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Several things are broken. Here I provide a patch over r40357 to make the karto package work again on fuerte. Enjoy!

Changes: - fixed dependencies with boost, eigen and sba in the CMakeLists.txt and manifest.xml - fixed some broken code related with tf (probably related with API changes) - fixed stage demo config file (deprecated syntax laser to ranger)

Index: manifest.xml
===================================================================
--- manifest.xml    (revision 40357)
+++ manifest.xml    (working copy)
@@ -16,6 +16,7 @@
   <depend package="rosconsole"/>
   <depend package="nav_msgs"/>
   <depend package="message_filters"/>
+  <depend package="sba"/>

   <export>
     <cpp cflags="-I${prefix}/karto/include" lflags="-Wl,-rpath,${prefix}/karto/lib -L${prefix}/karto/lib -lOpenKarto"/>
Index: src/slam_karto.cpp
===================================================================
--- src/slam_karto.cpp  (revision 40357)
+++ src/slam_karto.cpp  (working copy)
@@ -218,7 +218,7 @@

     // Get the laser's pose, relative to base.
     tf::Stamped<tf::pose> ident;
-    tf::Stamped<bttransform> laser_pose;
+    tf::Stamped<tf::pose> laser_pose;
     ident.setIdentity();
     ident.frame_id_ = scan->header.frame_id;
     ident.stamp_ = scan->header.stamp;
@@ -298,9 +298,9 @@
 SlamKarto::getOdomPose(karto::Pose2& karto_pose, const ros::Time& t)
 {
   // Get the robot's pose
-  tf::Stamped<tf::pose> ident (btTransform(tf::createQuaternionFromRPY(0,0,0),
-                                           btVector3(0,0,0)), t, base_frame_);
-  tf::Stamped<bttransform> odom_pose;
+  tf::Stamped<tf::transform> ident (tf::Transform(tf::createQuaternionFromRPY(0,0,0),
+                                           tf::Vector3(0,0,0)), t, base_frame_);
+  tf::Stamped<tf::transform> odom_pose;
   try
   {
     tf_.transformPose(odom_frame_, ident, odom_pose);
@@ -563,8 +563,8 @@
     tf::Stamped<tf::pose> odom_to_map;
     try
     {
-      tf_.transformPose(odom_frame_,tf::Stamped<tf::pose> (btTransform(tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
-                                                                    btVector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
+      tf_.transformPose(odom_frame_,tf::Stamped<tf::pose> (tf::Transform(tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
+                                                                    tf::Vector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
                                                                     scan->header.stamp, base_frame_),odom_to_map);
     }
     catch(tf::TransformException e)
Index: worlds/willow-pr2-5cm.world
===================================================================
--- worlds/willow-pr2-5cm.world (revision 40357)
+++ worlds/willow-pr2-5cm.world (working copy)
@@ -4,7 +4,7 @@
   gui_nose 0
 )

-define topurg laser
+define topurg ranger
 (

   range_max 30.0
Index: CMakeLists.txt
===================================================================
--- CMakeLists.txt  (revision 40357)
+++ CMakeLists.txt  (working copy)
@@ -11,8 +11,14 @@
   message(FATAL_ERROR "Build of Karto failed")
 endif(_make_failed)

+find_package(Eigen)
+include_directories(${EIGEN_INCLUDE_DIRS})
+add_definitions(${EIGEN_DEFINITIONS})
+
+
 # Build the ROS wrapper
 include_directories(${PROJECT_SOURCE_DIR}/karto/include)
 link_directories(${PROJECT_SOURCE_DIR}/karto/lib)
-# rosbuild_add_executable(bin/slam_karto src/slam_karto.cpp src/spa_solver.cpp)
-# target_link_libraries(bin/slam_karto OpenKarto)
+rosbuild_add_executable(bin/slam_karto src/slam_karto.cpp src/spa_solver.cpp)
+target_link_libraries(bin/slam_karto OpenKarto)
+rosbuild_link_boost(bin/slam_karto signals)

Several things are broken. Here I provide a patch over r40357 to make the karto package work again on fuerte. Enjoy!

Changes: - Changes:

  • fixed dependencies with boost, eigen and sba in the CMakeLists.txt and manifest.xml - manifest.xml
  • fixed some broken code related with tf (probably related with API changes) - changes)
  • fixed stage demo config file (deprecated syntax laser to ranger)

Index: manifest.xml
===================================================================
--- manifest.xml    (revision 40357)
+++ manifest.xml    (working copy)
@@ -16,6 +16,7 @@
   <depend package="rosconsole"/>
   <depend package="nav_msgs"/>
   <depend package="message_filters"/>
+  <depend package="sba"/>

   <export>
     <cpp cflags="-I${prefix}/karto/include" lflags="-Wl,-rpath,${prefix}/karto/lib -L${prefix}/karto/lib -lOpenKarto"/>
Index: src/slam_karto.cpp
===================================================================
--- src/slam_karto.cpp  (revision 40357)
+++ src/slam_karto.cpp  (working copy)
@@ -218,7 +218,7 @@

     // Get the laser's pose, relative to base.
     tf::Stamped<tf::pose> ident;
-    tf::Stamped<bttransform> laser_pose;
+    tf::Stamped<tf::pose> laser_pose;
     ident.setIdentity();
     ident.frame_id_ = scan->header.frame_id;
     ident.stamp_ = scan->header.stamp;
@@ -298,9 +298,9 @@
 SlamKarto::getOdomPose(karto::Pose2& karto_pose, const ros::Time& t)
 {
   // Get the robot's pose
-  tf::Stamped<tf::pose> ident (btTransform(tf::createQuaternionFromRPY(0,0,0),
-                                           btVector3(0,0,0)), t, base_frame_);
-  tf::Stamped<bttransform> odom_pose;
+  tf::Stamped<tf::transform> ident (tf::Transform(tf::createQuaternionFromRPY(0,0,0),
+                                           tf::Vector3(0,0,0)), t, base_frame_);
+  tf::Stamped<tf::transform> odom_pose;
   try
   {
     tf_.transformPose(odom_frame_, ident, odom_pose);
@@ -563,8 +563,8 @@
     tf::Stamped<tf::pose> odom_to_map;
     try
     {
-      tf_.transformPose(odom_frame_,tf::Stamped<tf::pose> (btTransform(tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
-                                                                    btVector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
+      tf_.transformPose(odom_frame_,tf::Stamped<tf::pose> (tf::Transform(tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
+                                                                    tf::Vector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
                                                                     scan->header.stamp, base_frame_),odom_to_map);
     }
     catch(tf::TransformException e)
Index: worlds/willow-pr2-5cm.world
===================================================================
--- worlds/willow-pr2-5cm.world (revision 40357)
+++ worlds/willow-pr2-5cm.world (working copy)
@@ -4,7 +4,7 @@
   gui_nose 0
 )

-define topurg laser
+define topurg ranger
 (

   range_max 30.0
Index: CMakeLists.txt
===================================================================
--- CMakeLists.txt  (revision 40357)
+++ CMakeLists.txt  (working copy)
@@ -11,8 +11,14 @@
   message(FATAL_ERROR "Build of Karto failed")
 endif(_make_failed)

+find_package(Eigen)
+include_directories(${EIGEN_INCLUDE_DIRS})
+add_definitions(${EIGEN_DEFINITIONS})
+
+
 # Build the ROS wrapper
 include_directories(${PROJECT_SOURCE_DIR}/karto/include)
 link_directories(${PROJECT_SOURCE_DIR}/karto/lib)
-# rosbuild_add_executable(bin/slam_karto src/slam_karto.cpp src/spa_solver.cpp)
-# target_link_libraries(bin/slam_karto OpenKarto)
+rosbuild_add_executable(bin/slam_karto src/slam_karto.cpp src/spa_solver.cpp)
+target_link_libraries(bin/slam_karto OpenKarto)
+rosbuild_link_boost(bin/slam_karto signals)

The proposed solutions are not enough to solve the problem. Several things are still broken. Here I provide a patch over the revision r40357 to make the karto package work again on fuerte. Enjoy!

Changes:

  • Changes: - fixed dependencies with boost, eigen and sba in the CMakeLists.txt and manifest.xml
  • manifest.xml - fixed some broken code related with tf (probably related with API changes)
  • changes) - fixed stage demo config file (deprecated syntax laser to ranger)

 
Index: manifest.xml
===================================================================
--- manifest.xml    (revision 40357)
+++ manifest.xml    (working copy)
@@ -16,6 +16,7 @@
   <depend package="rosconsole"/>
   <depend package="nav_msgs"/>
   <depend package="message_filters"/>
+  <depend package="sba"/>

   <export>
     <cpp cflags="-I${prefix}/karto/include" lflags="-Wl,-rpath,${prefix}/karto/lib -L${prefix}/karto/lib -lOpenKarto"/>
Index: src/slam_karto.cpp
===================================================================
--- src/slam_karto.cpp  (revision 40357)
+++ src/slam_karto.cpp  (working copy)
@@ -218,7 +218,7 @@

     // Get the laser's pose, relative to base.
     tf::Stamped<tf::pose> ident;
-    tf::Stamped<bttransform> laser_pose;
+    tf::Stamped<tf::pose> laser_pose;
     ident.setIdentity();
     ident.frame_id_ = scan->header.frame_id;
     ident.stamp_ = scan->header.stamp;
@@ -298,9 +298,9 @@
 SlamKarto::getOdomPose(karto::Pose2& karto_pose, const ros::Time& t)
 {
   // Get the robot's pose
-  tf::Stamped<tf::pose> ident (btTransform(tf::createQuaternionFromRPY(0,0,0),
-                                           btVector3(0,0,0)), t, base_frame_);
-  tf::Stamped<bttransform> odom_pose;
+  tf::Stamped<tf::transform> ident (tf::Transform(tf::createQuaternionFromRPY(0,0,0),
+                                           tf::Vector3(0,0,0)), t, base_frame_);
+  tf::Stamped<tf::transform> odom_pose;
   try
   {
     tf_.transformPose(odom_frame_, ident, odom_pose);
@@ -563,8 +563,8 @@
     tf::Stamped<tf::pose> odom_to_map;
     try
     {
-      tf_.transformPose(odom_frame_,tf::Stamped<tf::pose> (btTransform(tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
-                                                                    btVector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
+      tf_.transformPose(odom_frame_,tf::Stamped<tf::pose> (tf::Transform(tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
+                                                                    tf::Vector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
                                                                     scan->header.stamp, base_frame_),odom_to_map);
     }
     catch(tf::TransformException e)
Index: worlds/willow-pr2-5cm.world
===================================================================
--- worlds/willow-pr2-5cm.world (revision 40357)
+++ worlds/willow-pr2-5cm.world (working copy)
@@ -4,7 +4,7 @@
   gui_nose 0
 )

-define topurg laser
+define topurg ranger
 (

   range_max 30.0
Index: CMakeLists.txt
===================================================================
--- CMakeLists.txt  (revision 40357)
+++ CMakeLists.txt  (working copy)
@@ -11,8 +11,14 @@
   message(FATAL_ERROR "Build of Karto failed")
 endif(_make_failed)

+find_package(Eigen)
+include_directories(${EIGEN_INCLUDE_DIRS})
+add_definitions(${EIGEN_DEFINITIONS})
+
+
 # Build the ROS wrapper
 include_directories(${PROJECT_SOURCE_DIR}/karto/include)
 link_directories(${PROJECT_SOURCE_DIR}/karto/lib)
-# rosbuild_add_executable(bin/slam_karto src/slam_karto.cpp src/spa_solver.cpp)
-# target_link_libraries(bin/slam_karto OpenKarto)
+rosbuild_add_executable(bin/slam_karto src/slam_karto.cpp src/spa_solver.cpp)
+target_link_libraries(bin/slam_karto OpenKarto)
+rosbuild_link_boost(bin/slam_karto signals)

The proposed solutions are not enough to solve the problem. problem on the current HEAD revision. Several things are still broken. Here I provide a patch over the revision r40357 to make the karto package work again on fuerte. Enjoy!

Changes: - Changes:

  • fixed dependencies with boost, eigen and sba in the CMakeLists.txt and manifest.xml - manifest.xml
  • fixed some broken code related with tf (probably related with API changes) - changes)
  • fixed stage demo config file (deprecated syntax laser to ranger)

Index: manifest.xml
===================================================================
--- manifest.xml    (revision 40357)
+++ manifest.xml    (working copy)
@@ -16,6 +16,7 @@
   <depend package="rosconsole"/>
   <depend package="nav_msgs"/>
   <depend package="message_filters"/>
+  <depend package="sba"/>

   <export>
     <cpp cflags="-I${prefix}/karto/include" lflags="-Wl,-rpath,${prefix}/karto/lib -L${prefix}/karto/lib -lOpenKarto"/>
Index: src/slam_karto.cpp
===================================================================
--- src/slam_karto.cpp  (revision 40357)
+++ src/slam_karto.cpp  (working copy)
@@ -218,7 +218,7 @@

     // Get the laser's pose, relative to base.
     tf::Stamped<tf::pose> ident;
-    tf::Stamped<bttransform> laser_pose;
+    tf::Stamped<tf::pose> laser_pose;
     ident.setIdentity();
     ident.frame_id_ = scan->header.frame_id;
     ident.stamp_ = scan->header.stamp;
@@ -298,9 +298,9 @@
 SlamKarto::getOdomPose(karto::Pose2& karto_pose, const ros::Time& t)
 {
   // Get the robot's pose
-  tf::Stamped<tf::pose> ident (btTransform(tf::createQuaternionFromRPY(0,0,0),
-                                           btVector3(0,0,0)), t, base_frame_);
-  tf::Stamped<bttransform> odom_pose;
+  tf::Stamped<tf::transform> ident (tf::Transform(tf::createQuaternionFromRPY(0,0,0),
+                                           tf::Vector3(0,0,0)), t, base_frame_);
+  tf::Stamped<tf::transform> odom_pose;
   try
   {
     tf_.transformPose(odom_frame_, ident, odom_pose);
@@ -563,8 +563,8 @@
     tf::Stamped<tf::pose> odom_to_map;
     try
     {
-      tf_.transformPose(odom_frame_,tf::Stamped<tf::pose> (btTransform(tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
-                                                                    btVector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
+      tf_.transformPose(odom_frame_,tf::Stamped<tf::pose> (tf::Transform(tf::createQuaternionFromRPY(0, 0, corrected_pose.GetHeading()),
+                                                                    tf::Vector3(corrected_pose.GetX(), corrected_pose.GetY(), 0.0)).inverse(),
                                                                     scan->header.stamp, base_frame_),odom_to_map);
     }
     catch(tf::TransformException e)
Index: worlds/willow-pr2-5cm.world
===================================================================
--- worlds/willow-pr2-5cm.world (revision 40357)
+++ worlds/willow-pr2-5cm.world (working copy)
@@ -4,7 +4,7 @@
   gui_nose 0
 )

-define topurg laser
+define topurg ranger
 (

   range_max 30.0
Index: CMakeLists.txt
===================================================================
--- CMakeLists.txt  (revision 40357)
+++ CMakeLists.txt  (working copy)
@@ -11,8 +11,14 @@
   message(FATAL_ERROR "Build of Karto failed")
 endif(_make_failed)

+find_package(Eigen)
+include_directories(${EIGEN_INCLUDE_DIRS})
+add_definitions(${EIGEN_DEFINITIONS})
+
+
 # Build the ROS wrapper
 include_directories(${PROJECT_SOURCE_DIR}/karto/include)
 link_directories(${PROJECT_SOURCE_DIR}/karto/lib)
-# rosbuild_add_executable(bin/slam_karto src/slam_karto.cpp src/spa_solver.cpp)
-# target_link_libraries(bin/slam_karto OpenKarto)
+rosbuild_add_executable(bin/slam_karto src/slam_karto.cpp src/spa_solver.cpp)
+target_link_libraries(bin/slam_karto OpenKarto)
+rosbuild_link_boost(bin/slam_karto signals)
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