Build fail with ubuntu 20.04 ros2 foxy

[grosserding]

Hello,

Thank you for your amazing work! I have tested the binary installation of rtabmap_ros on my Ubuntu 20.04 (ROS2 Foxy), and it works well. However, when I attempt to compile from source I failed, ive tried these combinations of branches: rtabmap: master, rtabmap_ros: ros2 — failed. rtabmap: foxy_devel, rtabmap_ros: foxy_devel — failed. These issues occur in the critical modules rtabmap_slam and rtabmap_sync, so I cannot bypass them. Does rtabmap_ros still support ROS2 Foxy? If not, since it worked well with binary version rtabmap_foxy, i wonder which commits are used for these two libraries in the binary version?

Best regards.

[matlabbe]

What are the errors? Normally if you use foxy-devel branch of both repos, they should be compatible (and same version of latest foxy binary release 0.21.1-foxy). https://github.com/introlab/rtabmap/tree/foxy-devel https://github.com/introlab/rtabmap_ros/tree/foxy-devel

To use rtabmap_ros's foxy-devel with rtabmap's master, it may be possible after fixing some api changes. We didn't keep ros2 branch backward compatible with foxy because the base code now relies more on features available just from humble+ and foxy is EOL.

Unless you need a custom version of rtabmap, you could use docker container from humble on ubuntu 20.04: https://github.com/introlab/rtabmap_ros/tree/ros2/docker#docker