tum-vision/dvo_slam

How to run the package in kinetic???

wangzhe666 opened this issue · 1 comments

e-H61M-DS2:~/catkin_ws$ rosmake dvo_core dvo_ros dvo_slam dvo_benchmark
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark']
[ rosmake ] Logging to directory /home/wangzhe/.ros/rosmake/rosmake_output-20190728-132719
[ rosmake ] Expanded args ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark'] to:
['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-1] Starting >>> sophus [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-0] Starting >>> genpy [ make ]
[rosmake-0] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-0] Starting >>> gencpp [ make ]
[rosmake-0] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-0] Starting >>> geneus [ make ]
[rosmake-0] Finished <<< geneus ROS_NOBUILD in package geneus
No Makefile in package geneus
[rosmake-0] Starting >>> gennodejs [ make ]
[rosmake-0] Finished <<< gennodejs ROS_NOBUILD in package gennodejs
No Makefile in package gennodejs
[rosmake-0] Starting >>> message_generation [ make ]
[rosmake-0] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-0] Starting >>> cpp_common [ make ]
[rosmake-0] Finished <<< cpp_common ROS_NOBUILD in package cpp_common Complete ]
No Makefile in package cpp_common
[rosmake-0] Starting >>> rostime [ make ]
[rosmake-0] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-0] Starting >>> roscpp_traits [ make ]
[rosmake-0] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-0] Starting >>> roscpp_serialization [ make ]
[rosmake-0] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-0] Starting >>> message_runtime [ make ]
[rosmake-0] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-0] Starting >>> std_msgs [ make ]
[rosmake-0] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-0] Starting >>> rosgraph_msgs [ make ]
[rosmake-0] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-0] Starting >>> rosbuild [ make ]
[rosmake-0] Finished <<< rosbuild ROS_NOBUILD in package rosbuild
No Makefile in package rosbuild
[rosmake-0] Starting >>> ros_environment [ make ]
[rosmake-0] Finished <<< ros_environment ROS_NOBUILD in package ros_environment
No Makefile in package ros_environment
[rosmake-0] Starting >>> cmake_modules [ make ]
[rosmake-0] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules
No Makefile in package cmake_modules
[rosmake-0] Starting >>> rospack [ make ]
[rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-0] Starting >>> rosmake [ make ]
[rosmake-0] Finished <<< rosmake ROS_NOBUILD in package rosmake
No Makefile in package rosmake
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-0] Starting >>> rosunit [ make ]
[rosmake-0] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-0] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-0] Starting >>> roslang [ make ]
[rosmake-0] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-0] Starting >>> xmlrpcpp [ make ]
[rosmake-0] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-0] Starting >>> roscpp [ make ]
[rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-0] Starting >>> geometry_msgs [ make ]
[rosmake-0] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-0] Starting >>> rosgraph [ make ]
[rosmake-0] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-0] Starting >>> rosparam [ make ]
[rosmake-0] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-0] Starting >>> rosmaster [ make ]
[rosmake-0] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-0] Starting >>> rosout [ make ]
[rosmake-0] Finished <<< rosout ROS_NOBUILD in package rosout
No Makefile in package rosout
[rosmake-0] Starting >>> rosclean [ make ]
[rosmake-0] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-0] Starting >>> roslaunch [ make ]
[rosmake-0] Finished <<< roslaunch ROS_NOBUILD in package roslaunch
No Makefile in package roslaunch
[rosmake-0] Starting >>> rospy [ make ]
[rosmake-0] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-0] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< rostest ROS_NOBUILD in package rostest
No Makefile in package rostest
[rosmake-0] Starting >>> topic_tools [ make ]
[rosmake-0] Finished <<< topic_tools ROS_NOBUILD in package topic_tools
No Makefile in package topic_tools
[rosmake-0] Starting >>> std_srvs [ make ]
[rosmake-0] Finished <<< std_srvs ROS_NOBUILD in package std_srvs
No Makefile in package std_srvs
[rosmake-0] Starting >>> roslz4 [ make ]
[rosmake-0] Finished <<< roslz4 ROS_NOBUILD in package roslz4
No Makefile in package roslz4
[rosmake-0] Starting >>> rosbag_storage [ make ]
[rosmake-0] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage
No Makefile in package rosbag_storage
[rosmake-0] Starting >>> rosbag [ make ]
[rosmake-0] Finished <<< rosbag ROS_NOBUILD in package rosbag
No Makefile in package rosbag
[rosmake-0] Starting >>> sensor_msgs [ make ]
[rosmake-0] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-0] Starting >>> pcl_msgs [ make ]
[rosmake-0] Finished <<< pcl_msgs ROS_NOBUILD in package pcl_msgs
No Makefile in package pcl_msgs
[rosmake-0] Starting >>> pcl_conversions [ make ]
[rosmake-0] Finished <<< pcl_conversions ROS_NOBUILD in package pcl_conversions
No Makefile in package pcl_conversions
[rosmake-0] Starting >>> smclib [ make ]
[rosmake-0] Finished <<< smclib ROS_NOBUILD in package smclib
No Makefile in package smclib
[rosmake-0] Starting >>> bond [ make ]
[rosmake-0] Finished <<< bond ROS_NOBUILD in package bond
No Makefile in package bond
[rosmake-0] Starting >>> bondcpp [ make ]
[rosmake-0] Finished <<< bondcpp ROS_NOBUILD in package bondcpp 45/83 Complete ]
No Makefile in package bondcpp
[rosmake-0] Starting >>> class_loader [ make ]
[rosmake-0] Finished <<< class_loader ROS_NOBUILD in package class_loader
No Makefile in package class_loader
[rosmake-0] Starting >>> pluginlib [ make ]
[rosmake-0] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
No Makefile in package pluginlib
[rosmake-0] Starting >>> nodelet [ make ]
[rosmake-0] Finished <<< nodelet ROS_NOBUILD in package nodelet
No Makefile in package nodelet
[rosmake-0] Starting >>> message_filters [ make ]
[rosmake-0] Finished <<< message_filters ROS_NOBUILD in package message_filters
No Makefile in package message_filters
[rosmake-0] Starting >>> actionlib_msgs [ make ]
[rosmake-0] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs
No Makefile in package actionlib_msgs
[rosmake-0] Starting >>> rostopic [ make ]
[rosmake-0] Finished <<< rostopic ROS_NOBUILD in package rostopic
No Makefile in package rostopic
[rosmake-0] Starting >>> rosnode [ make ]
[rosmake-0] Finished <<< rosnode ROS_NOBUILD in package rosnode
No Makefile in package rosnode
[rosmake-0] Starting >>> actionlib [ make ]
[rosmake-0] Finished <<< actionlib ROS_NOBUILD in package actionlib
No Makefile in package actionlib
[rosmake-0] Starting >>> tf2_msgs [ make ]
[rosmake-0] Finished <<< tf2_msgs ROS_NOBUILD in package tf2_msgs
No Makefile in package tf2_msgs
[rosmake-0] Starting >>> tf2 [ make ]
[rosmake-0] Finished <<< tf2 ROS_NOBUILD in package tf2
No Makefile in package tf2
[rosmake-0] Starting >>> tf2_py [ make ]
[rosmake-0] Finished <<< tf2_py ROS_NOBUILD in package tf2_py
No Makefile in package tf2_py
[rosmake-0] Starting >>> tf2_ros [ make ]
[rosmake-0] Finished <<< tf2_ros ROS_NOBUILD in package tf2_ros
No Makefile in package tf2_ros
[rosmake-0] Starting >>> angles [ make ]
[rosmake-0] Finished <<< angles ROS_NOBUILD in package angles
No Makefile in package angles
[rosmake-0] Starting >>> rosmsg [ make ]
[rosmake-0] Finished <<< rosmsg ROS_NOBUILD in package rosmsg
No Makefile in package rosmsg
[rosmake-0] Starting >>> rosservice [ make ]
[rosmake-0] Finished <<< rosservice ROS_NOBUILD in package rosservice
No Makefile in package rosservice
[rosmake-0] Starting >>> roswtf [ make ]
[rosmake-0] Finished <<< roswtf ROS_NOBUILD in package roswtf
No Makefile in package roswtf
[rosmake-0] Starting >>> tf [ make ]
[rosmake-0] Finished <<< tf ROS_NOBUILD in package tf
No Makefile in package tf
[rosmake-0] Starting >>> orocos_kdl [ make ]
[rosmake-0] Finished <<< orocos_kdl ROS_NOBUILD in package orocos_kdl
No Makefile in package orocos_kdl
[rosmake-0] Starting >>> kdl_conversions [ make ]
[rosmake-0] Finished <<< kdl_conversions ROS_NOBUILD in package kdl_conversions
No Makefile in package kdl_conversions
[rosmake-0] Starting >>> python_orocos_kdl [ make ]
[rosmake-0] Finished <<< python_orocos_kdl ROS_NOBUILD in package python_orocos_kdl
No Makefile in package python_orocos_kdl
[rosmake-0] Starting >>> tf_conversions [ make ]
[rosmake-0] Finished <<< tf_conversions ROS_NOBUILD in package tf_conversions
No Makefile in package tf_conversions
[rosmake-0] Starting >>> eigen_conversions [ make ]
[rosmake-0] Finished <<< eigen_conversions ROS_NOBUILD in package eigen_conversions
No Makefile in package eigen_conversions
[rosmake-0] Starting >>> dynamic_reconfigure [ make ]
[rosmake-0] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
No Makefile in package dynamic_reconfigure
[rosmake-0] Starting >>> tf2_eigen [ make ]
[rosmake-0] Finished <<< tf2_eigen ROS_NOBUILD in package tf2_eigen
No Makefile in package tf2_eigen
[rosmake-0] Starting >>> nodelet_topic_tools [ make ]
[rosmake-0] Finished <<< nodelet_topic_tools ROS_NOBUILD in package nodelet_topic_tools
No Makefile in package nodelet_topic_tools
[rosmake-0] Starting >>> pcl_ros [ make ]
[rosmake-0] Finished <<< pcl_ros ROS_NOBUILD in package pcl_ros
No Makefile in package pcl_ros
[rosmake-0] Starting >>> image_transport [ make ]
[rosmake-0] Finished <<< image_transport ROS_NOBUILD in package image_transport
No Makefile in package image_transport
[rosmake-0] Starting >>> opencv3 [ make ]
[rosmake-0] Finished <<< opencv3 ROS_NOBUILD in package opencv3 73/83 Complete ]
No Makefile in package opencv3
[rosmake-0] Starting >>> cv_bridge [ make ]
[rosmake-0] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge
No Makefile in package cv_bridge
[rosmake-0] Starting >>> visualization_msgs [ make ]
[rosmake-0] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs
No Makefile in package visualization_msgs
[rosmake-0] Starting >>> interactive_markers [ make ]
[rosmake-0] Finished <<< interactive_markers ROS_NOBUILD in package interactive_markers
No Makefile in package interactive_markers
[rosmake-0] Starting >>> g2o [ make ]
[rosmake-1] Finished <<< sophus [PASS] [ 0.68 seconds ]
[rosmake-1] Starting >>> dvo_core [ make ]
[rosmake-0] Finished <<< g2o [PASS] [ 3.81 seconds ]
[ rosmake ] Last 40 lineso_core: 10.3 sec ] [ 1 Active 79/83 Complete ]
{-------------------------------------------------------------------------------
initial.revert();
^
/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:279:20: error: request for member ‘revert’ in ‘estimate’, which is of non-class type ‘int’
estimate.revert();
^
/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:302:63: error: ‘initial’ cannot be used as a function
iteration_stats.PriorLogLikelihood = cfg.Mu * initial().log().squaredNorm();
^
/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:316:17: error: request for member ‘revert’ in ‘initial’, which is of non-class type ‘int’
initial.revert();
^
/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:317:18: error: request for member ‘revert’ in ‘estimate’, which is of non-class type ‘int’
estimate.revert();
^
/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:346:50: error: ‘initial’ cannot be used as a function
b = ls.b.cast() + cfg.Mu * initial().log();
^
/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:371:36: error: ‘estimate’ cannot be used as a function
result.Transformation = estimate().inverse().matrix();
^
In file included from /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:28:0,
from /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23:
/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
static const IntensityType Invalid = std::numeric_limits::quiet_NaN();
^
/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
CMakeFiles/dvo_core.dir/build.make:626: recipe for target 'CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o' failed
make[3]: *** [CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o] Error 1
make[3]: Leaving directory '/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/build'
CMakeFiles/Makefile2:747: recipe for target 'CMakeFiles/dvo_core.dir/all' failed
make[2]: *** [CMakeFiles/dvo_core.dir/all] Error 2
make[2]: Leaving directory '/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/build'
Makefile:127: recipe for target 'all' failed
make[1]: *** [all] Error 2
make[1]: Leaving directory '/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/build'
/opt/ros/kinetic/share/mk/cmake.mk:7: recipe for target 'all' failed
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_core written to:
[ rosmake ] /home/wangzhe/.ros/rosmake/rosmake_output-20190728-132719/dvo_core/build_output.log
[rosmake-1] Finished <<< dvo_core [FAIL] [ 10.29 seconds ]
[ rosmake ] Halting due to failure in package dvo_core.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 80 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/wangzhe/.ros/rosmake/rosmake_output-20190728-132719

You can check this modified version of dvo.
This version works well on my computer
https://github.com/songuke/dvo_slam

When compiling, you may meet error like

/home/riger/dvo_ws/src/dvo_slam/dvo_ros/src/camera_tracker_nodelet.cpp:24:24: error: expected constructor, destructor, or type conversion before ‘(’ token
 PLUGINLIB_DECLARE_CLASS(dvo_ros, camera_tracker, dvo_ros::CameraTrackerNodelet, nodelet::Nodelet)

You need replace

PLUGINLIB_DECLARE_CLASS(dvo_ros, camera_tracker, dvo_ros::CameraTrackerNodelet, nodelet::Nodelet)

with

PLUGINLIB_EXPORT_CLASS(dvo_ros::CameraTrackerNodelet, nodelet::Nodelet)

Also, you may meet problems like no assoc.txt, you can use TUM's tool to generate that file. Follow ORB_SLAM2, RGB-D Examplepart, generate an assoc.txt and put it into your dateset root folder