rtabmap Unable to Build error on Xcode: 'rtabmap/utilite/ULogger.h' file not found

When building RTAB-Map on Xcode(Version 16.4) with CMake 4.0.3 , the build fails with the error 'rtabmap/utilite/ULogger.h' file not found. The environment is as follow:- Curl version 8.7.1 (x86_64-apple-darwin24.0) Cmake version 4.0.3 Git version 2.39.5 (Apple Git-154) Xcode 16.4 Build version 16F6

@matlabbe

Sep 08 '25 07:09 AyushBharadwaj

Did you follow this? https://github.com/introlab/rtabmap/wiki/Installation#to-build-from-source

Sep 10 '25 01:09 matlabbe

Yes, I followed the mentioned steps, but I’m still facing the same issue.

Sep 10 '25 05:09 AyushBharadwaj

me, too. Are there any solutions?

Oct 09 '25 11:10 qi-xmu

I fix this problem by this.

Oct 09 '25 11:10 qi-xmu

Let me try this @qi-xmu, Thanking you in advance.

Oct 09 '25 12:10 AyushBharadwaj

Are you trying to build the iOS app or the Mac OS X standone app? Just tried from scratch the iOS build instructions on XCode 16.3 and it works.

Oct 11 '25 20:10 matlabbe

We’re working on the iOS app, and in my case, I need to update the header search path from "$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.22" to "$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.23" and its working.

Oct 13 '25 05:10 AyushBharadwaj

Not sure why it worked 2 days ago, but it should have failed like you. The minor version was bumped to 0.23 for something unrelated in this commit a month ago https://github.com/introlab/rtabmap/commit/4603f093893c88ba87e30b7f158aacc07cf8a36e

Here is what we changed when we bumped from 0.21 to 0.22:

I'll check to update it the same way to 0.23.

Oct 13 '25 20:10 matlabbe

Thanks for the clarification! That makes sense now. Appreciate you looking into updating it for 0.23 — let me know once it’s pushed so I can test and confirm on my side.

Oct 14 '25 11:10 AyushBharadwaj

Thanks for posting your fixes everyone!

@AyushBharadwaj , in #1342 you mentioned trying to build upon the iOS app to add your own features / customise the app. By any chance, did you make any headway? We're trying to integrate RTAB-Map into our iOS app on our repo here, but we're still trying to figure out what might be the best way to be able to easily pull updates from upstream but make sure our customisations work fine.

Oct 16 '25 08:10 adisidev

@AyushBharadwaj The include path has been updated in this commit: https://github.com/introlab/rtabmap/commit/098db33547aead3ab69de2e9a5120444d69ba648

Oct 18 '25 21:10 matlabbe

Hello @adisidev , Yes, I’ve been exploring this and made some progress on customizing the iOS app.If you want, we can align over the weekend — I can walk you through the process and share the approach I’ve used so far.

Oct 23 '25 12:10 AyushBharadwaj

@matlabbe Okay, thank you for understanding and for releasing the updated code! 🙌

Oct 23 '25 12:10 AyushBharadwaj

Hello @adisidev , Yes, I’ve been exploring this and made some progress on customizing the iOS app.If you want, we can align over the weekend — I can walk you through the process and share the approach I’ve used so far.

@AyushBharadwaj Sure, that sounds great, thanks for offering that! What time-zone are you in, and what'd be the best way to reach you?

Oct 24 '25 09:10 adisidev

Hi @adisidev, I’m in the Indian time zone. We can connect later this weekend on Google Meet or any other preferred platform.

Oct 28 '25 13:10 AyushBharadwaj

@AyushBharadwaj sounds good, may I reach out to you on your git authoring email? (has a j5***.com email)

Hi @adisidev, I’m in the Indian time zone. We can connect later this weekend on Google Meet or any other preferred platform.

Oct 29 '25 01:10 adisidev