Errors when building for Foxy (0.21.1)

[mkegelei]

Hi,

A bit of context first: I'm trying to build the Swarm-SLAM software (https://github.com/MISTLab/Swarm-SLAM) which is working on foxy and requires rtabmap and rtabmap_ros.

Trying to build the current version leads to an error related to rtabmap:

CMake Deprecation Warning at /usr/local/share/pcl-1.9/PCLConfig.cmake:42 (cmake_policy):
The OLD behavior for policy CMP0074 will be removed from a future version
of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances.  Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:73 (find_package)

CMake Error at /opt/ros/foxy/lib/x86_64-linux-gnu/rtabmap-0.21/RTABMap_coreTargets.cmake:56 (set_target_properties):
The link interface of target "rtabmap::core" contains:

  -FLANN::FLANN

but the target was not found.  Possible reasons include:

  * There is a typo in the target name.
  * A find_package call is missing for an IMPORTED target.
  * An ALIAS target is missing.

Call Stack (most recent call first):
/opt/ros/foxy/lib/x86_64-linux-gnu/rtabmap-0.21/RTABMapConfig.cmake:58 (include)
/opt/ros/foxy/share/rtabmap_conversions/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
/opt/ros/foxy/share/rtabmap_conversions/cmake/rtabmap_conversionsConfig.cmake:41 (include)
CMakeLists.txt:54 (find_package)

The developper of Swarm-SLAM has not been able to find a solution to the issue and suggested to install rtabmap and rtabmap_ros from source, which I did (with tag 0.21.1-foxy).

Doing so, rtabmap compiles without any issue, but rtabmap_ros, and more specifically rtabmap_odom fails with the following error:

/usr/bin/ld: librtabmap_odom.so: undefined reference to `rosidl_service_type_support_t const* rosidl_typesupport_cpp::get_service_type_support_handle<std_srvs::srv::Empty>()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_stereo_odometry.dir/build.make:578: stereo_odometry] Error 1
make[1]: *** [CMakeFiles/Makefile2:225: CMakeFiles/rtabmap_stereo_odometry.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: librtabmap_odom.so: undefined reference to `rosidl_service_type_support_t const* rosidl_typesupport_cpp::get_service_type_support_handle<std_srvs::srv::Empty>()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_icp_odometry.dir/build.make:578: icp_odometry] Error 1
make[1]: *** [CMakeFiles/Makefile2:252: CMakeFiles/rtabmap_icp_odometry.dir/all] Error 2
/usr/bin/ld: librtabmap_odom.so: undefined reference to `rosidl_service_type_support_t const* rosidl_typesupport_cpp::get_service_type_support_handle<std_srvs::srv::Empty>()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rtabmap_rgbd_odometry.dir/build.make:578: rgbd_odometry] Error 1
make[1]: *** [CMakeFiles/Makefile2:198: CMakeFiles/rtabmap_rgbd_odometry.dir/all] Error 2
make: *** [Makefile:146: all] Error 2

I'm a bit stuck here, I have tried a lot of things including uninstall/reinstall completely foxy, so if you have any idea of what could cause either of these errors, that would be super helpful!

Thank you for your time

[matlabbe]

For the first error, are you building a recent rtabmap_ros over the installed 0.21 binaries on foxy? I'll suggest to uninstall all rtabmap binaries and rebuild them from source to avoid rtabmap_ros trying to link on rtabmap binaries instead of the ones in the workspace.

sudo apt remove ros-foxy-rtabmap*

For the FLANN thing, it may be related to PCL 1.9 that seems installed from source (/usr/local). That FLANN dependency is coming from PCL. On my foxy computer, PCL 1.10 is installed and I don't see this issue when building latest version of rtabmap and rtabmap_ros. Also tried 0.21.1-foxy tags from both repos and they compiled without errors.

For the rosidl_service linker errors, I am not sure. Maybe cleanup your build/install space of ros2 workspace before doing a fresh build.

cheers, Mathieu