try with ssl_slam2, I can't build. Have you changed some library version?

I would like to copy the log error, but is too long.

[Carlosmct]

$ catkin_make Base path: /home/lazarus/slam_ws Source space: /home/lazarus/slam_ws/src Build space: /home/lazarus/slam_ws/build Devel space: /home/lazarus/slam_ws/devel Install space: /home/lazarus/slam_ws/install

Running command: "make cmake_check_build_system" in "/home/lazarus/slam_ws/build"

Running command: "make -j6 -l6" in "/home/lazarus/slam_ws/build"

[ 26%] Built target ssl_slam2_odom_estimation_mapping_node [ 31%] Building CXX object ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/src/mapOptimizationNode.cpp.o [ 36%] Building CXX object ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/src/mapOptimizationClass.cpp.o [ 63%] Built target ssl_slam2_odom_estimation_localization_node [ 84%] Built target ssl_slam2_laser_processing_node In file included from /usr/include/gtsam/global_includes.h:22:0, from /usr/include/gtsam/base/Vector.h:28, from /usr/include/gtsam/base/Matrix.h:28, from /usr/include/gtsam/base/Manifold.h:22, from /usr/include/gtsam/geometry/BearingRange.h:21, from /usr/include/gtsam/geometry/Pose3.h:22, from /usr/include/gtsam/navigation/NavState.h:21, from /usr/include/gtsam/navigation/ManifoldPreintegration.h:24, from /usr/include/gtsam/navigation/CombinedImuFactor.h:26, from /home/lazarus/slam_ws/src/ssl_slam2/include/mapOptimizationClass.h:31, from /home/lazarus/slam_ws/src/ssl_slam2/src/mapOptimizationClass.cpp:5: /usr/include/gtsam/base/types.h:34:10: fatal error: tbb/scalable_allocator.h: No such file or directory

include <tbb/scalable_allocator.h>

      ^~~~~~~~~~

compilation terminated. ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/build.make:86: recipe for target 'ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/src/mapOptimizationClass.cpp.o' failed make[2]: [ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/src/mapOptimizationClass.cpp.o] Error 1 make[2]: Waiting for unfinished jobs.... In file included from /usr/include/gtsam/global_includes.h:22:0, from /usr/include/gtsam/base/Vector.h:28, from /usr/include/gtsam/base/Matrix.h:28, from /usr/include/gtsam/base/Manifold.h:22, from /usr/include/gtsam/geometry/BearingRange.h:21, from /usr/include/gtsam/geometry/Pose3.h:22, from /usr/include/gtsam/navigation/NavState.h:21, from /usr/include/gtsam/navigation/ManifoldPreintegration.h:24, from /usr/include/gtsam/navigation/CombinedImuFactor.h:26, from /home/lazarus/slam_ws/src/ssl_slam2/include/mapOptimizationClass.h:31, from /home/lazarus/slam_ws/src/ssl_slam2/src/mapOptimizationNode.cpp:21: /usr/include/gtsam/base/types.h:34:10: fatal error: tbb/scalable_allocator.h: No such file or directory

include <tbb/scalable_allocator.h>

      ^~~~~~~~~~

compilation terminated. ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/build.make:62: recipe for target 'ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/src/mapOptimizationNode.cpp.o' failed make[2]: [ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/src/mapOptimizationNode.cpp.o] Error 1 CMakeFiles/Makefile2:496: recipe for target 'ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/all' failed make[1]: [ssl_slam2/CMakeFiles/ssl_slam2_map_optimization_node.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: * [all] Error 2 Invoking "make -j6 -l6" failed

[araujokth]

Hi, I am facing the same problem. Did you manage to solve this?

UPDATE: The problem is with gtsam. The solution is explained here https://github.com/borglab/gtsam/issues/1495 and it works. Tested on an NVIDIA Jetson AGX with jetpack 4.4