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cannot run octomap simple_example.cpp

Hi guys,

I am trying to run use the octomap library and wanted to run the simple_example.cpp to start experimenting, as referenced in the documentation in Getting Started: https://octomap.github.io/octomap/doc/ So I installed octomap as explained here: http://wiki.ros.org/octomap

Then when I try to build my package octomap_tutorial I get the follwoing error:

[build] Found '20' packages in 0.0 seconds.                        
[build] Package table is up to date.                               
Starting  >>> octomap_tutorial                                     
No handlers could be found for logger "trollius"d] [octomap_tut... 
___________________________________________________________________
Errors     << octomap_tutorial:check /home/user/simulation_ws/logs/octomap_tutorial/build.check.029.log
make: *** [cmake_check_build_system] Error 1
cd /home/user/simulation_ws/build/octomap_tutorial; catkin build --get-env octomap_tutorial | catkin env -si  /usr/bin/make cmake_check_build_system; cd -
...................................................................
Failed     << octomap_tutorial:check          [ Exited with code 2 ]
Failed    <<< octomap_tutorial                [ 0.6 seconds ]      
[build] Summary: 0 of 1 packages succeeded.                        
[build]   Ignored:   19 packages were skipped or are blacklisted.  
[build]   Warnings:  None.                                         
[build]   Abandoned: None.                                         
[build]   Failed:    1 packages failed.                            
[build] Runtime: 0.7 seconds total.       

Here is my CMAKE file:

    cmake_minimum_required(VERSION 2.8.3)
project(octomap_tutorial)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

# set(OCTOMAP_INCLUDE_DIRS "/opt/ros/melodic/include")
# set(OCTOMAP_LIBRARY_DIRS "/opt/ros/melodic/lib")
# set(OCTOMAP_LIBRARIES
# "/opt/ros/melodic/lib/liboctomap.so"
# "/opt/ros/melodic/lib/liboctomath.so"
# )
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)
find_package(octomap REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
# catkin_package(
#   INCLUDE_DIRS include
# #  LIBRARIES octomap_tutorial
#   CATKIN_DEPENDS roscpp std_msgs
# #  DEPENDS system_lib
# )

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include ${catkin_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS})

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/octomap_tutorial.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(simple_example src/simple_example.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )
target_link_libraries(simple_example ${catkin_LIBRARIES})
target_link_libraries(simple_example§ ${OCTOMAP_LIBRARIES})
############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_octomap_tutorial.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

My package.xml file:

<?xml version="1.0"?>
<package format="2">
  <name>octomap_tutorial</name>
  <version>0.0.0</version>
  <description>The octomap_tutorial package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->



  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/octomap_tutorial</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>octomap</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_export_depend>octomap</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>octomap</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>std_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

and here is the code I downloaded referenced in getting started:

/*
 * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
 * http://octomap.github.com/
 *
 * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
 * All rights reserved.
 * License: New BSD
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Freiburg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <octomap/octomap.h>
#include <octomap/OcTree.h>

using namespace std;
using namespace octomap;


void print_query_info(point3d query, OcTreeNode* node) {
  if (node != NULL) {
    cout << "occupancy probability at " << query << ":\t " << node->getOccupancy() << endl;
  }
  else 
    cout << "occupancy probability at " << query << ":\t is unknown" << endl;    
}

int main(int argc, char** argv) {

  cout << endl;
  cout << "generating example map" << endl;

  OcTree tree (0.1);  // create empty tree with resolution 0.1


  // insert some measurements of occupied cells

  for (int x=-20; x<20; x++) {
    for (int y=-20; y<20; y++) {
      for (int z=-20; z<20; z++) {
        point3d endpoint ((float) x*0.05f, (float) y*0.05f, (float) z*0.05f);
        tree.updateNode(endpoint, true); // integrate 'occupied' measurement
      }
    }
  }

  // insert some measurements of free cells

  for (int x=-30; x<30; x++) {
    for (int y=-30; y<30; y++) {
      for (int z=-30; z<30; z++) {
        point3d endpoint ((float) x*0.02f-1.0f, (float) y*0.02f-1.0f, (float) z*0.02f-1.0f);
        tree.updateNode(endpoint, false);  // integrate 'free' measurement
      }
    }
  }

  cout << endl;
  cout << "performing some queries:" << endl;

  point3d query (0., 0., 0.);
  OcTreeNode* result = tree.search (query);
  print_query_info(query, result);

  query = point3d(-1.,-1.,-1.);
  result = tree.search (query);
  print_query_info(query, result);

  query = point3d(1.,1.,1.);
  result = tree.search (query);
  print_query_info(query, result);


  cout << endl;
  tree.writeBinary("simple_tree.bt");
  cout << "wrote example file simple_tree.bt" << endl << endl;
  cout << "now you can use octovis to visualize: octovis simple_tree.bt"  << endl;
  cout << "Hint: hit 'F'-key in viewer to see the freespace" << endl  << endl;  

}

I am using Ubuntu 18.04.3 LTS with ROS Melodic with octomap 1.9.0.

Also, if I install this package (https://github.com/OctoMap/octomap_mapping) in my ros workspace, from there I can get octomapping server running (roslaunch octomap_server octomap_mapping.launch ) and building a map from pointcloud input and then also save it as a .bt file or .ot file, but I cannot build the simple_example.cpp or build my own node using the octomap framework.

Thank you very much in advance!

Asked by chillbird on 2019-12-11 12:34:44 UTC

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