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pcl17 with turtlebot

asked 2013-07-09 11:24:08 -0500

sran gravatar image

Hi,

I am trying to use KinFuLS that is part of of pcl17 with turtlebot (groovy).

Because turtlebot comes with it's own package, it already seem to have pcl 1.6.0 built.

I have followed a tutorial that was written in: answers.ros.org/question/62979/how-do-i-use-pcl-17-with-groovy/

I everything worked except at the last step "catkin_make_isolated --install"

I get following error: [ 75%] Building CXX object src/cpp/CMakeFiles/flann_cuda-gd.dir/flann/flann_cpp.cpp.o No such file or directory CMake Error at flann_cuda_s_generated_kdtree_cuda_3d_index.cu.o.cmake:198 (message): Error generating /tmp/pcl_ws/build_isolated/flann/src/cpp/CMakeFiles/flann_cuda_s.dir/flann/algorithms/./flann_cuda_s_generated_kdtree_cuda_3d_index.cu.o

make[2]: * [src/cpp/CMakeFiles/flann_cuda_s.dir/flann/algorithms/./flann_cuda_s_generated_kdtree_cuda_3d_index.cu.o] Error 1 make[1]: [src/cpp/CMakeFiles/flann_cuda_s.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... [ 75%] Built target flann_cpp-gd Linking CXX shared library ../../lib/libflann_cuda-gd.so [ 75%] Built target flann_cuda-gd Linking CXX static library ../../lib/libflann_s.a [ 75%] Built target flann_s make: * [all] Error 2 Traceback (most recent call last): File "/opt/ros/groovy/lib/python2.7/dist-packages/catkin/builder.py", line 658, in build_workspace_isolated number=index + 1, of=len(ordered_packages) File "/opt/ros/groovy/lib/python2.7/dist-packages/catkin/builder.py", line 456, in build_package install, jobs, force_cmake, quiet, last_env, cmake_args, make_args File "/opt/ros/groovy/lib/python2.7/dist-packages/catkin/builder.py", line 359, in build_cmake_package run_command(make_cmd, build_dir, quiet) File "/opt/ros/groovy/lib/python2.7/dist-packages/catkin/builder.py", line 186, in run_command raise subprocess.CalledProcessError(proc.returncode, ' '.join(cmd)) CalledProcessError: Command '/tmp/pcl_ws/install_isolated/env.sh make -j4 -l4' returned non-zero exit status 2 <== Failed to process package 'flann': Command '/tmp/pcl_ws/install_isolated/env.sh make -j4 -l4' returned non-zero exit status 2

Reproduce this error by running: ==> /tmp/pcl_ws/install_isolated/env.sh make -j4 -l4

Command failed, exiting.

Does anyone know how to solve this issue? Also, Has anyone been successful in using KinFuLS with groovy? If you did, could you help out with installing/using KinfuLS?

Thank you so much in advance!

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answered 2013-07-11 00:56:55 -0500

We use KinFuLS with groovy. You can get pcl17 with

git clone https://github.com/ros-perception/perception_pcl.git -b groovy-unstable-devel

You can find our KinFu Wrapper here: http://fsstud/svn/ros/is/kinfu/

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thank you so much! I have one additional question though. Where should I put the kinfu wrapper and how can I use this package?

sran gravatar imagesran ( 2013-07-11 09:16:39 -0500 )edit

if you compile (with catkin) our wrapper you will get a ROS node. It needs the date from openni_launch and offers ROS topics (rendered model image, poses as tf messages)

MichaelKorn gravatar imageMichaelKorn ( 2013-07-12 04:10:58 -0500 )edit

Do you mean svn checkout http://fsstud.is.uni-due.de/svn/ros/is/kinfu/ for the KinFu wrapper? It seems like catkin_make_isolated doesn't work because home/umcha2/pcl_ws/build_isolated/kinfu/Makefile is missing, and I don't see what this makefile is for...

sran gravatar imagesran ( 2013-07-12 08:38:26 -0500 )edit

You can build this wrapper with catkin_make

MichaelKorn gravatar imageMichaelKorn ( 2013-07-14 02:36:13 -0500 )edit

so percpetion_pcl needs to be built with catkin_make_isolated while kinfu needs to be built with catkin_make. So I made separate workspace for both of them. catkin_make_isolated successfully builds percpetion_pcl but catkin_make fails in compiling kinfu. The error says:

sran gravatar imagesran ( 2013-07-16 04:36:28 -0500 )edit

CMake Error at /opt/ros/groovy/share/catkin/cmake/catkin_package.cmake:314 (message): catkin_package() include dir '/home/umcha2/catkin_ws2/devel/include' is neither an absolute directory nor exists relative to '/home/umcha2/catkin_ws2/src/kinfu'

sran gravatar imagesran ( 2013-07-16 04:38:23 -0500 )edit

It is an issue of dynamic_reconfigure. You need to modify kinfu/cfg/dyn_config.cfg.

jihoonl gravatar imagejihoonl ( 2013-07-16 18:02:42 -0500 )edit

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Asked: 2013-07-09 11:24:08 -0500

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Last updated: Jul 11 '13