How to resolve fatal error: transform_listener.h: No such file or directory?
I am using ROS noetic on ubuntu 20.04. I get this error when I run catkin_make. Visual studio code doesn't show any errors when I include transform_listener.h. I also checked the path and the header files are there. Following is the complete error:
/home/shivam/catkin_ws/src/pcl_tutorial/src/random_sample_consensus.cpp:27:10: fatal error: transform_listener.h: No such file or directory
27 | #include <transform_listener.h>
| ^~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [pcl_tutorial/CMakeFiles/random_sample_consensus.dir/build.make:63: pcl_tutorial/CMakeFiles/random_sample_consensus.dir/src/random_sample_consensus.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:11799: pcl_tutorial/CMakeFiles/random_sample_consensus.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed
I have included the tf library in the cmakelists.txt file and in the package.xml file. Following are these two files: CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(pcl_tutorial)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
rospy
tf
pcl_conversions
pcl_ros
roscpp
sensor_msgs
${PCL_INCLUDE_DIRS}
)
find_package(PCL 1.10 REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# sensor_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the ...
In your package.xml, try to change
<exec_depend>tf</exec_depend>
to<exec_depend>tf2</exec_depend>
and<build_export_depend>tf</build_export_depend>
for<build_export_depend>tf2</build_export_depend>
Not 100% is that it, but could be one of the problems.@osilva then I will also have to change tf to tf2 in CMakeList.txt, but I want to use tf. Edit 1: After the changes, you suggested the catkin_make showed an error to change catkin_package in CMakelists.txt because it has tf, not tf2. After the changes, it compiles successfully. What is this magic ;)?
Glad it worked with some tweaking