[compile error] "PCL conversions dont compile"

asked 2021-04-27 13:47:08 -0600

lidiaxp gravatar image

updated 2021-04-27 22:43:08 -0600

jayess gravatar image

I trying to use a pcl with statistical filter and ROS.

I am using this code with this cmakeList.

When I try compile appear this error:

collect2: error: ld returned 1 exit status
make[2]: *** [pcl_manipulation/CMakeFiles/pcl_sample_visualizer.dir/build.make:409: /home/lidiaxp/workspace/devel/lib/pcl_manipulation/pcl_sample_visualizer] Error 1
make[1]: *** [CMakeFiles/Makefile2:6445: pcl_manipulation/CMakeFiles/pcl_sample_visualizer.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

collect2: error: ld returned 1 exit status
make[2]: *** [pcl_manipulation/CMakeFiles/pcl_sample_filter.dir/build.make:409: /home/lidiaxp/workspace/devel/lib/pcl_manipulation/pcl_sample_filter] Error 1
make[1]: *** [CMakeFiles/Makefile2:6499: pcl_manipulation/CMakeFiles/pcl_sample_filter.dir/all] Error 2
make: *** [Makefile:160: all] Error 2

I believe that this error is because the pcl conversions package because when I try run a package without it works.

I install this package and ros-noetic-pcl-conversions. I am using Ubuntu 20.04 with ROS noetic and Python 3.8.

Ps. When I tested this code in another computer it works. So, I guess that the problem is some library that I have installed, as ros-noetic-pcl-conversions, or this (PCL Library), and I know don't how uninstall.


Update: including the code

#include<ros/ros.h>
#include<pcl/point_cloud.h>
#include<pcl_conversions/pcl_conversions.h>
#include<sensor_msgs/PointCloud2.h>
#include<pcl/filters/statistical_outlier_removal.h>

class cloud_filter{

public:
    cloud_filter();
    void cloud_sub_pub(const sensor_msgs::PointCloud2& input);

protected:
    ros::NodeHandle nh;
    ros::Subscriber pcl_sub;
    ros::Publisher pcl_pub;
};

cloud_filter::cloud_filter()
{
pcl_sub = nh.subscribe("/orb_slam2_rgbd/map_points",10,&cloud_filter::cloud_sub_pub,this);
pcl_pub = nh.advertise<sensor_msgs::PointCloud2>("/orbslam/filtered/map_points",1);
}
void cloud_filter::cloud_sub_pub(const sensor_msgs::PointCloud2 & input)
{
pcl::PointCloud<pcl::PointXYZ> cloud, filtered_cloud;
sensor_msgs::PointCloud2 result;
pcl::fromROSMsg(input,cloud);
pcl::StatisticalOutlierRemoval<pcl::PointXYZ> statFilter;
statFilter.setInputCloud(cloud.makeShared());
statFilter.setMeanK(50);
statFilter.setStddevMulThresh(0.2);
statFilter.filter(filtered_cloud);
pcl::toROSMsg(filtered_cloud,result);
result.header.frame_id="map";
pcl_pub.publish(result);

}
int main(int argc,char ** argv)
{
ros::init(argc,argv,"statistical_outlier_removal_filter");
cloud_filter filter;
ros::spin();
return 0;

}

and CmakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(pcl_manipulation)

find_package(PCL REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  pcl_conversions
  pcl_msgs
  pcl_ros
  sensor_msgs
)

find_package(Boost REQUIRED COMPONENTS system)

catkin_package(
  LIBRARIES pcl_manipulation
  CATKIN_DEPENDS pcl_conversions pcl_msgs pcl_ros sensor_msgs
  DEPENDS system_lib
)

include_directories(include ${PCL_INCLUDE_DIRS})


include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)


link_directories(${PCL_LIBRARY_DIRS})

add_executable(pcl_sample src/pcl_sample.cpp)
target_link_libraries(pcl_sample ${catkin_LIBRARIES} ${PCL_LIBRARIES})

add_executable(pcl_sample_reader src/pcl_sample_reader.cpp)
target_link_libraries(pcl_sample_reader ${catkin_LIBRARIES} ${PCL_LIBRARIES})

add_executable(pcl_sample_writer src/pcl_sample_writer.cpp)
target_link_libraries(pcl_sample_writer ${catkin_LIBRARIES} ${PCL_LIBRARIES})

add_executable(pcl_sample_visualizer src/pcl_sample_visualizer.cpp)
target_link_libraries(pcl_sample_visualizer ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})

add_executable(pcl_sample_filter src/pcl_sample_filter.cpp)
target_link_libraries(pcl_sample_filter ${catkin_LIBRARIES};${PCL_LIBRARIES} ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES})
edit retag flag offensive close merge delete