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Installing RTABMAP with RealSense d435i Ubuntu 20 ROS Noetic

asked 2021-04-15 14:00:00 -0500

bartvanderhaagen gravatar image

updated 2021-04-19 12:16:13 -0500

Hello,

I'm having trouble installing rtabmap_ros

I'm using a Ubuntu desktop with Noetic. This is where i want to install rtabmap_ros

The robot runs on a Jetson Nano with a RealSense 435i camera - the demo.launch file of the realsense-ros package runs fine in RVIZ.

For the install i needed to make the environment isolated (or is there another way?)

All the other packages compile but @the end it gives me this error:

In file included from /home/bart/flex_see_ws/src/src/rtabmap_ros/src/nodelets/rgbd_odometry.cpp:46: /home/bart/flex_see_ws/src/src/rtabmap_ros/include/rtabmap_ros/MsgConversion.h:212:22: error: ‘PointCloud2ConstPtr’ in namespace ‘sensor_msgs’ does not name a type; did you mean ‘PointCloudConstPtr’? 212 | const sensor_msgs::PointCloud2ConstPtr & scan3dMsg, | ^~~~~~~~~~~~~~~~~~~ | PointCloudConstPtr

Could you help me solve this problem?

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Comments

I assume you are trying to build rtabmap-ros from build? Is there a reason? You could install this using the binary: sudo apt install ros-noetic-rtabmap-ros

Akhil Kurup gravatar image Akhil Kurup  ( 2021-04-15 23:07:38 -0500 )edit

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answered 2021-04-19 12:33:00 -0500

bartvanderhaagen gravatar image

updated 2021-04-19 12:39:51 -0500

True.. is saw also the wrong version was installed.

> bart@compaq-elite:~/flex_orb$ sudo apt
> install ros-noetic-rtabmap-ros [sudo]
> password for bart:  Reading package
> lists... Done Building dependency tree
> Reading state information... Done
> ros-noetic-rtabmap-ros is already the
> newest version
> (0.20.7-1focal.20210304.165628). 0
> upgraded, 0 newly installed, 0 to
> remove and 41 not upgraded.

So the next step is to

> git clone https://github.com/introlab/rtabmap_ros.git

and make the workspace with

catkin_make

this is the outcome

>@ [ 81%] Linking CXX shared library /home/bart/flex_orb/devel/lib/librtabmap_costmap_plugins2.so
[ 81%] Built target rtabmap_costmap_plugins2
[ 82%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o
/home/bart/flex_orb/src/rtabmap_ros/src/MsgConversion.cpp: In function ‘rtabmap::OdometryInfo rtabmap_ros::odomInfoFromROS(const OdomInfo&, bool)’:
/home/bart/flex_orb/src/rtabmap_ros/src/MsgConversion.cpp:1449:45: error: ‘const OdomInfo’ {aka ‘const struct rtabmap_ros::OdomInfo_<std::allocator<void> >’} has no member named ‘guess’
 1449 |   info.guess = transformFromGeometryMsg(msg.guess);
      |                                             ^~~~~
/home/bart/flex_orb/src/rtabmap_ros/src/MsgConversion.cpp: In function ‘void rtabmap_ros::odomInfoToROS(const rtabmap::OdometryInfo&, rtabmap_ros::OdomInfo&)’:
/home/bart/flex_orb/src/rtabmap_ros/src/MsgConversion.cpp:1509:41: error: ‘rtabmap_ros::OdomInfo’ {aka ‘struct rtabmap_ros::OdomInfo_<std::allocator<void> >’} has no member named ‘guess’
 1509 |  transformToGeometryMsg(info.guess, msg.guess);
      |                                         ^~~~~
[ 82%] Linking CXX executable /home/bart/flex_orb/devel/lib/rtabmap_ros/camera
make[2]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/build.make:63: rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MsgConversion.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 82%] Built target rtabmap_camera
make[1]: *** [CMakeFiles/Makefile2:10734: rtabmap_ros/CMakeFiles/rtabmap_ros.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j4 -l4" failed

Almost ...

any ideas how to solve this:

 error: ‘const OdomInfo’ {aka ‘const struct rtabmap_ros::OdomInfo_<std::allocator<void> >’} has no member named ‘guess’
     1449 |   info.guess = transformFromGeometryMsg(msg.guess);
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Asked: 2021-04-15 14:00:00 -0500

Seen: 38 times

Last updated: Apr 19