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error installing depth_nav_tools [closed]

asked 2019-03-18 17:24:24 -0600

hdbot gravatar image

Hi All,

I am trying to install depth_nav_tools, however, the catkin_make fails with errors:

In file included from /home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:37:0:
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/include/nav_layer_from_points/costmap_layer.h:95:3: error: ‘tf’ does not name a type
   tf::TransformListener tf_;
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp: In member function ‘virtual void nav_layer_from_points::NavLayerFromPoints::updateBounds(double, double, double, double*, double*, double*, double*)’:
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:127:13: error: request for member ‘transformPoint’ in ‘((nav_layer_from_points::NavLayerFromPoints*)this)->nav_layer_from_points::NavLayerFromPoints::<anonymous>.costmap_2d::Layer::tf_’, which is of pointer type ‘tf2_ros::Buffer*’ (maybe you meant to use ‘->’ ?)
         tf_.transformPoint(global_frame, pt, out_pt);
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:13: error: ‘tf’ does not name a type
       catch(tf::LookupException& ex)
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:32: error: expected unqualified-id before ‘&’ token
       catch(tf::LookupException& ex)
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:32: error: expected ‘)’ before ‘&’ token
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:32: error: expected ‘{’ before ‘&’ token
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:136:34: error: ‘ex’ was not declared in this scope
       catch(tf::LookupException& ex)
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:141:7: error: expected primary-expression before ‘catch’
       catch(tf::ConnectivityException& ex)
/home/mars-lab/catkin_ws/src/depth_nav_tools/nav_layer_from_points/src/costmap_layer.cpp:146:7: error: expected primary-expression before ‘catch’
       catch(tf::ExtrapolationException& ex)

I am not sure how to fix this, can anyone suggest a way to fix this?

Regards, hdbot

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Closed for the following reason the question is answered, right answer was accepted by hdbot
close date 2019-03-19 08:55:06.656572

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answered 2019-03-19 04:02:11 -0600

gvdhoorn gravatar image

updated 2019-03-19 04:02:49 -0600

This would seem to be a case of nav_layer_from_points not declaring a (build) dependency on tf.

See the build script: the tf package is not mentioned anywhere. Neither in the package manifest.

It's likely that the tf dependency was brought in transitively by some other dependency of nav_layer_from_points.

It will probably start working if you add tf to the find_package(catkin REQUIRED ..) and the catkin_package(.. CATKIN_DEPENDS ..) calls in the build script and as a depend to the package manifest.

If you do, and that fixes things, a PR to the original repository contributing that fix would probably be appreciated by the author.

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@gvdhoorn I tried this, and it didn't work. Still getting same error when building the package.

hdbot gravatar image hdbot  ( 2019-03-19 08:37:28 -0600 )edit

Have you made sure to first delete your build and devel directories before trying to run catkin_make again?

gvdhoorn gravatar image gvdhoorn  ( 2019-03-19 08:44:48 -0600 )edit

@gvdhoorn, Yes I had tried deleting old build and devel. I got the package installed. It needed #include <tf/transform_listener.h> in the costmap_layer.h file. Once you include that, it works fine with your suggestion.

hdbot gravatar image hdbot  ( 2019-03-19 08:54:48 -0600 )edit

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Asked: 2019-03-18 17:24:24 -0600

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Last updated: Mar 19 '19