Compilation Error Ubuntu 18.04

[David9696]

Hi,

I got the following error when I make the package(latest):

[ 80%] Linking CXX executable ../../../bin/rtabmap ../../../bin/librtabmap_core.so.0.20.14: undefined reference to OdomEstimationClass::initMapWithPoints(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > const&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > const&)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to OdomEstimationClass::init(lidar::Lidar, double)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to lidar::Lidar::setMinDistance(double)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to LaserProcessingClass::LaserProcessingClass()' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to LaserProcessingClass::featureExtraction(boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > const&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >&, boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >&)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to LaserProcessingClass::init(lidar::Lidar)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to lidar::Lidar::Lidar()' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to lidar::Lidar::setVerticalAngle(double)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to OdomEstimationClass::OdomEstimationClass()' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to lidar::Lidar::setLines(double)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to lidar::Lidar::setMaxDistance(double)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to OdomEstimationClass::updatePointsToMap(boost::shared_ptr<pcl::PointCloudpcl::PointXYZI > const&, boost::shared_ptr<pcl::PointCloudpcl::PointXYZI > const&)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to lidar::Lidar::setScanPeriod(double)' ../../../bin/librtabmap_core.so.0.20.14: undefined reference to OdomEstimationClass::getMap(boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >&)' collect2: error: ld returned 1 exit status app/src/CMakeFiles/rtabmap.dir/build.make:746: recipe for target '../bin/rtabmap' failed make[2]: *** [../bin/rtabmap] Error 1 CMakeFiles/Makefile2:1753: recipe for target 'app/src/CMakeFiles/rtabmap.dir/all' failed make[1]: *** [app/src/CMakeFiles/rtabmap.dir/all] Error 2 Makefile:162: recipe for target 'all' failed make: *** [all] Error 2

Is it something missing?

Thanks.

Regards,

David

[matlabbe]

Do you have FLOAM installed? To build with FLOAM, you should use this patched version: http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8563.html

To build without FLOAM, do cmake -DWITH_FLOAM=OFF ...

[matlabbe]

I updated the main CMakeLists.txt in this commit https://github.com/introlab/rtabmap/commit/aee034c5ed9d1909a976d1d4bb1a849eb26e1991 to avoid this kind of error

[David9696]

Hi,

Thanks for the update. Yes, I have FLOAM installed. The new updated CMakeLists.txt is working. Thanks.

If I need to build with FLOAM, with the patch applied, am I correct to say that it can only be done in Ubuntu 20.04 with ROS Noetic?

[matlabbe]

I didn't test on Melodic, but I guess it could work. I think the patch https://gist.github.com/matlabbe/d8ab56e69146c18afbd1a3b05444c649 is compatible with Melodic. You should use original FLOAM repo though.

[anath93]

@matlabbe Is there a patch for ROS2 (distro foxy) too or just need to alter the cmakelist manually like below ?

cmake_minimum_required(VERSION 3.5)
project(floam)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -pthread")

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Ceres REQUIRED)

include_directories(
  include
  ${PCL_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
  ${CERES_INCLUDE_DIRS}
)

link_directories(
  ${PCL_LIBRARY_DIRS}
  ${CERES_LIBRARY_DIRS}
)

add_library(floam src/laser_processing_class.cpp src/lidar.cpp src/lidar_optimization.cpp src/odom_estimation_class.cpp src/laser_mapping_class.cpp)

add_executable(laser_processing_node
  src/laser_processing_node.cpp
  #src/laser_processing.cpp
  #src/laser_processing_class.cpp
  #src/lidar.cpp
)

ament_target_dependencies(laser_processing_node
  rclcpp
  sensor_msgs
  pcl_conversions
  Eigen3
  CERES
)

target_link_libraries(laser_processing_node
  ${PCL_LIBRARIES}
)

add_executable(odom_estimation_node
  src/odom_estimation_node.cpp
  #src/odom_estimation.cpp
  #src/odom_estimation_class.cpp
  #src/lidar_optimization.cpp
  #src/lidar.cpp
)

ament_target_dependencies(odom_estimation_node
  rclcpp
  sensor_msgs
  nav_msgs
  geometry_msgs
  tf2
  tf2_ros
  pcl_conversions
  Eigen3
  CERES
)

target_link_libraries(odom_estimation_node
  ${PCL_LIBRARIES}
  ${EIGEN3_LIBRARIES}
  ${CERES_LIBRARIES}
)

add_executable(laser_mapping_node
  src/laser_mapping_node.cpp
  #src/laser_mapping.cpp
  #src/laser_mapping_class.cpp
  #src/lidar.cpp
)

ament_target_dependencies(laser_mapping_node
  rclcpp
  sensor_msgs
  nav_msgs
  pcl_conversions
  tf2
  tf2_ros
  tf2_geometry_msgs
  Eigen3
  CERES
)

target_link_libraries(laser_mapping_node
  ${PCL_LIBRARIES}
)

install(TARGETS laser_processing_node odom_estimation_node laser_mapping_node
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
)

install(DIRECTORY rviz
  DESTINATION share/${PROJECT_NAME}
)

install(DIRECTORY params
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

[matlabbe]

There is no known patch for ROS2. If you only need floam library in ROS2, I would remove everything ROS1, and just keep the minimal library without any ROS.

[anath93]

@matlabbe Thank you.