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rgbdslam on hydro - rosmake error

asked 2014-02-24 03:23:28 -0500

Jaque gravatar image

updated 2014-02-24 03:24:16 -0500

rosmake rgbdslam_freiburg

fails with the following error. Does anybody know an solution for this error ?

mkdir -p bin
    cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/hydro/share/ros/core/rosbuild/rostoolchain.cmake  ..
    [rosbuild] Building package rgbdslam
    -- Using CATKIN_DEVEL_PREFIX: /home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build/devel
    -- Using CMAKE_PREFIX_PATH: /home/qbobot/catkin_ws/devel;/opt/ros/hydro
    -- This workspace overlays: /home/qbobot/catkin_ws/devel;/opt/ros/hydro
    -- Using Debian Python package layout
    -- Using CATKIN_ENABLE_TESTING: ON
    -- Skip enable_testing() for dry packages
    -- Using CATKIN_TEST_RESULTS_DIR: /home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build/test_results
    -- Found gtest sources under '/usr/src/gtest': gtests will be built
    -- catkin 0.5.77
    [rosbuild] Including /opt/ros/hydro/share/roslisp/rosbuild/roslisp.cmake
    [rosbuild] Including /opt/ros/hydro/share/roscpp/rosbuild/roscpp.cmake
    [rosbuild] Including /opt/ros/hydro/share/rospy/rosbuild/rospy.cmake
    -- checking for module 'openni-dev'
    --   package 'openni-dev' not found
    -- checking for module 'openni-dev'
    --   package 'openni-dev' not found
    -- checking for module 'openni-dev'
    --   package 'openni-dev' not found
    -- looking for PCL_COMMON
    -- looking for PCL_KDTREE
    -- looking for PCL_OCTREE
    -- looking for PCL_SEARCH
    -- looking for PCL_IO
    -- looking for PCL_SAMPLE_CONSENSUS
    -- looking for PCL_FILTERS
    -- looking for PCL_GEOMETRY
    -- looking for PCL_VISUALIZATION
    -- looking for PCL_OUTOFCORE
    -- looking for PCL_FEATURES
    -- looking for PCL_SEGMENTATION
    -- looking for PCL_PEOPLE
    -- looking for PCL_REGISTRATION
    -- looking for PCL_RECOGNITION
    -- looking for PCL_KEYPOINTS
    -- looking for PCL_SURFACE
    -- looking for PCL_TRACKING
    -- looking for PCL_APPS

    ------------------------------------------------------------------

    Compiling SiftGPU...
    make[1]: Entering directory `/home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/external/siftgpu/linux'
    mkdir -p ../../../build/siftgpu
    mkdir -p ./bin 
    ln ../data/ -d -s -f
    ar rcs ./bin/libsiftgpu.a ../../../build/siftgpu/FrameBufferObject.o ../../../build/siftgpu/GlobalUtil.o ../../../build/siftgpu/GLTexImage.o ../../../build/siftgpu/ProgramGLSL.o ../../../build/siftgpu/ProgramGPU.o ../../../build/siftgpu/ShaderMan.o ../../../build/siftgpu/SiftGPU.o ../../../build/siftgpu/SiftPyramid.o ../../../build/siftgpu/PyramidGL.o ../../../build/siftgpu/SiftMatch.o
    g++ -o ./bin/libsiftgpu.so ../../../build/siftgpu/FrameBufferObject.o ../../../build/siftgpu/GlobalUtil.o ../../../build/siftgpu/GLTexImage.o ../../../build/siftgpu/ProgramGLSL.o ../../../build/siftgpu/ProgramGPU.o ../../../build/siftgpu/ShaderMan.o ../../../build/siftgpu/SiftGPU.o ../../../build/siftgpu/SiftPyramid.o ../../../build/siftgpu/PyramidGL.o ../../../build/siftgpu/SiftMatch.o -lGLEW -lglut -lIL -lGL -lX11 -g -O2 -I../include -fPIC -L/usr/lib64 -L/usr/lib -L./bin -Wall -Wno-deprecated -pthread   -march=native -mfpmath=sse -shared -fPIC
    make[1]: Leaving directory `/home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/external/siftgpu/linux'

    ------------------------------------------------------------------

    -- Eigen found (include: /usr/include/eigen3)
    -- Configuring done
    -- Generating done
    CMake Warning:
      Manually-specified variables were not used by the project:

        CMAKE_TOOLCHAIN_FILE


    -- Build files have been written to: /home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build
    cd build && make -j4 -l4
    make[1]: Entering directory `/home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build'
    make[2]: Entering directory `/home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build'
    make[3]: Entering directory `/home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build'
    make[3]: Entering directory `/home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build'
    make[3]: Leaving directory `/home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build'
    make[3]: Leaving directory `/home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build'
    [  0%] [  0%] Built target rosbuild_premsgsrvgen
    Built target rospack_genmsg_libexe
    make[3]: Entering directory `/home/qbobot/catkin_ws/src/rgbdslam_freiburg/rgbdslam/build'
    make[3]: Entering directory `/home ...
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3 Answers

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answered 2014-02-24 21:52:27 -0500

Jaque gravatar image

I do not think that openni-dev ist the problem in this case. We were able to install and run rgbdslam on two other machines (vm and real notebook) with a few workarounds. Then we tried the same steps on our QBO robot but there we get this error above. I could not find anything to this "liboctomap_server.so" error.

Linking CXX executable ../bin/rgbdslam
    /opt/ros/hydro/lib/liboctomap_server.so: undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
    /opt/ros/hydro/lib/liboctomap_server.so: undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
    collect2: ld returned 1 exit status
    make[3]: *** [../bin/rgbdslam] Error 1
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answered 2014-02-25 21:24:12 -0500

Strange error.

Just an idea: it sounds like it could be a dependency problem. Rgbdslam does not explicitly dependend on ros::console::print. It is probably included indirectly on some machine but not on yours, so you need to explicitly state that you want to link it.

Try adding rosconsole to rgbdslam's linker dependencies in CMakeLists.txt, e.g.

find_package(catkin REQUIRED COMPONENTS pcl_conversions pcl_ros roscpp octomap_server image_transport cv_bridge sensor_msgs geometry_msgs visualization_msgs std_msgs tf message_generation message_filters rosbag rosconsole)

I don't have the error, so I cannot check whether it solves your problem. Please let me know.

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answered 2014-02-24 04:21:19 -0500

Dani C gravatar image

You have to solve first dependencies with openni-dev and libopenni-dev. Read this: https://github.com/ros/rosdistro/issu...

Anyway I've been not able to build it the alpha version for hydro from the author.

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Comments

Do you have experience using rgbdslam with Groovy? I've been running into difficulties with Hydro as well...

AndrewLawson gravatar imageAndrewLawson ( 2014-02-24 12:42:21 -0500 )edit

No, sorry. I've been just testing an alpha for hydro.

Dani C gravatar imageDani C ( 2014-02-24 20:48:06 -0500 )edit

Thanks for your assumption but we are using openni2 which is working at the moment.

Jaque gravatar imageJaque ( 2014-02-24 21:54:41 -0500 )edit

Actually, rgbdslam is independent from openni at compile time, as it does not use the driver itself but relies on other ros nodes or bagfiles to deliver the data. So unless it's a unresolved dependency, it shouldn't be an issue.

Felix Endres gravatar imageFelix Endres ( 2014-02-25 21:13:34 -0500 )edit

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Asked: 2014-02-24 03:23:28 -0500

Seen: 655 times

Last updated: Feb 25 '14