Udpated master to latest Kindr version

[anybotics]

Udpated master to latest Kindr version

[Nurgak]

Any news on an update? Even with the feature/obstacle_detection branch I cannot get elevation_mapping compiled because of a kindr issue. I'm using catkin tools:

Errors     << elevation_mapping:cmake /home/karl/catkin_ws/logs/elevation_mapping/build.cmake.001.log                                                         
CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "kindr_ros" with
  any of the following names:

    kindr_rosConfig.cmake
    kindr_ros-config.cmake

  Add the installation prefix of "kindr_ros" to CMAKE_PREFIX_PATH or set
  "kindr_ros_DIR" to a directory containing one of the above files.  If
  "kindr_ros" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  CMakeLists.txt:15 (find_package)


CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "kindr_ros" with
  any of the following names:

    kindr_rosConfig.cmake
    kindr_ros-config.cmake

  Add the installation prefix of "kindr_ros" to CMAKE_PREFIX_PATH or set
  "kindr_ros_DIR" to a directory containing one of the above files.  If
  "kindr_ros" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  CMakeLists.txt:15 (find_package)


cd /home/karl/catkin_ws/build/elevation_mapping; catkin build --get-env elevation_mapping | catkin env -si  /usr/bin/cmake /home/karl/catkin_ws/src/elevation_mapping/elevation_mapping --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/karl/catkin_ws/devel/.private/elevation_mapping -DCMAKE_INSTALL_PREFIX=/home/karl/catkin_ws/install; cd -

Can you perhaps update the installation instructions? I can't seem to get anything working with the one provided.

[pfankhauser]

Dear @Nurgak,
I have updated the master branch with the newest algorithmic and compatibility changes and adapted the README accordingly. Could you please check if things work for you now?
Thanks, Peter

[Nurgak]

Hi @pfankhauser, thanks for the quick response, however I am still unable to build the package, I get the following warnings and error:

_____________________________________________________________________________________________________________________________________
Warnings   << kindr_rviz_plugins:make /home/karl/catkin_ws/logs/kindr_rviz_plugins/build.make.000.log                                
/home/karl/catkin_ws/src/kindr_ros/kindr_rviz_plugins/include/kindr_rviz_plugins/VectorAtPositionVisual.hpp:0: Note: No relevant classes found. No output generated.
cd /home/karl/catkin_ws/build/kindr_rviz_plugins; catkin build --get-env kindr_rviz_plugins | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
.....................................................................................................................................
Finished  <<< kindr_rviz_plugins                                     [ 26.3 seconds ]                                                
_____________________________________________________________________________________________________________________________________
Warnings   << multi_dof_joint_trajectory_rviz_plugins:make /home/karl/catkin_ws/logs/multi_dof_joint_trajectory_rviz_plugins/build.make.000.log
/home/karl/catkin_ws/src/kindr_ros/multi_dof_joint_trajectory_rviz_plugins/include/multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryPointVisual.hpp:0: Note: No relevant classes found. No output generated.
/home/karl/catkin_ws/src/kindr_ros/multi_dof_joint_trajectory_rviz_plugins/include/multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryPointConnectionVisual.hpp:0: Note: No relevant classes found. No output generated.
cd /home/karl/catkin_ws/build/multi_dof_joint_trajectory_rviz_plugins; catkin build --get-env multi_dof_joint_trajectory_rviz_plugins | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
.....................................................................................................................................
Finished  <<< multi_dof_joint_trajectory_rviz_plugins                [ 38.4 seconds ]                                                
_____________________________________________________________________________________________________________________________________
Errors     << elevation_mapping:make /home/karl/catkin_ws/logs/elevation_mapping/build.make.000.log                                  
/home/karl/catkin_ws/src/elevation_mapping/elevation_mapping/src/ElevationMap.cpp: In member function ‘bool elevation_mapping::ElevationMap::fuse(const Index&, const Index&, bool)’:
/home/karl/catkin_ws/src/elevation_mapping/elevation_mapping/src/ElevationMap.cpp:285:65: error: ‘class grid_map::EllipseIterator’ has no member named ‘getSubmapSize’
     const unsigned int maxNumberOfCellsToFuse = ellipseIterator.getSubmapSize().prod();
                                                                 ^
make[2]: *** [CMakeFiles/elevation_mapping_library.dir/src/ElevationMap.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/elevation_mapping_library.dir/all] Error 2
make: *** [all] Error 2
cd /home/karl/catkin_ws/build/elevation_mapping; catkin build --get-env elevation_mapping | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

[pfankhauser]

Could you please verify that you are using the latest version (1.4.0) of the Grid Map package from either here or the ROS PPA?

[Nurgak]

I just tried, some warnings disappeared, another appeared, but the same error persists:

_____________________________________________________________________________________________________________________________________
Errors     << elevation_mapping:make /home/karl/catkin_ws/logs/elevation_mapping/build.make.001.log                                  
/home/karl/catkin_ws/src/elevation_mapping/elevation_mapping/src/ElevationMap.cpp: In member function ‘bool elevation_mapping::ElevationMap::fuse(const Index&, const Index&, bool)’:
/home/karl/catkin_ws/src/elevation_mapping/elevation_mapping/src/ElevationMap.cpp:285:65: error: ‘class grid_map::EllipseIterator’ has no member named ‘getSubmapSize’
     const unsigned int maxNumberOfCellsToFuse = ellipseIterator.getSubmapSize().prod();
                                                                 ^
make[2]: *** [CMakeFiles/elevation_mapping_library.dir/src/ElevationMap.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/elevation_mapping_library.dir/all] Error 2
make: *** [all] Error 2
cd /home/karl/catkin_ws/build/elevation_mapping; catkin build --get-env elevation_mapping | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
.....................................................................................................................................
Failed     << elevation_mapping:make                                 [ Exited with code 2 ]                                          
Failed    <<< elevation_mapping                                      [ 34.5 seconds ]                                                
Abandoned <<< grid_map_demos                                         [ Unrelated job failed ]                                        
Abandoned <<< elevation_mapping_demos                                [ Unrelated job failed ]                                        
_____________________________________________________________________________________________________________________________________
Warnings   << grid_map_rviz_plugin:make /home/karl/catkin_ws/logs/grid_map_rviz_plugin/build.make.000.log                            
/home/karl/catkin_ws/src/grid_map/grid_map_rviz_plugin/include/grid_map_rviz_plugin/GridMapVisual.hpp:0: Note: No relevant classes found. No output generated.
/home/karl/catkin_ws/src/grid_map/grid_map_rviz_plugin/include/grid_map_rviz_plugin/modified/message_filter.h:486: Note: No relevant classes found. No output generated.
cd /home/karl/catkin_ws/build/grid_map_rviz_plugin; catkin build --get-env grid_map_rviz_plugin | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

It seems getSubmapSize is undefined...

[pfankhauser]

Please excuse me, I overlooked that. This method has been added very recently and has not been pushed to the PPA yet. Could you please try with the master branch from Github?

[Nurgak]

I'm afraid I don''t follow... my elevation_mapping master branch is up to date, so the output is still erroneous.

[pfankhauser]

Sorry, I meant the master branch of Grid Map at https://github.com/ethz-asl/grid_map

[Nurgak]

Just to be sure I checked them all, everything is up to date: elevation_mapping, grid_map and kindr_ros... quite strange.

[pfankhauser]

Could you check the following file: grid_map_core/include/grid_map_core/iterators/EllipseIterator.hpp, Line 74 should have the declaration

const Size& getSubmapSize() const;

as here.

[Nurgak]

I got it, I needed to remove /devel and /build and start over again. However this resulted in 2 warnings (they look benign though) and I cannot execute the simple demo example, the elevation_mapping node keeps crashing and there are no log files created to debug.

The error when executing roslaunch elevation_mapping_demos simple_demo.launch:

[elevation_mapping-1] process has died [pid 11623, exit code -11, cmd /home/karl/catkin_ws/devel/lib/elevation_mapping/elevation_mapping __name:=elevation_mapping __log:=/home/karl/.ros/log/71ebb01e-7981-11e6-a952-ecf4bb6e33e2/elevation_mapping-1.log].
log file: /home/karl/.ros/log/71ebb01e-7981-11e6-a952-ecf4bb6e33e2/elevation_mapping-1*.log

The warnings during compilation:

____________________________________________________________________________________________________________________________________________________________________________
Warnings   << multi_dof_joint_trajectory_rviz_plugins:make /home/karl/catkin_ws/logs/multi_dof_joint_trajectory_rviz_plugins/build.make.006.log                             
/home/karl/catkin_ws/src/kindr_ros/multi_dof_joint_trajectory_rviz_plugins/include/multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryPointVisual.hpp:0: Note: No relevant classes found. No output generated.
/home/karl/catkin_ws/src/kindr_ros/multi_dof_joint_trajectory_rviz_plugins/include/multi_dof_joint_trajectory_rviz_plugins/MultiDOFJointTrajectoryPointConnectionVisual.hpp:0: Note: No relevant classes found. No output generated.
cd /home/karl/catkin_ws/build/multi_dof_joint_trajectory_rviz_plugins; catkin build --get-env multi_dof_joint_trajectory_rviz_plugins | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
............................................................................................................................................................................
____________________________________________________________________________________________________________________________________________________________________________
Warnings   << kindr_rviz_plugins:make /home/karl/catkin_ws/logs/kindr_rviz_plugins/build.make.006.log                                                                       
/home/karl/catkin_ws/src/kindr_ros/kindr_rviz_plugins/include/kindr_rviz_plugins/VectorAtPositionVisual.hpp:0: Note: No relevant classes found. No output generated.
cd /home/karl/catkin_ws/build/kindr_rviz_plugins; catkin build --get-env kindr_rviz_plugins | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
............................................................................................................................................................................
____________________________________________________________________________________________________________________________________________________________________________
Warnings   << grid_map_rviz_plugin:make /home/karl/catkin_ws/logs/grid_map_rviz_plugin/build.make.005.log                                                                   
/home/karl/catkin_ws/src/grid_map/grid_map_rviz_plugin/include/grid_map_rviz_plugin/GridMapVisual.hpp:0: Note: No relevant classes found. No output generated.
/home/karl/catkin_ws/src/grid_map/grid_map_rviz_plugin/include/grid_map_rviz_plugin/modified/message_filter.h:486: Note: No relevant classes found. No output generated.
cd /home/karl/catkin_ws/build/grid_map_rviz_plugin; catkin build --get-env grid_map_rviz_plugin | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
............................................................................................................................................................................

[pfankhauser]

Has this resolved with #33?

[Nurgak]

Yes, the process does not die anymore #33, solved the issue.