Getting YOLO/darknet_ros working in Ubuntu 20 and ROS Noetic

asked 2021-01-07 19:15:06 -0500

RobbieTheK
43 ●6 ●9 ●13

updated 2021-01-08 11:13:34 -0500

Is there a way to get darknet_ros working in Ubuntu 20? So far I see it's only tested for Ubuntu 18

Many errors when trying to compile.

cd /home/ourhome/catkin_workspace/build/darknet_ros/darknet_ros && /bin/cc -DDARKNET_FILE_PATH=\"/home/ourhome/catkin_workspace/src/darknet_ros/darknet\" -DOPENCV -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"darknet_ros\" -Ddarknet_ros_lib_EXPORTS -I/home/ourhome/catkin_workspace/src/darknet_ros/darknet/src -I/home/ourhome/catkin_workspace/src/darknet_ros/darknet/include -I/home/ourhome/catkin_workspace/src/darknet_ros/darknet_ros/include -I/include -I/home/ourhome/catkin_workspace/devel/include -I/opt/ros/noetic/include -I/opt/ros/noetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -isystem /usr/include/opencv4  -Wall -Wno-unused-result -Wno-unknown-pragmas -Wno-unused-variable -Wfatal-errors -fPIC  -O3 -DNDEBUG -fPIC   -O4 -g -o CMakeFiles/darknet_ros_lib.dir/__/darknet/src/activation_layer.c.o   -c /home/ourhome/catkin_workspace/src/darknet_ros/darknet/src/activation_layer.c

In file included from /usr/include/opencv4/opencv2/core/types_c.h:84,
                 from /usr/include/opencv4/opencv2/core/core_c.h:48,
                 from /usr/include/opencv4/opencv2/highgui/highgui_c.h:45,
                 from /home/ourhome/catkin_workspace/src/darknet_ros/darknet/include/darknet.h:25,
                 from /home/ourhome/catkin_workspace/src/darknet_ros/darknet/src/activations.h:3,
                 from /home/ourhome/catkin_workspace/src/darknet_ros/darknet/src/activation_layer.h:4,
                 from /home/ourhome/catkin_workspace/src/darknet_ros/darknet/src/activation_layer.c:1:
/usr/include/opencv4/opencv2/core/cvdef.h:704:4: error: #error "OpenCV 4.x+ requires enabled C++11 support"
  704 | #  error "OpenCV 4.x+ requires enabled C++11 support"
      |    ^~~~~
compilation terminated due to -Wfatal-errors.
make[2]: *** [darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/build.make:89: darknet_ros/darknet_ros/CMakeFiles/darknet_ros_lib.dir/__/darknet/src/activation_layer.c.o] Error 1
make[2]: *** Waiting for unfinished jobs....

cd /home/ourhome/catkin_workspace/build/darknet_ros/darknet_ros && /bin/cc -DDARKNET_FILE_PATH=\"/home/ourhome/catkin_workspace/src/darknet_ros/darknet\" -DOPENCV -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"darknet_ros\" -Ddarknet_ros_lib_EXPORTS -I/home/ourhome/catkin_workspace/src/darknet_ros/darknet/src -I/home/ourhome/catkin_workspace/src/darknet_ros/darknet/include -I/home/ourhome/catkin_workspace/src/darknet_ros/darknet_ros/include -I/include -I/home/ourhome/catkin_workspace/devel/include -I/opt/ros/noetic/include -I/opt/ros/noetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -isystem /usr/include/opencv4  -Wall -Wno-unused-result -Wno-unknown-pragmas -Wno-unused-variable -Wfatal-errors -fPIC  -O3 -DNDEBUG -fPIC   -O4 -g -o CMakeFiles/darknet_ros_lib.dir/src/image_interface.c.o   -c /home/ourhome/catkin_workspace/src/darknet_ros/darknet_ros/src/image_interface.c

In file included from /usr/include/opencv4/opencv2/core/types_c.h:84,
                 from /usr/include/opencv4/opencv2/core/core_c.h:48,
                 from /usr/include/opencv4/opencv2/highgui/highgui_c.h:45,
                 from /home/ourhome/catkin_workspace/src/darknet_ros/darknet/include/darknet.h:25,
                 from /home/ourhome/catkin_workspace/src/darknet_ros/darknet/src/box.h:3,
                 from /home/ourhome/catkin_workspace/src/darknet_ros/darknet/src/image.h:9,
                 from /home/ourhome/catkin_workspace/src/darknet_ros/darknet_ros/include/darknet_ros/image_interface.h:12,
                 from /home/ourhome/catkin_workspace/src/darknet_ros/darknet_ros/src/image_interface.c:9:
/usr/include/opencv4/opencv2/core/cvdef.h:704:4: error: #error "OpenCV 4.x+ requires enabled C++11 support"
  704 | #  error "OpenCV 4.x+ requires enabled C++11 support"
      |    ^~~~~
compilation terminated due to -Wfatal-errors.

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Comments

Sorry was waiting for my colleague to provide them but wanted to start a thread. I've updated the original.

It looks like the version of OpenCV installed expects to be compiled with C++, but darknet_ros is using standard C for some programs. OpenCV has an assertion saying it must be compiled with C++ 11 version. So, it blows up.

RobbieTheK ( 2021-01-08 11:14:24 -0500 )edit

add this line in your CMakeLists.txt:

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

Akhil Kurup ( 2021-01-08 13:52:11 -0500 )edit

that option is already set. From the CMakeLists.txt:

# Set c++11 cmake flags

set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")

set(CMAKE_C_FLAGS "-Wall -Wno-unused-result -Wno-unknown-pragmas -Wno-unused-variable -Wfatal-errors -fPIC ${CMAKE_C_FLAGS}")

set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

I tried adding it anyway, but it didn't change the errors.

If you look at the errors closely, it is compiling in C and not C++. So the root of the problem is that there are C programs including the C++ headers or some other type of conflict.

Similar issue here.

Is this related?

RobbieTheK ( 2021-01-08 19:43:34 -0500 )edit

Did you take a look at the openvino ros toolkit? Or are you bound to the darknet_ros package?

Akhil Kurup ( 2021-01-08 23:36:43 -0500 )edit

My colleague did get a non-ROS version of darknet to compile But ideally we'd like to use darknet_ros. Any other suggested around?

RobbieTheK ( 2021-01-09 09:34:47 -0500 )edit

Hello! I am currently experiencing the same problem. Did you find a solution for it?

JMMK ( 2022-03-16 11:47:08 -0500 )edit

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