pcl_ros build error in Fuerte on Fedora 17 x64

asked 2012-09-05 14:36:22 -0600

3060 ●32 ●57 ●83 http://people.idsia.ch/~gromov

updated 2012-09-09 00:15:32 -0600

Followed the instructions for Fuerte installation on Fedora, but stuck on pcl_ros compilation with errors similar to:

/opt/ros/fuerte/include/message_filters/sync_policies/approximate_time.h:620:119: error: ‘value’ is not a member of ‘ros::message_traits::TimeStamp’

Looks like incompatibility between ROS core libraries and pcl_ros. Where I am wrong?

Versions:

Fedora 17 x86_64 RFRemix
pcl.x86_64 1.5.1-2.fc17 (installed by yum)
perception_pcl 1.2.3 (pulled by rosinstall)

Full log is here (see lines 12, 13, 23 for errors)

EDIT: Tried several versions from wg-deps with no result.

The package is configured as:

cmake -G "Unix Makefiles" -DUSE_ROS=ON -DBUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release

Still it gives same 3 errors during pcl_ros compilation.

Although I found a temporary solution - convert Ubuntu DEB package with alien to RPM - I am still interested in building native package. Probably need some black magic.

EDIT #2: It all the same.

There is a strange thing in PCL sources, in common/CMakeLists.txt to handle ROS build there is a code which excludes PointIndicies.h header from build:

if(NOT USE_ROS)
    set(incs ${incs}
      include/pcl/ModelCoefficients.h
      include/pcl/PolygonMesh.h
      include/pcl/Vertices.h
      include/pcl/PointIndices.h
      include/pcl/TextureMesh.h
      )

    set(sensor_msg_incs 
      include/sensor_msgs/PointField.h
      include/sensor_msgs/PointCloud2.h
      include/sensor_msgs/Image.h
      )

    set(std_msg_incs include/std_msgs/Header.h)
endif(NOT USE_ROS)

However this header is then used in common/include/pcl_base.h and there is nothing in it to handle such situation.

At the same time PCL builds without any problems, but pcl_ros is complaining for a missed header PointIndicies.h

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answered 2012-09-05 16:57:10 -0600

joq
25443 ●181 ●256 ●408

updated 2012-09-07 12:55:28 -0600

It looks like you used the stand-alone PCL 1.5.1 install package.

The pcl_ros package requires a special PCL build, containing some different header definitions and messages not included in the stand-alone version.

EDIT: it should depend on stand-alone PCL, but it does not. See PCL issue 669 for details.

I believe the ros-fuerte-pcl Debian package is built from this repository.

EDIT #2: glad alien was useful.

I agree that building yourself would be better. Probably, it looks similar to a normal stand-alone PCL build, but with the USE_ROS parameter set. This is my guess (not tested):

$ mkdir build
$ cd build
$ cmake .. -DUSE_ROS=1
$ make 
$ sudo make install

Comments

But isn't it that pcl in Fuerte _should be_ standalone as mentioned in Ch.4 (Migration) http://www.ros.org/wiki/fuerte ? Also the link from http://www.ros.org/wiki/pcl to svn is broken, though I found some version of perception_pcl for fuerte, still there is no pcl inside and it gives same errors

Boris ( 2012-09-05 17:51:25 -0600 )edit

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pcl_ros build error in Fuerte on Fedora 17 x64

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