Robotics StackExchange | Archived questions

Installing Hector_Navigation and Ceres_Catkin

Hi! I am trying to create a robot car that can autonomously drive using RPLidar A1 and Hector Slam. I have installed both packages and read that people are using the hectornavigation package to have their robot car autonomously drive to a destination goal. (https://github.com/tu-darmstadt-ros-pkg/hectornavigation)

I tried to clone the hectornavigation repository (noetic devel) but got an error when I did the catkinmake command. The error was that I was missing the cerecatkin package. I was able to find the cerescatkin package at this link: https://github.com/tu-darmstadt-ros-pkg/ceres_catkin.

I once again clone this repository and use the catkinmake command. However, I got another error stating that I was missing the simplecatkin package. I was able to find the simplecatkin package at this link: https://github.com/catkin/catkinsimple.

Again, I clone this repository and used catkinmake command. This time, everything looked like it worked! So I went back and clone the cerescatkin repository and used catkin_make command. However, I ran into another error during the process. The error was:

Invoking "make -j2 -l2" failed

Could anyone please help me to figure out how to get the hector_navigation package? I feel like I am currently in a goose chase. Thank you!!!

In case anyone needs the full code from my terminal here it is:

kenny@kenny-virtual-machine:~/catkin_ws$ catkin_make
Base path: /home/kenny/catkin_ws
Source space: /home/kenny/catkin_ws/src
Build space: /home/kenny/catkin_ws/build
Devel space: /home/kenny/catkin_ws/devel
Install space: /home/kenny/catkin_ws/install
####
#### Running command: "cmake /home/kenny/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/kenny/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/kenny/catkin_ws/install -G Unix Makefiles" in "/home/kenny/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/kenny/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/kenny/catkin_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/kenny/catkin_ws/devel;/opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.5", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/kenny/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.5") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.8
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 16 packages in topological order:
-- ~~  - catkin_simple
-- ~~  - ceres_catkin
-- ~~  - 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_imu_tools
-- ~~  - hector_map_server
-- ~~  - hector_trajectory_server
-- ~~  - hector_mapping
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'catkin_simple'
-- ==> add_subdirectory(catkin_simple)
-- +++ processing catkin package: 'ceres_catkin'
-- ==> add_subdirectory(ceres_catkin)
-- +++ 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_imu_tools'
-- ==> add_subdirectory(hector_slam/hector_imu_tools)
-- 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
-- hector_mapping: 2 messages, 0 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/kenny/catkin_ws/build
####
#### Running command: "make -j2 -l2" in "/home/kenny/catkin_ws/build"
####
[  1%] Performing configure step for 'ceres_src'
-- Detected Ceres version: 1.12.0 from /home/kenny/catkin_ws/build/ceres_catkin/ceres_src-prefix/src/ceres_src/include/ceres/version.h
-- Found Eigen version 3.3.7: /usr/include/eigen3

   ===============================================================
   Disabling the use of Eigen as a sparse linear algebra library.
   This does not affect the covariance estimation algorithm 
   which can still use the EIGEN_SPARSE_QR algorithm.
   ===============================================================

[  1%] Built target _hector_nav_msgs_generate_messages_check_deps_GetRecoveryInfo
[  1%] Built target std_msgs_generate_messages_nodejs
[  1%] Built target nav_msgs_generate_messages_nodejs
-- Found LAPACK library: /usr/lib/x86_64-linux-gnu/liblapack.so;/usr/lib/x86_64-linux-gnu/libblas.so
[  1%] Built target _hector_nav_msgs_generate_messages_check_deps_GetRobotTrajectory
-- Found BLAS library: /usr/lib/x86_64-linux-gnu/libblas.so
-- Building without SuiteSparse.
-- Building without CXSparse.
   ===============================================================
   Compiling without any sparse library: SuiteSparse, CXSparse 
   & Eigen (Sparse) are all disabled or unavailable.  No sparse 
   linear solvers (SPARSE_NORMAL_CHOLESKY & SPARSE_SCHUR)
   will be available when Ceres is used.
   ===============================================================
-- No preference for use of exported gflags CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported gflags CMake configuration if available.
-- Failed to find installed gflags CMake configuration, searching for gflags build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for gflags, will perform search for installed gflags components.
-- Failed to find gflags - Could not find gflags include directory, set GFLAGS_INCLUDE_DIR to directory containing gflags/gflags.h
-- Did not find Google Flags (gflags), Building without gflags - no tests or tools will be built!
-- No preference for use of exported glog CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported glog CMake configuration if available.
-- Failed to find installed glog CMake configuration, searching for glog build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for glog, will perform search for installed glog components.
-- Failed to find glog - Could not find glog include directory, set GLOG_INCLUDE_DIR to directory containing glog/logging.h
CMake Error at CMakeLists.txt:385 (message):
  Can't find Google Log (glog).  Please set either: glog_DIR (newer CMake
  built versions of glog) or GLOG_INCLUDE_DIR & GLOG_LIBRARY or enable
  MINIGLOG option to use minimal glog implementation.


-- Configuring incomplete, errors occurred!
See also "/home/kenny/catkin_ws/build/ceres_catkin/ceres_src-prefix/src/ceres_src-build/CMakeFiles/CMakeOutput.log".
See also "/home/kenny/catkin_ws/build/ceres_catkin/ceres_src-prefix/src/ceres_src-build/CMakeFiles/CMakeError.log".
make[2]: *** [ceres_catkin/CMakeFiles/ceres_src.dir/build.make:108: ceres_catkin/ceres_src-prefix/src/ceres_src-stamp/ceres_src-configure] Error 1
make[1]: *** [CMakeFiles/Makefile2:834: ceres_catkin/CMakeFiles/ceres_src.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[  1%] Built target _hector_nav_msgs_generate_messages_check_deps_GetDistanceToObstacle
make: *** [Makefile:141: all] Error 2
Invoking "make -j2 -l2" failed

Asked by KennyxD on 2020-11-05 16:55:35 UTC

Comments

Running into the same problem. Were you able to fix it? If so, can you please share the solution?

Asked by hunterlineage1 on 2023-01-18 18:21:09 UTC

Answers