Compilation error

[carolineQ]

Using Ros Groovy, rosmake gives the following error :

/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp: In member function ‘void rgbdtools::RGBDFrame::constructFeaturePointCloud(rgbdtools::PointCloudFeature&)’:
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp:276:69: erreur: no match for ‘operator=’ in ‘cloud.pcl::PointCloudpcl::PointXYZ::header.std_msgs::Header_std::allocator::stamp = (((double)((rgbdtools::RGBDFrame_)this)->rgbdtools::RGBDFrame::header.rgbdtools::Header::stamp.rgbdtools::Time::sec * 1.0e+6) + ((double)((rgbdtools::RGBDFrame_)this)->rgbdtools::RGBDFrame::header.rgbdtools::Header::stamp.rgbdtools::Time::nsec * 1.00000000000000002081668171172168513294309377670288085938e-3))’
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp:276:69: note: candidate is:
/opt/ros/groovy/include/ros/time.h:169:22: note: ros::Time& ros::Time::operator=(const ros::Time&)
/opt/ros/groovy/include/ros/time.h:169:22: note: no known conversion for argument 1 from ‘double’ to ‘const ros::Time&’
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp: In member function ‘void rgbdtools::RGBDFrame::constructDensePointCloud(rgbdtools::PointCloudT&, double, double) const’:
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp:348:69: erreur: no match for ‘operator=’ in ‘cloud.pcl::PointCloudpcl::PointXYZRGB::header.std_msgs::Header_std::allocator::stamp = (((double)((const rgbdtools::RGBDFrame_)this)->rgbdtools::RGBDFrame::header.rgbdtools::Header::stamp.rgbdtools::Time::sec * 1.0e+6) + ((double)((const rgbdtools::RGBDFrame_)this)->rgbdtools::RGBDFrame::header.rgbdtools::Header::stamp.rgbdtools::Time::nsec * 1.00000000000000002081668171172168513294309377670288085938e-3))’
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp:348:69: note: candidate is:
/opt/ros/groovy/include/ros/time.h:169:22: note: ros::Time& ros::Time::operator=(const ros::Time&)
/opt/ros/groovy/include/ros/time.h:169:22: note: no known conversion for argument 1 from ‘double’ to ‘const ros::Time&’

See post on Ros Answers : http://answers.ros.org/question/93096/ccny_rgbd-compilation-error/

[thchung]

I have the same compile issue on a relatively clean 12.04.3LTS + ROS Groovy install, with errors arising from compiling rgbd_frame.cpp -- can't seem to resolve nor find things in the changelogs to see where this error might have been introduced. Thanks in advance for any help!

[Veerachart]

Maybe far too late, or nobody is going to come back here :)

I also got this.

I tried changing those lines to

cloud.header.stamp = ros::Time(header.stamp.sec * 1e6, header.stamp.nsec * 1e-3);

and

cloud.header.stamp = ros::Time(header.stamp.sec * 1e6, header.stamp.nsec * 1e-3);

and then the problem on this file is solved (but I'm not sure if there will be any different in the functionality.

After that, I got similar problem with ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/registration/motion_estimation_icp_prob_model.cpp, but it is also solved using similar change.

However, I got another error:

Linking CXX executable bin/global_cloud_align
lib/librgbdtools.so: undefined reference to `ros::normalizeSecNSec(unsigned int&, unsigned int&)'

A quick search seems like it is because I'm using Groovy and this normalizeSecNSec is in Diamondback.

[gauss1988]

I am here!!
I am trying build ccny_rgbd_tools with groovy and I also get the same error in rgbd_frame.cpp,
thanks for you advise and solved the error in rgbd_frame.cpp.

Unluck, I also get this error:
Linking CXX executable bin/global_cloud_align
lib/librgbdtools.so: undefined reference to `ros::normalizeSecNSec(unsigned int&, unsigned int&)'

It is long time from your comment, so I want to know that have you solve this problem?
Hope you can see this.

Best regrads.:) @Veerachart

[Veerachart]

@gauss1988 Sorry to say that I haven't been working on this since then.

[spamail]

change
cloud.header.stamp = header.stamp.sec * 1e6 + header.stamp.nsec * 1e-3;

to
cloud.header.stamp.sec = header.stamp.sec;
cloud.header.stamp.nsec = header.stamp.nsec;
in lines the error shows (295, 368 ). The same for the other errors that will show off after trying to compile in other ccp.

Now I have the fallowing error:
4:
/home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: Nie ma takiego pliku ani katalogu
compilation terminated.
make[3]: *** [CMakeFiles/rgbd_image_proc_app.dir/src/apps/rgbd_image_proc.o] Błąd 1
make[3]: Opuszczenie katalogu /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/build' make[2]: *** [CMakeFiles/rgbd_image_proc_app.dir/all] Błąd 2 make[2]: *** Oczekiwanie na niezakończone zadania.... [ 80%] Building CXX object CMakeFiles/feature_viewer_node.dir/src/apps/feature_viewer.o make[3]: *** [CMakeFiles/visual_odometry_node.dir/src/node/visual_odometry_node.o] Błąd 1 make[3]: Opuszczenie katalogu/home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/build'
make[2]: *** [CMakeFiles/visual_odometry_node.dir/all] Błąd 2
[ 82%] Building CXX object CMakeFiles/feature_viewer_node.dir/src/util.o
make[3]: *** [CMakeFiles/feature_viewer_node.dir/src/node/feature_viewer_node.o] Błąd 1
make[3]: *** Oczekiwanie na niezakończone zadania....
[ 85%] Building CXX object CMakeFiles/keyframe_mapper_node.dir/src/apps/keyframe_mapper.o
make[3]: *** [CMakeFiles/keyframe_mapper_node.dir/src/node/keyframe_mapper_node.o] Błąd 1
make[3]: *** Oczekiwanie na niezakończone zadania....
In file included from /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/util.h:37:0,
from /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:24:
/home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: Nie ma takiego pliku ani katalogu
compilation terminated.
In file included from /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/apps/feature_viewer.h:36:0,
from /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/src/apps/feature_viewer.cpp:24:
/home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: Nie ma takiego pliku ani katalogu
compilation terminated.
In file included from /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/apps/keyframe_mapper.h:43:0,
from /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp:24:
/home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: Nie ma takiego pliku ani katalogu
compilation terminated.
make[3]: *** [CMakeFiles/keyframe_mapper_node.dir/src/apps/keyframe_mapper.o] Błąd 1
make[3]: Opuszczenie katalogu /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/build' make[2]: *** [CMakeFiles/keyframe_mapper_node.dir/all] Błąd 2 make[3]: *** [CMakeFiles/feature_viewer_node.dir/src/util.o] Błąd 1 make[3]: *** [CMakeFiles/feature_viewer_node.dir/src/apps/feature_viewer.o] Błąd 1 make[3]: Opuszczenie katalogu/home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/build'
make[2]: *** [CMakeFiles/feature_viewer_node.dir/all] Błąd 2
make[2]: Opuszczenie katalogu /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/build' make[1]: *** [all] Błąd 2 make[1]: Opuszczenie katalogu/home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package ccny_rgbd written to:
[ rosmake ] /home/wilk/.ros/rosmake/rosmake_output-20151010-201651/ccny_rgbd/build_output.log
[rosmake-3] Finished <<< ccny_rgbd [FAIL] [ 22.36 seconds ]

[ rosmake ] Halting due to failure in package ccny_rgbd.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 50 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/wilk/.ros/rosmake/rosmake_output-20151010-201651

The problem is the autor has removed SURF.cpp and SurfDetectorConfig.h: so there are 2 options- u restore it or remove frome code. I propose to restore them and never use :D

In /home/wilk/fuerte_workspace/sandbox/ccny_rgbd_tools/ccny_rgbd/src/apps/rgbd_image_proc.cpp:302:69
change fallowing:
cloud_ptr->header.stamp = rgb_info_msg->header.stamp.toNSec() * 1e-3;
to:
cloud_ptr->header.stamp = rgb_info_msg->header.stamp;