Cannot build SLAM node

[PhilShaw852]

I have followed the steps religiously, and can build the tello nodes, and can build ORB_SLAM.

When I attempt to build the SLAM node however I get the following errors:

`/home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp: In member function ‘void MonocularSlamNode::UpdateSLAMState()’:

/home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:183:45: error: ‘class ORB_SLAM2::System’ has no member named ‘GetCurrentFrame’ 183 | ORB_SLAM2::Frame currentFrame = m_SLAM->GetCurrentFrame(); | ^~~~~~~~~~~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:194:29: error: ‘class ORB_SLAM2::System’ has no member named ‘GetInitialKeys’ 194 | mvIniKeys = m_SLAM->GetInitialKeys(); | ^~~~~~~~~~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:195:32: error: ‘class ORB_SLAM2::System’ has no member named ‘GetInitialMatches’ 195 | mvIniMatches = m_SLAM->GetInitialMatches(); | ^~~~~~~~~~~~~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp: In member function ‘void MonocularSlamNode::UpdateMapState()’: /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:230:17: error: ‘class ORB_SLAM2::System’ has no member named ‘IsMapOptimized’ 230 | if (m_SLAM->IsMapOptimized()) | ^~~~~~~~~~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:234:31: error: ‘class ORB_SLAM2::System’ has no member named ‘GetAllKeyFrames’ 234 | mvKeyFrames = m_SLAM->GetAllKeyFrames(); | ^~~~~~~~~~~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:235:31: error: ‘class ORB_SLAM2::System’ has no member named ‘GetAllMapPoints’; did you mean ‘GetTrackedMapPoints’? 235 | mvMapPoints = m_SLAM->GetAllMapPoints(); | ^~~~~~~~~~~~~~~ | GetTrackedMapPoints /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:236:34: error: ‘class ORB_SLAM2::System’ has no member named ‘GetReferenceMapPoints’ 236 | mvRefMapPoints = m_SLAM->GetReferenceMapPoints(); | ^~~~~~~~~~~~~~~~~~~~~ /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp: In member function ‘void MonocularSlamNode::PublishFrame()’: /home/ps/ros2_ws/src/slam/src/orbslam2/src/monocular/monocular-slam-node.cpp:255:63: error: no matching function for call to ‘rclcpp::Publisher<sensor_msgs::msg::Image_<std::allocator > >::publish(sensor_msgs::msg::Image_<std::allocator >::SharedPtr)’ 255 | m_annotated_image_publisher->publish(rosImage.toImageMsg()); `

Any suggestions would be appreciated.

[dlebedinsky]

What operating system are you trying to build on? I have not tried to build this project yet, but I will keep this in mind.

[PhilShaw852]

What operating system are you trying to build on? I have not tried to build this project yet, but I will keep this in mind.

Ubuntu Linux - Focal Fossa (20.04) ROS2 Foxy

Everything installed following the guides in the repo.

[tentone]

Hello

This was developed on ubuntu 20.04 with ros2 foxy as well.

Should be fairly direct to compile the project