Hi All,

I am trying to work on Hector SLAM using rosbot simulation in gazebo. I have ROS Kinetic installed in Ubuntu 16.04 LTS.

I have cloned the required repositories for hector slam. rplidar and rosbot from github into the source folder.

After that I installed all the dependencies required using following command in catkin_workspace.

rosdep install --from-paths src --ignore-src -r -y

which results in

executing command [sudo -H apt-get install -y gazebo7]
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 gazebo7 : Depends: libgazebo7 (= 7.15.0-1~xenial) but it is not going to be installed
           Depends: libsdformat4 but it is not going to be installed
           Depends: gazebo7-common (= 7.15.0-1~xenial) but it is not going to be installed
           Recommends: gazebo7-plugin-base
E: Unable to correct problems, you have held broken packages.
executing command [sudo -H apt-get install -y libgazebo7-dev]
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 libgazebo7-dev : Depends: libsdformat4-dev but it is not going to be installed
                  Depends: libgazebo7 (= 7.15.0-1~xenial) but it is not going to be installed
                  Depends: gazebo7-common (= 7.15.0-1~xenial) but it is not going to be installed
                  Depends: gazebo7-plugin-base (= 7.15.0-1~xenial)
E: Unable to correct problems, you have held broken packages.
ERROR: the following rosdeps failed to install
  apt: command [sudo -H apt-get install -y gazebo7] failed
  apt: command [sudo -H apt-get install -y libgazebo7-dev] failed
  apt: Failed to detect successful installation of [gazebo7]
  apt: Failed to detect successful installation of [libgazebo7-dev]

After this I invoke catkin_make which is resulting in cmake errors.

catkin_make --only-pkg-with-deps rplidar_ros hector_slam

This results in

Base path: /home/rnd415/catkin_workspace
Source space: /home/rnd415/catkin_workspace/src
Build space: /home/rnd415/catkin_workspace/build
Devel space: /home/rnd415/catkin_workspace/devel
Install space: /home/rnd415/catkin_workspace/install
Whitelisted packages: hector_compressed_map_transport, hector_geotiff, hector_geotiff_plugins, hector_imu_attitude_to_tf, hector_map_server, hector_map_tools, hector_mapping, hector_marker_drawing, hector_nav_msgs, hector_slam, hector_slam_launch, hector_trajectory_server, rplidar_ros
####
#### Running command: "cmake /home/rnd415/catkin_workspace/src -DCATKIN_DEVEL_PREFIX=/home/rnd415/catkin_workspace/devel -DCMAKE_INSTALL_PREFIX=/home/rnd415/catkin_workspace/install -DCATKIN_WHITELIST_PACKAGES=hector_compressed_map_transport;hector_geotiff;hector_geotiff_plugins;hector_imu_attitude_to_tf;hector_map_server;hector_map_tools;hector_mapping;hector_marker_drawing;hector_nav_msgs;hector_slam;hector_slam_launch;hector_trajectory_server;rplidar_ros -G Unix Makefiles" in "/home/rnd415/catkin_workspace/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/rnd415/catkin_workspace/devel
-- Using CMAKE_PREFIX_PATH: /home/rnd415/catkin_workspace/devel;/opt/ros/kinetic
-- This workspace overlays: /home/rnd415/catkin_workspace/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
CMake Error at /opt/ros/kinetic/share/catkin/cmake/test/tests.cmake:54 (file):
  file failed to open for writing (Permission denied):

    /home/rnd415/catkin_workspace/build/CTestCustom.cmake
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/all.cmake:163 (include)
  /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:56 (find_package)


-- Using CATKIN_TEST_RESULTS_DIR: /home/rnd415/catkin_workspace/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.18
-- BUILD_SHARED_LIBS is on
CMake Error: Could not open file for write in copy operation /home/rnd415/catkin_workspace/build/atomic_configure/_setup_util.py.tmp
CMake Error: : System Error: Permission denied
CMake Error at /opt/ros/kinetic/share/catkin/cmake/atomic_configure_file.cmake:4 (configure_file):
  configure_file Problem configuring file
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_generate_environment.cmake:40 (atomic_configure_file)
  /opt/ros/kinetic/share/catkin/cmake/all.cmake:189 (catkin_generate_environment)
  /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:56 (find_package)


-- BUILD_SHARED_LIBS is on
-- Using CATKIN_WHITELIST_PACKAGES: hector_compressed_map_transport;hector_geotiff;hector_geotiff_plugins;hector_imu_attitude_to_tf;hector_map_server;hector_map_tools;hector_mapping;hector_marker_drawing;hector_nav_msgs;hector_slam;hector_slam_launch;hector_trajectory_server;rplidar_ros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 13 packages in topological order:
-- ~~  - hector_slam (metapackage)
-- ~~  - hector_slam_launch
-- ~~  - hector_map_tools
-- ~~  - hector_nav_msgs
-- ~~  - hector_geotiff
-- ~~  - hector_geotiff_plugins
-- ~~  - hector_marker_drawing
-- ~~  - hector_compressed_map_transport
-- ~~  - rplidar_ros
-- ~~  - hector_imu_attitude_to_tf
-- ~~  - hector_map_server
-- ~~  - hector_trajectory_server
-- ~~  - hector_mapping
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'hector_slam'
-- ==> add_subdirectory(hector_slam/hector_slam)
-- +++ processing catkin package: 'hector_slam_launch'
-- ==> add_subdirectory(hector_slam/hector_slam_launch)
-- +++ processing catkin package: 'hector_map_tools'
-- ==> add_subdirectory(hector_slam/hector_map_tools)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'hector_nav_msgs'
-- ==> add_subdirectory(hector_slam/hector_nav_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- hector_nav_msgs: 0 messages, 5 services
-- +++ processing catkin package: 'hector_geotiff'
-- ==> add_subdirectory(hector_slam/hector_geotiff)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'hector_geotiff_plugins'
-- ==> add_subdirectory(hector_slam/hector_geotiff_plugins)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'hector_marker_drawing'
-- ==> add_subdirectory(hector_slam/hector_marker_drawing)
-- +++ processing catkin package: 'hector_compressed_map_transport'
-- ==> add_subdirectory(hector_slam/hector_compressed_map_transport)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'rplidar_ros'
-- ==> add_subdirectory(rplidar_ros)
-- +++ processing catkin package: 'hector_imu_attitude_to_tf'
-- ==> add_subdirectory(hector_slam/hector_imu_attitude_to_tf)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'hector_map_server'
-- ==> add_subdirectory(hector_slam/hector_map_server)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'hector_trajectory_server'
-- ==> add_subdirectory(hector_slam/hector_trajectory_server)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'hector_mapping'
-- ==> add_subdirectory(hector_slam/hector_mapping)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   signals
--   chrono
--   system
--   date_time
--   atomic
-- hector_mapping: 2 messages, 0 services
-- Configuring incomplete, errors occurred!
See also "/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeOutput.log".
See also "/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
Makefile:892: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

The Cmakeoutput.log is as follows

Detecting CXX [-std=c++98] compiler features compiled with the following output:
Change Dir: /home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_7d8f9/fast"
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Building CXX object CMakeFiles/cmTC_7d8f9.dir/feature_tests.cxx.o
/usr/bin/c++     -std=c++98 -o CMakeFiles/cmTC_7d8f9.dir/feature_tests.cxx.o -c /home/rnd415/catkin_workspace/build/CMakeFiles/feature_tests.cxx
Linking CXX executable cmTC_7d8f9
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/usr/bin/c++        CMakeFiles/cmTC_7d8f9.dir/feature_tests.cxx.o  -o cmTC_7d8f9 -rdynamic 
make[1]: Leaving directory '/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp'


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Determining if the include file pthread.h exists passed with the following output:
Change Dir: /home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_089b2/fast"
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Building C object CMakeFiles/cmTC_089b2.dir/CheckIncludeFile.c.o
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make[1]: Leaving directory '/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp'


Determining if the function pthread_create exists in the pthread passed with the following output:
Change Dir: /home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_fd76e/fast"
/usr/bin/make -f CMakeFiles/cmTC_fd76e.dir/build.make CMakeFiles/cmTC_fd76e.dir/build
make[1]: Entering directory '/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp'
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make[1]: Leaving directory '/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp'


Determining if the Q_WS_X11 exist passed with the following output:
Change Dir: /home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_61ff4/fast"
/usr/bin/make -f CMakeFiles/cmTC_61ff4.dir/build.make CMakeFiles/cmTC_61ff4.dir/build
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Linking CXX executable cmTC_61ff4
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make[1]: Leaving directory '/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp'

File /home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:
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The Cmakeerror.log files is as folllows

Determining if the Q_WS_MAC exist failed with the following output:
Change Dir: /home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_4da44/fast"
/usr/bin/make -f CMakeFiles/cmTC_4da44.dir/build.make CMakeFiles/cmTC_4da44.dir/build
make[1]: Entering directory '/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_4da44.dir/CheckSymbolExists.cxx.o
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/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx: In function ‘int main(int, char**)’:
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CMakeFiles/cmTC_4da44.dir/build.make:65: recipe for target 'CMakeFiles/cmTC_4da44.dir/CheckSymbolExists.cxx.o' failed
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make[1]: Leaving directory '/home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_4da44/fast' failed
make: *** [cmTC_4da44/fast] Error 2

File /home/rnd415/catkin_workspace/build/CMakeFiles/CMakeTmp/CheckSymbolExists.cxx:
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How to resolve these issues ?

source /home/rnd415/catkin_workspace/devel/setup.bash