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

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.