对应carto版本
Opened this issue · 5 comments
您好,请问您的这个cartographer_ros对应的是哪个cartographer版本呢?
我看了下时间，应该是0.3.0
您好,我刚也尝试了用0.3.0,但是有很多头文件找不到,
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/sensor_bridge.h:22:42: fatal error: cartographer/common/optional.h: No such file or directory
compilation terminated.
[13/37] Building CXX object CMakeFiles/cartographer_ros.dir/cartographer_ros/offline_node.cc.o
FAILED: /usr/bin/c++ -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME="cartographer_ros" -isystem /usr/include/lua5.2 -isystem /usr/include/pcl-1.7 -isystem /usr/include/eigen3 -isystem /home/gary/cartographer_localization_ws/install_isolated/include -isystem /opt/ros/kinetic/include -isystem /opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -I. -I/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros -I/usr/src/gmock/gtest/include -isystem /usr/include/cairo -isystem /usr/include/glib-2.0 -isystem /usr/lib/x86_64-linux-gnu/glib-2.0/include -isystem /usr/include/pixman-1 -isystem /usr/include/freetype2 -isystem /usr/include/libpng12 -isystem /usr/local/include -O3 -DNDEBUG -DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET -pthread -std=c++11 -fPIC -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=switch -Werror=uninitialized -O3 -DNDEBUG -MMD -MT CMakeFiles/cartographer_ros.dir/cartographer_ros/offline_node.cc.o -MF CMakeFiles/cartographer_ros.dir/cartographer_ros/offline_node.cc.o.d -o CMakeFiles/cartographer_ros.dir/cartographer_ros/offline_node.cc.o -c /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/offline_node.cc
In file included from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/offline_node.cc:17:0:
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/offline_node.h:23:56: fatal error: cartographer/mapping/map_builder_interface.h: No such file or directory
compilation terminated.
[13/37] Building CXX object CMakeFiles/cartographer_ros.dir/cartographer_ros/map_builder_bridge.cc.o
FAILED: /usr/bin/c++ -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME="cartographer_ros" -isystem /usr/include/lua5.2 -isystem /usr/include/pcl-1.7 -isystem /usr/include/eigen3 -isystem /home/gary/cartographer_localization_ws/install_isolated/include -isystem /opt/ros/kinetic/include -isystem /opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -I. -I/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros -I/usr/src/gmock/gtest/include -isystem /usr/include/cairo -isystem /usr/include/glib-2.0 -isystem /usr/lib/x86_64-linux-gnu/glib-2.0/include -isystem /usr/include/pixman-1 -isystem /usr/include/freetype2 -isystem /usr/include/libpng12 -isystem /usr/local/include -O3 -DNDEBUG -DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET -pthread -std=c++11 -fPIC -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=switch -Werror=uninitialized -O3 -DNDEBUG -MMD -MT CMakeFiles/cartographer_ros.dir/cartographer_ros/map_builder_bridge.cc.o -MF CMakeFiles/cartographer_ros.dir/cartographer_ros/map_builder_bridge.cc.o.d -o CMakeFiles/cartographer_ros.dir/cartographer_ros/map_builder_bridge.cc.o -c /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/map_builder_bridge.cc
In file included from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/map_builder_bridge.cc:17:0:
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/map_builder_bridge.h:26:56: fatal error: cartographer/mapping/map_builder_interface.h: No such file or directory
compilation terminated.
[13/37] Building CXX object CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o
FAILED: /usr/bin/c++ -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME="cartographer_ros" -isystem /usr/include/lua5.2 -isystem /usr/include/pcl-1.7 -isystem /usr/include/eigen3 -isystem /home/gary/cartographer_localization_ws/install_isolated/include -isystem /opt/ros/kinetic/include -isystem /opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -I. -I/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros -I/usr/src/gmock/gtest/include -isystem /usr/include/cairo -isystem /usr/include/glib-2.0 -isystem /usr/lib/x86_64-linux-gnu/glib-2.0/include -isystem /usr/include/pixman-1 -isystem /usr/include/freetype2 -isystem /usr/include/libpng12 -isystem /usr/local/include -O3 -DNDEBUG -DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET -pthread -std=c++11 -fPIC -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=switch -Werror=uninitialized -O3 -DNDEBUG -MMD -MT CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o -MF CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o.d -o CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o -c /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc
In file included from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc:17:0:
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.h:28:56: fatal error: cartographer/mapping/map_builder_interface.h: No such file or directory
compilation terminated.
[13/37] Building CXX object CMakeFiles/cartographer_ros.dir/cartographer_ros/trajectory_options.cc.o
FAILED: /usr/bin/c++ -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME="cartographer_ros" -isystem /usr/include/lua5.2 -isystem /usr/include/pcl-1.7 -isystem /usr/include/eigen3 -isystem /home/gary/cartographer_localization_ws/install_isolated/include -isystem /opt/ros/kinetic/include -isystem /opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -I. -I/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros -I/usr/src/gmock/gtest/include -isystem /usr/include/cairo -isystem /usr/include/glib-2.0 -isystem /usr/lib/x86_64-linux-gnu/glib-2.0/include -isystem /usr/include/pixman-1 -isystem /usr/include/freetype2 -isystem /usr/include/libpng12 -isystem /usr/local/include -O3 -DNDEBUG -DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET -pthread -std=c++11 -fPIC -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=switch -Werror=uninitialized -O3 -DNDEBUG -MMD -MT CMakeFiles/cartographer_ros.dir/cartographer_ros/trajectory_options.cc.o -MF CMakeFiles/cartographer_ros.dir/cartographer_ros/trajectory_options.cc.o.d -o CMakeFiles/cartographer_ros.dir/cartographer_ros/trajectory_options.cc.o -c /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/trajectory_options.cc
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/trajectory_options.cc:19:63: fatal error: cartographer/mapping/trajectory_builder_interface.h: No such file or directory
compilation terminated.
[13/37] Building CXX object CMakeFiles/cartographer_ros.dir/cartographer_ros/submap.cc.o
FAILED: /usr/bin/c++ -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME="cartographer_ros" -isystem /usr/include/lua5.2 -isystem /usr/include/pcl-1.7 -isystem /usr/include/eigen3 -isystem /home/gary/cartographer_localization_ws/install_isolated/include -isystem /opt/ros/kinetic/include -isystem /opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -I. -I/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros -I/usr/src/gmock/gtest/include -isystem /usr/include/cairo -isystem /usr/include/glib-2.0 -isystem /usr/lib/x86_64-linux-gnu/glib-2.0/include -isystem /usr/include/pixman-1 -isystem /usr/include/freetype2 -isystem /usr/include/libpng12 -isystem /usr/local/include -O3 -DNDEBUG -DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET -pthread -std=c++11 -fPIC -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=switch -Werror=uninitialized -O3 -DNDEBUG -MMD -MT CMakeFiles/cartographer_ros.dir/cartographer_ros/submap.cc.o -MF CMakeFiles/cartographer_ros.dir/cartographer_ros/submap.cc.o.d -o CMakeFiles/cartographer_ros.dir/cartographer_ros/submap.cc.o -c /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc
In file included from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:17:0:
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.h:34:17: error: ‘SubmapTextures’ is not a member of ‘cartographer::io’
std::unique_ptr<::cartographer::io::SubmapTextures> FetchSubmapTextures(
^
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.h:34:17: error: ‘SubmapTextures’ is not a member of ‘cartographer::io’
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.h:34:51: error: template argument 1 is invalid
std::unique_ptr<::cartographer::io::SubmapTextures> FetchSubmapTextures(
^
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.h:34:51: error: template argument 2 is invalid
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:27:17: error: ‘SubmapTextures’ is not a member of ‘cartographer::io’
std::unique_ptr<::cartographer::io::SubmapTextures> FetchSubmapTextures(
^
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:27:17: error: ‘SubmapTextures’ is not a member of ‘cartographer::io’
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:27:51: error: template argument 1 is invalid
std::unique_ptr<::cartographer::io::SubmapTextures> FetchSubmapTextures(
^
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:27:51: error: template argument 2 is invalid
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc: In function ‘int cartographer_ros::FetchSubmapTextures(const cartographer::mapping::SubmapId&, ros::ServiceClient*)’:
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:34:12: error: cannot convert ‘std::nullptr_t’ to ‘int’ in return
return nullptr;
^
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:38:43: error: ‘SubmapTextures’ is not a member of ‘cartographer::io’
::cartographer::common::make_unique<::cartographer::io::SubmapTextures>();
^
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:38:43: error: ‘SubmapTextures’ is not a member of ‘cartographer::io’
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:38:79: error: no matching function for call to ‘make_unique()’
::cartographer::common::make_unique<::cartographer::io::SubmapTextures>();
^
In file included from /home/gary/cartographer_localization_ws/install_isolated/include/cartographer/mapping/id.h:30:0,
from /home/gary/cartographer_localization_ws/install_isolated/include/cartographer/io/submap_painter.h:23,
from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.h:25,
from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:17:
/home/gary/cartographer_localization_ws/install_isolated/include/cartographer/common/make_unique.h:46:40: note: candidate: template<class T, class ... Args> typename cartographer::common::_Unique_if::_Single_object cartographer::common::make_unique(Args&& ...)
typename _Unique_if::_Single_object make_unique(Args&&... args) {
^
/home/gary/cartographer_localization_ws/install_isolated/include/cartographer/common/make_unique.h:46:40: note: template argument deduction/substitution failed:
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:38:79: error: template argument 1 is invalid
::cartographer::common::make_unique<::cartographer::io::SubmapTextures>();
^
In file included from /home/gary/cartographer_localization_ws/install_isolated/include/cartographer/mapping/id.h:30:0,
from /home/gary/cartographer_localization_ws/install_isolated/include/cartographer/io/submap_painter.h:23,
from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.h:25,
from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:17:
/home/gary/cartographer_localization_ws/install_isolated/include/cartographer/common/make_unique.h:51:40: note: candidate: template typename cartographer::common::_Unique_if::_Unknown_bound cartographer::common::make_unique(std::size_t)
typename _Unique_if::_Unknown_bound make_unique(size_t n) {
^
/home/gary/cartographer_localization_ws/install_isolated/include/cartographer/common/make_unique.h:51:40: note: template argument deduction/substitution failed:
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:38:79: error: template argument 1 is invalid
::cartographer::common::make_unique<::cartographer::io::SubmapTextures>();
^
In file included from /home/gary/cartographer_localization_ws/install_isolated/include/cartographer/mapping/id.h:30:0,
from /home/gary/cartographer_localization_ws/install_isolated/include/cartographer/io/submap_painter.h:23,
from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.h:25,
from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:17:
/home/gary/cartographer_localization_ws/install_isolated/include/cartographer/common/make_unique.h:57:38: note: candidate: template<class T, class ... Args> typename cartographer::common::_Unique_if::_Known_bound cartographer::common::make_unique(Args&& ...)
typename _Unique_if::Known_bound make_unique(Args&&...) = delete;
^
/home/gary/cartographer_localization_ws/install_isolated/include/cartographer/common/make_unique.h:57:38: note: template argument deduction/substitution failed:
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:38:79: error: template argument 1 is invalid
::cartographer::common::make_unique<::cartographer::io::SubmapTextures>();
^
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:43:37: error: ‘SubmapTexture’ is not a member of ‘cartographer::io’
response->textures.emplace_back(::cartographer::io::SubmapTexture{
^
/home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:43:37: note: suggested alternative:
In file included from /home/gary/cartographer_localization_ws/install_isolated/include/cartographer_ros_msgs/SubmapQueryResponse.h:18:0,
from /home/gary/cartographer_localization_ws/install_isolated/include/cartographer_ros_msgs/SubmapQuery.h:12,
from /home/gary/cartographer_localization_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/submap.cc:23:
/home/gary/cartographer_localization_ws/install_isolated/include/cartographer_ros_msgs/SubmapTexture.h:69:72: note: ‘cartographer_ros_msgs::SubmapTexture’
typedef ::cartographer_ros_msgs::SubmapTexture<std::allocator > SubmapTexture;
^
[13/37] Building CXX object CMakeFiles/cartographer_ros.dir/cartographer_ros/urdf_reader.cc.o
ninja: build stopped: subcommand failed.
<== Failed to process package 'cartographer_ros':
Command '['/home/gary/cartographer_localization_ws/install_isolated/env.sh', 'ninja', '-j12', '-l12']' returned non-zero exit status 1
Reproduce this error by running:
==> cd /home/gary/cartographer_localization_ws/build_isolated/cartographer_ros && /home/gary/cartographer_localization_ws/install_isolated/env.sh ninja -j12 -l12
Command failed, exiting.
麻烦您可以简单recheck一下吗
时间上确实是0.3.0之后，1.0之前。cartographer_ros也用0.3.0能通过吗
我是直接用的您的cartographer_ros,cartrographer用的0.3.0,编译是用的catkin_make_isolated --install --use-ninja命令。 我等下尝试一下用cartographer_ros 0.3.0，这个可能要配合您更改的内容
嗯，改的也不多，就这一个commit