ros/ros.h: No such file or directory
Hello, I was following this page on instructions for orbslam https://github.com/snakehaihai/Tello_formation_and_visual_control . When I got to the part where I compile the code for orbslam (installing orbslam2) I get the following
Errors << orb_slam2_ros:make /home/asd/ROS/Tello_ROS_ORBSLAM/ROS/tello_catkin_ws/logs/orb_slam2_ros/build.make.000.log
In file included from /home/asd/ROS/Tello_ROS_ORBSLAM/ROS/tello_catkin_ws/src/orb_slam_2_ros/ros/src/StereoNode.cc:1:0:
/home/asd/ROS/Tello_ROS_ORBSLAM/ROS/tello_catkin_ws/src/orb_slam_2_ros/ros/include/StereoNode.h:8:10: fatal error: ros/ros.h: No such file or directory
#include <ros/ros.h>
^~~~~~~~~~~
compilation terminated.
I tried applying many of the solutions I found online but I still cant solve it. Any help will be appreciated.
CmakeList.txt
cmake_minimum_required(VERSION 2.8.3)
project(orb_slam2_ros)
IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()
# Check for c++11 support
INCLUDE(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X
)
IF(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
ELSE()
MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++
compiler.")
ENDIF()
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/orb_slam2/cmake_modules)
#find_package (catkin REQUIRED COMPONENTS
#roscpp
#rospy
#std_msgs
#cv_bridge
#image_transport
#tf
#sensor_msgs
#dynamic_reconfigure
#message_generation
#)
#find_package(OpenCV 3.0 QUIET)
#if(NOT OpenCV_FOUND)
# find_package(OpenCV 2.4.3 QUIET)
# if(NOT OpenCV_FOUND)
# message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
# endif()
#endif()
find_package(Pangolin REQUIRED)
find_package(Eigen3 3.1.0 REQUIRED)
set (DYNAMIC_RECONFIGURE_PATH ros/config/dynamic_reconfigure.cfg)
execute_process(COMMAND chmod a+x ${DYNAMIC_RECONFIGURE_PATH}
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
RESULT_VARIABLE cmd_result
OUTPUT_VARIABLE cmd_ver)
message(STATUS "Chmod a+x the dynamic_reconfigure file")
#generate_dynamic_reconfigure_options(
# ${DYNAMIC_RECONFIGURE_PATH}
#)
set(LIBS_ORBSLAM
${OpenCV_LIBS}
${EIGEN3_LIBS}
${PROJECT_SOURCE_DIR}/orb_slam2/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/orb_slam2/Thirdparty/g2o/lib/libg2o.so
)
set(LIBS_ROS
${PROJECT_SOURCE_DIR}/orb_slam2/lib/lib${PROJECT_NAME}.so
${OpenCV_LIBS}
${catkin_LIBRARIES}
)
#add_service_files(
# FILES
# SaveMap.srv
#)
#generate_messages(
# DEPENDENCIES
# std_msgs
#)
#catkin_package (
# INCLUDE_DIRS include CATKIN_DEPENDS roscpp rospy std_msgs cv_bridge image_transport tf sensor_msgs dynamic_reconfigure message_runtime
# LIBRARIES {PROJECT_NAME} libDBoW2 libg2o
#)
include_directories(
include ${catkin_INCLUDE_DIRS}
include ${PROJECT_SOURCE_DIR}/orb_slam2
include ${PROJECT_SOURCE_DIR}/orb_slam2/include
include ${PROJECT_SOURCE_DIR}/ros/include
include ${EIGEN3_INCLUDE_DIR}
include ${Pangolin_INCLUDE_DIRS}
)
include(${PROJECT_SOURCE_DIR}/orb_slam2/Thirdparty/DBoW2/CMakeLists.txt)
include(${PROJECT_SOURCE_DIR}/orb_slam2/Thirdparty/g2o/CMakeLists.txt)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/orb_slam2/lib)
add_library(${PROJECT_NAME} SHARED
orb_slam2/src/System.cc
orb_slam2/src/Tracking.cc
orb_slam2/src/LocalMapping.cc
orb_slam2/src/LoopClosing.cc
orb_slam2/src/ORBextractor.cc
orb_slam2/src/ORBmatcher.cc
orb_slam2/src/FrameDrawer.cc
orb_slam2/src/Converter.cc
orb_slam2/src/MapPoint.cc
orb_slam2/src/KeyFrame.cc
orb_slam2/src/Map.cc
orb_slam2/src/MapDrawer.cc
orb_slam2/src/Optimizer.cc
orb_slam2/src/PnPsolver.cc
orb_slam2/src/Frame.cc
orb_slam2/src/KeyFrameDatabase.cc
orb_slam2/src/Sim3Solver.cc
orb_slam2/src/Initializer.cc
orb_slam2/src/Viewer.cc
)
add_dependencies (${PROJECT_NAME} g2o DBoW2)
target_link_libraries(${PROJECT_NAME}
${LIBS_ORBSLAM}
${Pangolin_LIBRARIES}
)
# map serialization addition - library boost serialization
message(STATUS "Compile With map save/load function")
find_library(BOOST_SERIALIZATION boost_serialization)
if (NOT BOOST_SERIALIZATION)
message(FATAL_ERROR "Can't find libboost_serialization")
endif()
target_link_libraries(${PROJECT_NAME} ${BOOST_SERIALIZATION})
add_executable (${PROJECT_NAME}_mono
ros/src/MonoNode.cc
ros/src/Node.cc
)
#add_dependencies (${${PROJECT_NAME}_mono} ${${PROJECT_NAME}} ${${PROJECT_NAME}_gencfg})
target_link_libraries(${PROJECT_NAME}_mono
${LIBS_ROS}
${Pangolin_LIBRARIES}
)
add_executable (${PROJECT_NAME}_stereo
ros/src/StereoNode.cc
ros/src/Node.cc
)
#add_dependencies (${${PROJECT_NAME}_stereo} ${${PROJECT_NAME}} ${${PROJECT_NAME}_gencfg})
target_link_libraries(${PROJECT_NAME}_stereo
${LIBS_ROS}
${Pangolin_LIBRARIES}
)
add_executable (${PROJECT_NAME}_rgbd
ros/src/RGBDNode.cc
ros/src/Node.cc
)
#add_dependencies (${${PROJECT_NAME}_rgbd} ${${PROJECT_NAME}} ${${PROJECT_NAME}_gencfg})
target_link_libraries(${PROJECT_NAME}_rgbd
${LIBS_ROS}
${Pangolin_LIBRARIES}
)
install(TARGETS ${PROJECT_NAME}_mono ${PROJECT_NAME}_stereo ${PROJECT_NAME}_rgbd
ARCHIVE DESTINATION lib ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION lib ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION bin ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS ${PROJECT_NAME} DBoW2 g2o
ARCHIVE DESTINATION lib ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION lib ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION bin ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY ros/launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/launch
)
install(DIRECTORY ros/config/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ros/config
)
install(DIRECTORY orb_slam2/config/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/orb_slam2/config
)
install(DIRECTORY orb_slam2/Vocabulary/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/orb_slam2/Vocabulary
)
package.xml
#pragma once
#include <iostream>
#include <algorithm>
#include <fstream>
#include <chrono>
#include <ros/ros.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/core/core.hpp>
#include <tf/transform_broadcaster.h>
#include "System.h"
#include "Node.h"
class StereoNode : public Node
{
public:
StereoNode (const ORB_SLAM2::System::eSensor sensor, ros::NodeHandle &node_handle, image_transport::ImageTransport &image_transport);
~StereoNode ();
void ImageCallback (const sensor_msgs::ImageConstPtr& msgLeft,const sensor_msgs::ImageConstPtr& msgRight);
private:
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> sync_pol;
message_filters::Subscriber<sensor_msgs::Image> *left_sub_;
message_filters::Subscriber<sensor_msgs::Image> *right_sub_;
message_filters::Synchronizer<sync_pol> *sync_;
};
Asked by Benjaminong on 2021-10-12 01:05:49 UTC
Comments
Hi @Benjaminong reading the repo. Since you are using Melodic, are you using
CMakeLists_melodic.txt? ,Asked by osilva on 2021-10-12 09:04:46 UTC
Yes at first glance melodic version requires that you uncomment
find_package()section.Asked by osilva on 2021-10-12 09:13:28 UTC