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error using eigen

asked 2019-12-02 16:29:10 -0500

hossein gravatar image

updated 2019-12-05 20:07:58 -0500

jayess gravatar image

Hello all! I wanted to use Eigen library with my ROS project. I installed eigen3 and followed the instruction at https://github.com/ros/cmake_modules/... but when I try to run catkin_make it returns many errors which are mainly pointing to eigen library itself. I even tested eigen library with a non-ros C++ program and it works fine. Errors returned from catkin_make are very long but the last part of it are as follows:

In file included from /usr/include/eigen3/Eigen/Core:347:0,
             from /usr/include/eigen3/Eigen/Dense:1,
             from /home/hossein/multi_ws/src/event_formation/include/kalman.h:1,
             from/home/hossein/multi_ws/src/event_formation/src/Kalman.cpp:6:/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h: In instantiation of ‘Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::CwiseBinaryOp(const Lhs&, const Rhs&, const BinaryOp&) [with BinaryOp = Eigen::internal::scalar_sum_op<float, double>; LhsType = const Eigen::Matrix<float, 3, 3>; RhsType = const Eigen::Matrix<double, 3, 3>; Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::Lhs = Eigen::Matrix<float, 3, 3>; Eigen::CwiseBinaryOp<BinaryOp, Lhs, Rhs>::Rhs = Eigen::Matrix<double, 3, 3>]’:/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:27:1:   required from ‘const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>, const Derived, const OtherDerived> Eigen::MatrixBase<Derived>::operator+(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, 3, 3>; Derived = Eigen::Matrix<float, 3, 3>; typename Eigen::internal::traits<OtherDerived>::Scalar = double; typename Eigen::internal::traits<T>::Scalar = float]’/home/hossein/multi_ws/src/event_formation/src/Kalman.cpp:64:58:   required from here
/usr/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h:107:7: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
   EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename Rhs::Scalar);
   ^
event_formation/CMakeFiles/event_formation.dir/build.make:86: recipe for target 'event_formation/CMakeFiles/event_formation.dir/src/Kalman.cpp.o' failed
make[2]: *** [event_formation/CMakeFiles/event_formation.dir/src/Kalman.cpp.o] Error 1
CMakeFiles/Makefile2:3102: recipe for target 'event_formation/CMakeFiles/event_formation.dir/all' failed
make[1]: *** [event_formation/CMakeFiles/event_formation.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

The CMakeLists.txr is as follows:

cmake_minimum_required(VERSION 2.8.3)
project(event_formation)


find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)


 add_message_files(
  FILES
   event.msg
)

 generate_messages(
   DEPENDENCIES
   std_msgs
 )

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS roscpp rospy std_msgs
  DEPENDS system_lib
  DEPENDS Eigen
)

include_directories(
 include
  ${catkin_INCLUDE_DIRS}
)


include_directories(
  include
  ${catkin_LIBRARIES}
  ${Eigen_INCLUDE_DIRS}
)


add_executable(event_formation src/main.cpp src/Kalman.cpp)
  target_link_libraries(event_formation  
  ${catkin_LIBRARIES}
  )
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Comments

1

This doesn't seem like a linking or build error, meaning eigen was added to your project successfully. And for the rest I think stack overflow would be right place to ask such questions. Also people can't really help you much with just error message without looking at actual code.

Choco93 gravatar image Choco93  ( 2019-12-03 02:45:37 -0500 )edit

Please post the contents of your CMakeLists.txt file

pavel92 gravatar image pavel92  ( 2019-12-03 03:26:15 -0500 )edit

Thank you @Choco93 and @pavel92 for your answers. I added the CMakeLists.txt to my question.

hossein gravatar image hossein  ( 2019-12-03 07:50:05 -0500 )edit

as @Choco93 said: This seems to be not ROS related. There error provided is:

YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY

and seems to stem from `Kalman.cpp:64.

Try googling for that. This delivers e.g. https://stackoverflow.com/questions/2...

mgruhler gravatar image mgruhler  ( 2019-12-03 08:11:46 -0500 )edit

2 Answers

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2

answered 2019-12-04 17:42:12 -0500

hossein gravatar image

Thanks every one for your help. I dug into my code as @Choco and @mgluhrer said and found out that the problem was because of assigning a wrong type of matrix to one of my matrices in my calculations. Although it's a bit odd for me that a small mistake leads to this long error in eigen library.

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answered 2019-12-04 04:10:41 -0500

pavel92 gravatar image

I am not much familiar with eigen errors. Maybe the dependency should be to Eigen3 instead of Eigen since you have installed eigen3.

find_package(Eigen3 REQUIRED)


On another note, dont forget to include the eigen directories:

include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})

and link your target with the eigen libraries:

target_link_libraries(your_target ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})

Also since you are generating a custom msg add the message_runtime as dependency:

catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES event_formation
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
  DEPENDS system_lib
  DEPENDS Eigen3
)
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Comments

Thanks. The problem was not from CMakeLists.txt file.

hossein gravatar image hossein  ( 2019-12-04 17:45:43 -0500 )edit

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Asked: 2019-12-02 16:29:10 -0500

Seen: 773 times

Last updated: Dec 05 '19