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ar_kinect compile error conversion from ‘tf::Transform’ to non-scalar type ‘btTransform’ requested

asked 2012-07-18 08:04:44 -0600

Scott gravatar image

Hi, I am trying to rosmake the ar_kinect package on Ubuntu 11.10 and I get the following error. It is the last package I need to before running the mini_max grasp object tutorial, so any help would be appreciated. I also get a lot of warnings prior to the error, so I have included those as well. Thanks, -Scott

Full error: [ 50%] Building CXX object CMakeFiles/ar_kinect.dir/src/ar_kinect.o In file included from /home/scott/ros_packages/ar_kinect/include/ar_kinect/ar_kinect.h:52:0, from /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp:27: /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h: In static member function ‘static sensor_msgs::Image_<std::allocator<void> >::Ptr sensor_msgs::CvBridge::cvToImgMsg(const IplImage, std::string)’: /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:408:55: warning: ‘static bool sensor_msgs::CvBridge::fromIpltoRosImage(const IplImage, sensor_msgs::Image&, std::string)’ is deprecated (declared at /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:307) [-Wdeprecated-declarations] /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp: In constructor ‘ar_pose::ARPublisher::ARPublisher(ros::NodeHandle&)’: /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp:62:75: warning: ‘sensor_msgs::CvBridge::CvBridge()’ is deprecated (declared at /opt/ros/fuerte/stacks/vision_opencv/cv_bridge/include/cv_bridge/CvBridge.h:64) [-Wdeprecated-declarations] /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp: In member function ‘void ar_pose::ARPublisher::getTransformationCallback(const PointCloud2ConstPtr&)’: /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp:230:7: error: ‘estimateRigidTransformationSVD’ is not a member of ‘pcl’ /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp:236:43: error: conversion from ‘tf::Matrix3x3’ to non-scalar type ‘btMatrix3x3’ requested /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp:237:44: error: conversion from ‘tf::Vector3’ to non-scalar type ‘btVector3’ requested /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp:254:34: warning: name lookup of ‘i’ changed [enabled by default] /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp:145:9: warning: matches this ‘i’ under ISO standard rules [enabled by default] /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp:239:15: warning: matches this ‘i’ under old rules [enabled by default] /home/scott/ros_packages/ar_kinect/src/ar_kinect.cpp:280:46: error: conversion from ‘tf::Transform’ to non-scalar type ‘btTransform’ requested make[3]: * [CMakeFiles/ar_kinect.dir/src/ar_kinect.o] Error 1 make[3]: Leaving directory /home/scott/ros_packages/ar_kinect/build' make[2]: *** [CMakeFiles/ar_kinect.dir/all] Error 2 make[2]: Leaving directory/home/scott/ros_packages/ar_kinect/build' make[1]: * [all] Error 2 make[1]: Leaving directory `/home/scott/ros_packages/ar_kinect/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package ar_kinect written to: [ rosmake ] /home/scott/.ros/rosmake/rosmake_output-20120718-115102/ar_kinect/build_output.log [rosmake-2] Finished <<< ar_kinect [FAIL] [ 8.44 seconds ]
[ rosmake ] Halting due to failure in package ar_kinect.

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answered 2012-07-18 10:07:32 -0600

This error most likely has to do with changes to the tf datatypes for fuerte as described in this migration guide. If there is no migrated version available, you probably have to fix the package yourself for fuerte.

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in the page you mentioned, I solved my problems running the scritpt: rosrun tf bullet_migration_sed.py

Procópio gravatar imageProcópio ( 2012-11-19 09:02:53 -0600 )edit
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answered 2012-07-20 23:14:20 -0600

fergs gravatar image

I have yet to find time to update a few packages/stacks to Fuerte, which currently includes ar_kinect. Patches welcome: https://code.google.com/p/albany-ros-pkg/issues/list

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answered 2012-07-24 10:32:36 -0600

For anyone else having this trouble, I submitted a patch to fergs' google code site. It got everything working for me.

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answered 2012-10-16 22:20:27 -0600

I had to same problem as the original poster. I applied the patch provided by jj56 and it worked for me.

You can find the patch here: https://code.google.com/p/albany-ros-pkg/issues/detail?id=7

Note that in the patch description there is also a change to the launch-file that is necessary.

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Asked: 2012-07-18 08:04:44 -0600

Seen: 845 times

Last updated: Oct 16 '12