I build this on Ubuntu20.04 ROS noetic, and get error...

[fengyikawhi]

error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 5>’
315 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/home/slam/cartographer_ws/install_isolated/include/ceres/internal/autodiff.h:348:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 5>’
348 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
349 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/slam/cartographer_ws/install_isolated/include/ceres/internal/autodiff.h:357:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 5>’
357 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
358 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

[DreamWaterFound]

Maybe you need to compile with the correct version like 2.0.0 of Ceres-solver.

[fengyikawhi]

Maybe you need to compile with the correct version like 2.0.0 of Ceres-solver.

I have installed Ceres2.0.0 when build cartographer, but it was in the workspace of cartographer, does it matter?

[DreamWaterFound]

Maybe you need to compile with the correct version like 2.0.0 of Ceres-solver.

I have installed Ceres2.0.0 when build cartographer, but it was in the workspace of cartographer, does it matter?

Yes, in your case the compiler will only compile imu_utils with ceres-solver in the default path.

There are 2 ways to solve this problem:

1. To complie and install ceres-slover in the same ROS workspace with imu_utils;
2. Specify the path where ceres-solver 2.0 installed in CMakeLists.txt(Suggested methods). You can locate CeresConfig.cmake using command locate:

$ sudo updatedb
$ locate CeresConfig.cmake

Find the installation path for Ceres-Solver 2.0, like /home/robot/Libraries/Install/Ceres/2.0.0/lib/cmake/Ceres/CeresConfig.cmake.
Then add following line in CMakeLists.txt:

...

find_package(OpenCV REQUIRED)

# HACK add here
# HACK begin
set(Ceres_DIR "/home/robot/Libraries/Install/Ceres/2.0.0/lib/cmake/Ceres/CeresConfig.cmake")
# HACK end

find_package(Ceres REQUIRED)

find_package(Eigen3  REQUIRED)

Be sure clean folders build and devel in this ROS worksapce and then re-build it by catkin_make. In this way gcc/g++ will use you specified ceres-solver.

[Hezhexi2002]

Hi,I meet the same problem but the error still exits after I follow your second way to solve the problem:

I install the ceres under my /opt and here is the output of my locate CeresConfig.cmake:

and I have add set the path of ceres in the CMakeLists.txt:

so why dose it not work and is this means I have to re-compile the ceres under my ros workspace?