find_dependency(k4a) version format mismatch (contains 3, requested 2 components)

[anastasiabolotnikova]

Running catkin_make to build Azure_Kinect_ROS_Driver results in the following CMake error:

Finding K4A SDK binaries
CMake Error at Azure_Kinect_ROS_Driver/cmake/Findk4a.cmake:22 (message):
  Error: Azure Kinect SDK Version numbers contain exactly 3 components
  (major.minor.rev).  Requested number of components: 2
Call Stack (most recent call first):
  /usr/local/share/cmake-3.18/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /usr/lib/cmake/k4abt/k4abtConfig.cmake:3 (find_dependency)
  Azure_Kinect_ROS_Driver/cmake/Findk4abt.cmake:35 (find_package)
  Azure_Kinect_ROS_Driver/CMakeLists.txt:94 (find_package)

-- Configuring incomplete, errors occurred!

Looking into the file that seems to cause the problem cat /usr/lib/cmake/k4abt/k4abtConfig.cmake I see indeed only 2 components in the version number:

include(CMakeFindDependencyMacro)

find_dependency(k4a 1.3 REQUIRED)

# Add the targets file
include("${CMAKE_CURRENT_LIST_DIR}/k4abtTargets.cmake")

Changing this file manually to include 3 version number components:

find_dependency(k4a 1.3.0 REQUIRED)

fixes the problem and Azure_Kinect_ROS_Driver can be built successfully with catkin_make.

To Reproduce

1. Install k4a-tools package: sudo apt install k4a-tools=1.3.0
2. Install Azure Kinect SDK: sudo apt install libk4a1.3-dev
3. Install Azure Kinect Body Tracking SDK: sudo apt install libk4abt1.0-dev
4. Prevent k4a-tools from updating with system update: sudo apt-mark hold k4a-tools
5. Get Azure Kinect ROS Driver: git clone [email protected]:microsoft/Azure_Kinect_ROS_Driver.git catkin_ws/src
6. Go to catking workspace: cd catkin_ws
7. Try to build: catkin_make

Expected behavior catkin_make allows to successfully build Azure_Kinect_ROS_Driver without the necessity to manually change /usr/lib/cmake/k4abt/k4abtConfig.cmake

Desktop:

• OS: Ubuntu 18.04.4 LTS
• CMake: 3.18 at fa7157b

[maxsvetlik]

I haven't experienced this issue with CMake, but I was facing issues with k4a-tools having a conflicting version with the libraries needed for this ROS driver, which is addressed in your reproduction steps.

Rather than downgrading k4a-tools and preventing its update with apt, I've found that I you can get by without using k4a-tools at all (at least in my use case). So just installing the Kinect Body Tracking SDK with sudo apt install libk4abt1.0-dev installs the correct libraries for use with this ROS wrapper. So steps 1 and 4 in your reproduction list could be eliminated.

[swwzn714]

That helps a lot! Thanks.

[Vins9651]

After having spent hours trying to understand what the problem could be, finally I've found this solution and solved it immediately. Thanks a lot!!

[HaooWang]

Good job, I have the same problem, that helps a lot!!!! Thank you .