issue when installing rtabmap_ros

[Skander1997]

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With ros noetic Ubuntu 20.04 LTS I have an error: [ 64%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o /home/skander/catkin_ws/src/rtabmap_ros/src/MapsManager.cpp: In constructor ‘MapsManager::MapsManager()’: /home/skander/catkin_ws/src/rtabmap_ros/src/MapsManager.cpp:72:16: error: invalid use of incomplete type ‘class rtabmap::OctoMap’ 72 | octomap_(new OctoMap), | ^~~~~~~ In file included from /home/skander/catkin_ws/src/rtabmap_ros/src/MapsManager.cpp:27: /home/skander/catkin_ws/src/rtabmap_ros/include/rtabmap_ros/MapsManager.h:40:7: note: forward declaration of ‘class rtabmap::OctoMap’ 40 | class OctoMap; | ^~~~~~~ make[2]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/build.make:76: rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:3524: rtabmap_ros/CMakeFiles/rtabmap_ros.dir/all] Error 2 make: *** [Makefile:130: all] Error 2 Invoking "make -j1 -l1" failed

how to fix the class OctoMap ? I downloaded Rtabmap and Rtabmap from source. Thank You

[Majed-Alsubaie]

Hi, Make sure you downloaded Rtabmap_ROS and Rtabmap for your ROS version
just clone 1-git clone https://github.com/introlab/rtabmap --branch noetic-devel //rtabmap noetic 2- git clone https://github.com/introlab/rtabmap_ros --branch noetic-devel //rtab,ap_ros noetic

[Majed-Alsubaie]

@Skander1997

[Skander1997]

Project 'open_chisel' specifies '/home/skander/catkin_ws/src/OpenChisel/open_chisel/include' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/skander/catkin_ws/src/OpenChisel/open_chisel//home/skander/catkin_ws/src/OpenChisel/open_chisel/include'. Report the problem to the maintainer ' [email protected]' and request to fix the problem.

sorry I had with open_chisel, i tried to install it but it didn't work so i deleted and still have the same problem, this problem is when i try cmake ..

thank you for your help

[Skander1997]

@Majed-Alsubaie

[matlabbe]

Make sure to uninstall rtabmap binaries:

sudo apt remove ros-noetic-rtabmap

to avoid rtabmap_ros trying to link on rtabmap binaries instead of the one built from source.

Then make sure you are using same branch name between rtabmap and rtabmap_ros projects.

[cedricgoubard]

Hi,

I am having the same issue; here is the output from catkin build:

Failed <<< rtabmap_ros                                  [ 2 minutes and 52.8 seconds ].. 
#31 728.2 [build] Summary: 78 of 79 packages succeeded.                                  
#31 728.2 [build] Ignored: None.                                                         
#31 728.2 [build] Warnings: 2 packages succeeded with warnings.                          
#31 728.2 [build] Abandoned: No packages were abandoned.                                 
#31 728.2 [build] Failed: 1 packages failed.                                             
#31 728.2 [build] Runtime: 12 minutes and 5.8 seconds total.                             
#31 728.2 [build] Note: Workspace packages have changed, please re-source setup files to use them.
#31 728.2 _______________________________________________________________________________
#31 728.2 Warnings << pcl_conversions:cmake /root/ros_ws/logs/pcl_conversions/build.cmake.000.log
#31 728.2 ** WARNING ** io features related to ensenso will be disabled
#31 728.2 ** WARNING ** io features related to davidSDK will be disabled
#31 728.2 ** WARNING ** io features related to dssdk will be disabled
#31 728.2 ** WARNING ** io features related to pcap will be disabled
#31 728.2 ** WARNING ** io features related to png will be disabled
#31 728.2 ** WARNING ** io features related to libusb-1.0 will be disabled
#31 728.2 cd /root/ros_ws/build/pcl_conversions; catkin build --get-env pcl_conversions | catkin env -si  /usr/bin/cmake /root/ros_ws/src/perception_pcl/pcl_conversions --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/ros_ws/devel/.private/pcl_conversions -DCMAKE_INSTALL_PREFIX=/root/ros_ws/install; cd -
#31 728.2 
#31 728.2 ...............................................................................
#31 728.2 _______________________________________________________________________________
#31 728.2 Warnings << pcl_ros:cmake /root/ros_ws/logs/pcl_ros/build.cmake.000.log        
#31 728.2 ** WARNING ** io features related to ensenso will be disabled
#31 728.2 ** WARNING ** io features related to davidSDK will be disabled
#31 728.2 ** WARNING ** io features related to dssdk will be disabled
#31 728.2 ** WARNING ** io features related to pcap will be disabled
#31 728.2 ** WARNING ** io features related to png will be disabled
#31 728.2 ** WARNING ** io features related to libusb-1.0 will be disabled
#31 728.2 cd /root/ros_ws/build/pcl_ros; catkin build --get-env pcl_ros | catkin env -si  /usr/bin/cmake /root/ros_ws/src/perception_pcl/pcl_ros --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/ros_ws/devel/.private/pcl_ros -DCMAKE_INSTALL_PREFIX=/root/ros_ws/install; cd -
#31 728.2 
#31 728.2 ...............................................................................
#31 728.2 _______________________________________________________________________________
#31 728.2 Errors << rtabmap_ros:make /root/ros_ws/logs/rtabmap_ros/build.make.000.log    
#31 728.2 /root/ros_ws/src/rtabmap_ros/src/MapsManager.cpp: In constructor 'MapsManager::MapsManager()':
#31 728.2 /root/ros_ws/src/rtabmap_ros/src/MapsManager.cpp:72:16: error: invalid use of incomplete type 'class rtabmap::OctoMap'
#31 728.2    octomap_(new OctoMap),
#31 728.2                 ^~~~~~~
#31 728.2 In file included from /root/ros_ws/src/rtabmap_ros/src/MapsManager.cpp:27:0:
#31 728.2 /root/ros_ws/src/rtabmap_ros/include/rtabmap_ros/MapsManager.h:40:7: note: forward declaration of 'class rtabmap::OctoMap'
#31 728.2  class OctoMap;
#31 728.2        ^~~~~~~
#31 728.2 make[2]: *** [CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o] Error 1
#31 728.2 make[2]: *** Waiting for unfinished jobs....
#31 728.2 make[1]: *** [CMakeFiles/rtabmap_ros.dir/all] Error 2
#31 728.2 make: *** [all] Error 2
#31 728.2 cd /root/ros_ws/build/rtabmap_ros; catkin build --get-env rtabmap_ros | catkin env -si  /usr/bin/make --jobserver-fds=3,4 -j; cd -
#31 728.2 
#31 728.2 ...............................................................................
#31 728.2 Failed << rtabmap_ros:make                              [ Exited with code 2 ] 
------
executor failed running [/bin/bash -c source /opt/ros/noetic/setup.bash && catkin build]: exit code: 1

I installed both rtabmap and ratbmap_ros from source:

# Extract from my Dockerfile
RUN git clone https://github.com/introlab/rtabmap.git --branch noetic-devel && \
    cd rtabmap/build && \
    cmake .. && \
    make -j4 && \
    make install

### ... ###

RUN git clone https://github.com/ros-perception/perception_pcl.git &&\
        cd perception_pcl && git checkout melodic-devel && cd .. && \
    git clone https://github.com/introlab/rtabmap_ros.git  --branch noetic-devel

RUN source /opt/ros/noetic/setup.bash && catkin build 

Finally, ros-noetic-rtabmap is not installed:

root@wheelchair:/navigation/rtabmap# apt list --installed | grep rtab
WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

root@wheelchair:/navigation/rtabmap# 

Do you have any suggestions?

Thank you for your help.

[matlabbe]

It is because rtabmap was not built with OctoMap dependency. You can install octomap with (and rebuild rtabmap):

sudo apt install ros-noetic-octomap

However, it should have just ignored it without a compilation error. I fixed the error in the commit above.