Public Code Repository of the iRotate Active SLAM for Omnidirectional robots at the Max Planck Institute for Intelligent Systems, Tübingen
License: GNU General Public License v3.0
Hi,
When I copy two cpp into the rtabmap/corelib/src and build, I have some issue, as follow:
rtabmap/corelib/src/Memory.cpp:274:14: error: ‘_landmarksInvertedIndex’ was not declared in this scope
nter = _landmarksInvertedIndex.find(landmarkId);
^~~~~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:274:14: note: suggested alternative: ‘_landmarksIndex’
nter = _landmarksInvertedIndex.find(landmarkId);
^~~~~~~~~~~~~~~~~~~~~~~
_landmarksIndex
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:365:73: error: invalid initialization of reference of type ‘const std::multimap<int, cv::KeyPoint>&’ from expression of type ‘const std::multimap<int, int>’
const std::multimap<int, cv::KeyPoint> & words = i->second->getWords();
~~~~~~~~~~~~~~~~~~~^~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:416:64: error: invalid initialization of reference of type ‘const std::multimap<int, cv::KeyPoint>&’ from expression of type ‘const std::multimap<int, int>’
const std::multimap<int, cv::KeyPoint> & words = s->getWords();
~~~~~~~~~~~^~
[ 9%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp: In member function ‘std::multimap<int, rtabmap::Link> rtabmap::Memory::getLinks(int, bool, bool) const’:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:1273:56: error: ‘_landmarksInvertedIndex’ was not declared in this scope
std::map<int, std::set<int> >::const_iterator iter = _landmarksInvertedIndex.find(landmarkId);
^~~~~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:1273:56: note: suggested alternative: ‘_landmarksIndex’
std::map<int, std::set<int> >::const_iterator iter = _landmarksInvertedIndex.find(landmarkId);
^~~~~~~~~~~~~~~~~~~~~~~
_landmarksIndex
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp: In member function ‘std::map<int, int> rtabmap::Memory::getNeighborsId(int, int, int, bool, bool, bool, bool, const std::set<int>&, double*) const’:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:1492:65: error: ‘_landmarksInvertedIndex’ was not declared in this scope
const std::map<int, std::set<int> >::const_iterator kter = _landmarksInvertedIndex.find(iter->first);
^~~~~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:1492:65: note: suggested alternative: ‘_landmarksIndex’
const std::map<int, std::set<int> >::const_iterator kter = _landmarksInvertedIndex.find(iter->first);
^~~~~~~~~~~~~~~~~~~~~~~
_landmarksIndex
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp: In member function ‘void rtabmap::Memory::clear()’:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:1771:2: error: ‘_landmarksInvertedIndex’ was not declared in this scope
_landmarksInvertedIndex.clear();
^~~~~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:1771:2: note: suggested alternative: ‘_landmarksIndex’
_landmarksInvertedIndex.clear();
^~~~~~~~~~~~~~~~~~~~~~~
_landmarksIndex
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp: In member function ‘void rtabmap::Memory::moveToTrash(rtabmap::Signature*, bool, std::__cxx11::list<int>*)’:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2317:12: error: ‘_landmarksInvertedIndex’ was not declared in this scope
nter = _landmarksInvertedIndex.find(landmarkId);
^~~~~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2317:12: note: suggested alternative: ‘_landmarksIndex’
nter = _landmarksInvertedIndex.find(landmarkId);
^~~~~~~~~~~~~~~~~~~~~~~
_landmarksIndex
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp: In member function ‘std::map<int, rtabmap::Link> rtabmap::Memory::getNodesObservingLandmark(int, bool) const’:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2467:56: error: ‘_landmarksInvertedIndex’ was not declared in this scope
std::map<int, std::set<int> >::const_iterator iter = _landmarksInvertedIndex.find(landmarkId);
^~~~~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2467:56: note: suggested alternative: ‘_landmarksIndex’
std::map<int, std::set<int> >::const_iterator iter = _landmarksInvertedIndex.find(landmarkId);
^~~~~~~~~~~~~~~~~~~~~~~
_landmarksIndex
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp: In member function ‘rtabmap::Transform rtabmap::Memory::computeTransform(rtabmap::Signature&, rtabmap::Signature&, rtabmap::Transform, rtabmap::RegistrationInfo*, bool) const’:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2757:55: error: no matching function for call to ‘rtabmap::Signature::setWords(std::multimap<int, cv::KeyPoint>)’
tmpFrom.setWords(std::multimap<int, cv::KeyPoint>());
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:36:0:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:108:7: note: candidate: void rtabmap::Signature::setWords(const std::multimap<int, int>&, const std::vector<cv::KeyPoint>&, const std::vector<cv::Point3_<float> >&, const cv::Mat&)
void setWords(const std::multimap<int, int> & words, const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & words3, const cv::Mat & descriptors);
^~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:108:7: note: candidate expects 4 arguments, 1 provided
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2758:12: error: ‘class rtabmap::Signature’ has no member named ‘setWords3’; did you mean ‘setWords’?
tmpFrom.setWords3(std::multimap<int, cv::Point3f>());
^~~~~~~~~
setWords
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2759:61: error: no matching function for call to ‘rtabmap::Signature::setWordsDescriptors(std::multimap<int, cv::Mat>)’
tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:36:0:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: candidate: void rtabmap::Signature::setWordsDescriptors(const cv::Mat&)
void setWordsDescriptors(const cv::Mat & descriptors);
^~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: no known conversion for argument 1 from ‘std::multimap<int, cv::Mat>’ to ‘const cv::Mat&’
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2761:53: error: no matching function for call to ‘rtabmap::Signature::setWords(std::multimap<int, cv::KeyPoint>)’
tmpTo.setWords(std::multimap<int, cv::KeyPoint>());
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:36:0:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:108:7: note: candidate: void rtabmap::Signature::setWords(const std::multimap<int, int>&, const std::vector<cv::KeyPoint>&, const std::vector<cv::Point3_<float> >&, const cv::Mat&)
void setWords(const std::multimap<int, int> & words, const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & words3, const cv::Mat & descriptors);
^~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:108:7: note: candidate expects 4 arguments, 1 provided
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2762:10: error: ‘class rtabmap::Signature’ has no member named ‘setWords3’; did you mean ‘setWords’?
tmpTo.setWords3(std::multimap<int, cv::Point3f>());
^~~~~~~~~
setWords
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2763:59: error: no matching function for call to ‘rtabmap::Signature::setWordsDescriptors(std::multimap<int, cv::Mat>)’
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:36:0:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: candidate: void rtabmap::Signature::setWordsDescriptors(const cv::Mat&)
void setWordsDescriptors(const cv::Mat & descriptors);
^~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: no known conversion for argument 1 from ‘std::multimap<int, cv::Mat>’ to ‘const cv::Mat&’
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2769:61: error: no matching function for call to ‘rtabmap::Signature::setWordsDescriptors(std::multimap<int, cv::Mat>)’
tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:36:0:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: candidate: void rtabmap::Signature::setWordsDescriptors(const cv::Mat&)
void setWordsDescriptors(const cv::Mat & descriptors);
^~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: no known conversion for argument 1 from ‘std::multimap<int, cv::Mat>’ to ‘const cv::Mat&’
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2770:59: error: no matching function for call to ‘rtabmap::Signature::setWordsDescriptors(std::multimap<int, cv::Mat>)’
tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:36:0:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: candidate: void rtabmap::Signature::setWordsDescriptors(const cv::Mat&)
void setWordsDescriptors(const cv::Mat & descriptors);
^~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: no known conversion for argument 1 from ‘std::multimap<int, cv::Mat>’ to ‘const cv::Mat&’
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2807:87: error: no matching function for call to ‘uMultimapToMapUnique(const std::vector<cv::Point3_<float> >&)’
const std::map<int, cv::Point3f> & words3 = uMultimapToMapUnique(fromS.getWords3());
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:42:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UStl.h:505:23: note: candidate: template<class K, class V> std::map<K, V> uMultimapToMapUnique(const std::multimap<K, V>&)
inline std::map<K, V> uMultimapToMapUnique(const std::multimap<K, V> & m)
^~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UStl.h:505:23: note: template argument deduction/substitution failed:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2807:87: note: ‘const std::vector<cv::Point3_<float> >’ is not derived from ‘const std::multimap<K, V>’
const std::map<int, cv::Point3f> & words3 = uMultimapToMapUnique(fromS.getWords3());
^
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2814:58: error: no matching function for call to ‘std::multimap<int, cv::KeyPoint>::insert(const std::pair<const int, int>&)’
wordsMap.insert(*fromS.getWords().find(jter->first));
^
In file included from /usr/include/c++/7/map:62:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/ULogger.h:34,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UEventsManager.h:27,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:28:
/usr/include/c++/7/bits/stl_multimap.h:531:7: note: candidate: std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(const value_type&) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator = std::_Rb_tree_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type = std::pair<const int, cv::KeyPoint>]
insert(const value_type& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:531:7: note: no known conversion for argument 1 from ‘const std::pair<const int, int>’ to ‘const value_type& {aka const std::pair<const int, cv::KeyPoint>&}’
/usr/include/c++/7/bits/stl_multimap.h:538:7: note: candidate: std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type&&) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator = std::_Rb_tree_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type = std::pair<const int, cv::KeyPoint>]
insert(value_type&& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:538:7: note: no known conversion for argument 1 from ‘const std::pair<const int, int>’ to ‘std::multimap<int, cv::KeyPoint>::value_type&& {aka std::pair<const int, cv::KeyPoint>&&}’
/usr/include/c++/7/bits/stl_multimap.h:543:2: note: candidate: template<class _Pair> std::__enable_if_t<std::is_constructible<std::pair<const _Key, _Tp>, _Pair>::value, typename std::_Rb_tree<_Key, std::pair<const _Key, _Tp>, std::_Select1st<std::pair<const _Key, _Tp> >, _Compare, typename __gnu_cxx::__alloc_traits<_Allocator>::rebind<std::pair<const _Key, _Tp> >::other>::iterator> std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(_Pair&&) [with _Pair = _Pair; _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >]
insert(_Pair&& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:543:2: note: template argument deduction/substitution failed:
/usr/include/c++/7/bits/stl_multimap.h:571:7: note: candidate: std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator, const value_type&) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator = std::_Rb_tree_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator = std::_Rb_tree_const_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type = std::pair<const int, cv::KeyPoint>]
insert(const_iterator __position, const value_type& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:571:7: note: candidate expects 2 arguments, 1 provided
/usr/include/c++/7/bits/stl_multimap.h:581:7: note: candidate: std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator, std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type&&) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator = std::_Rb_tree_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator = std::_Rb_tree_const_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type = std::pair<const int, cv::KeyPoint>]
insert(const_iterator __position, value_type&& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:581:7: note: candidate expects 2 arguments, 1 provided
/usr/include/c++/7/bits/stl_multimap.h:586:2: note: candidate: template<class _Pair> std::__enable_if_t<std::is_constructible<std::pair<const _Key, _Tp>, _Pair&&>::value, typename std::_Rb_tree<_Key, std::pair<const _Key, _Tp>, std::_Select1st<std::pair<const _Key, _Tp> >, _Compare, typename __gnu_cxx::__alloc_traits<_Allocator>::rebind<std::pair<const _Key, _Tp> >::other>::iterator> std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator, _Pair&&) [with _Pair = _Pair; _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >]
insert(const_iterator __position, _Pair&& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:586:2: note: template argument deduction/substitution failed:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2814:58: note: candidate expects 2 arguments, 1 provided
wordsMap.insert(*fromS.getWords().find(jter->first));
^
In file included from /usr/include/c++/7/map:62:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/ULogger.h:34,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UEventsManager.h:27,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:28:
/usr/include/c++/7/bits/stl_multimap.h:605:2: note: candidate: template<class _InputIterator> void std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(_InputIterator, _InputIterator) [with _InputIterator = _InputIterator; _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >]
insert(_InputIterator __first, _InputIterator __last)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:605:2: note: template argument deduction/substitution failed:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2814:58: note: candidate expects 2 arguments, 1 provided
wordsMap.insert(*fromS.getWords().find(jter->first));
^
In file included from /usr/include/c++/7/map:62:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/ULogger.h:34,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UEventsManager.h:27,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:28:
/usr/include/c++/7/bits/stl_multimap.h:617:7: note: candidate: void std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::initializer_list<std::pair<const _Key, _Tp> >) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >]
insert(initializer_list<value_type> __l)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:617:7: note: no known conversion for argument 1 from ‘const std::pair<const int, int>’ to ‘std::initializer_list<std::pair<const int, cv::KeyPoint> >’
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2815:63: error: ‘const class cv::Mat’ has no member named ‘find’; did you mean ‘inv’?
wordsDescriptorsMap.insert(*fromS.getWordsDescriptors().find(jter->first));
^~~~
inv
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2829:86: error: no matching function for call to ‘uMultimapToMapUnique(const std::vector<cv::Point3_<float> >&)’
const std::map<int, cv::Point3f> & words3 = uMultimapToMapUnique(s->getWords3());
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:42:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UStl.h:505:23: note: candidate: template<class K, class V> std::map<K, V> uMultimapToMapUnique(const std::multimap<K, V>&)
inline std::map<K, V> uMultimapToMapUnique(const std::multimap<K, V> & m)
^~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UStl.h:505:23: note: template argument deduction/substitution failed:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2829:86: note: ‘const std::vector<cv::Point3_<float> >’ is not derived from ‘const std::multimap<K, V>’
const std::map<int, cv::Point3f> & words3 = uMultimapToMapUnique(s->getWords3());
^
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2837:57: error: no matching function for call to ‘std::multimap<int, cv::KeyPoint>::insert(const std::pair<const int, int>&)’
wordsMap.insert(*s->getWords().find(jter->first));
^
In file included from /usr/include/c++/7/map:62:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/ULogger.h:34,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UEventsManager.h:27,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:28:
/usr/include/c++/7/bits/stl_multimap.h:531:7: note: candidate: std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(const value_type&) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator = std::_Rb_tree_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type = std::pair<const int, cv::KeyPoint>]
insert(const value_type& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:531:7: note: no known conversion for argument 1 from ‘const std::pair<const int, int>’ to ‘const value_type& {aka const std::pair<const int, cv::KeyPoint>&}’
/usr/include/c++/7/bits/stl_multimap.h:538:7: note: candidate: std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type&&) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator = std::_Rb_tree_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type = std::pair<const int, cv::KeyPoint>]
insert(value_type&& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:538:7: note: no known conversion for argument 1 from ‘const std::pair<const int, int>’ to ‘std::multimap<int, cv::KeyPoint>::value_type&& {aka std::pair<const int, cv::KeyPoint>&&}’
/usr/include/c++/7/bits/stl_multimap.h:543:2: note: candidate: template<class _Pair> std::__enable_if_t<std::is_constructible<std::pair<const _Key, _Tp>, _Pair>::value, typename std::_Rb_tree<_Key, std::pair<const _Key, _Tp>, std::_Select1st<std::pair<const _Key, _Tp> >, _Compare, typename __gnu_cxx::__alloc_traits<_Allocator>::rebind<std::pair<const _Key, _Tp> >::other>::iterator> std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(_Pair&&) [with _Pair = _Pair; _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >]
insert(_Pair&& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:543:2: note: template argument deduction/substitution failed:
/usr/include/c++/7/bits/stl_multimap.h:571:7: note: candidate: std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator, const value_type&) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator = std::_Rb_tree_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator = std::_Rb_tree_const_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type = std::pair<const int, cv::KeyPoint>]
insert(const_iterator __position, const value_type& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:571:7: note: candidate expects 2 arguments, 1 provided
/usr/include/c++/7/bits/stl_multimap.h:581:7: note: candidate: std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator, std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type&&) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::iterator = std::_Rb_tree_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator = std::_Rb_tree_const_iterator<std::pair<const int, cv::KeyPoint> >; std::multimap<_Key, _Tp, _Compare, _Alloc>::value_type = std::pair<const int, cv::KeyPoint>]
insert(const_iterator __position, value_type&& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:581:7: note: candidate expects 2 arguments, 1 provided
/usr/include/c++/7/bits/stl_multimap.h:586:2: note: candidate: template<class _Pair> std::__enable_if_t<std::is_constructible<std::pair<const _Key, _Tp>, _Pair&&>::value, typename std::_Rb_tree<_Key, std::pair<const _Key, _Tp>, std::_Select1st<std::pair<const _Key, _Tp> >, _Compare, typename __gnu_cxx::__alloc_traits<_Allocator>::rebind<std::pair<const _Key, _Tp> >::other>::iterator> std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::multimap<_Key, _Tp, _Compare, _Alloc>::const_iterator, _Pair&&) [with _Pair = _Pair; _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >]
insert(const_iterator __position, _Pair&& __x)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:586:2: note: template argument deduction/substitution failed:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2837:57: note: candidate expects 2 arguments, 1 provided
wordsMap.insert(*s->getWords().find(jter->first));
^
In file included from /usr/include/c++/7/map:62:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/ULogger.h:34,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UEventsManager.h:27,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:28:
/usr/include/c++/7/bits/stl_multimap.h:605:2: note: candidate: template<class _InputIterator> void std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(_InputIterator, _InputIterator) [with _InputIterator = _InputIterator; _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >]
insert(_InputIterator __first, _InputIterator __last)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:605:2: note: template argument deduction/substitution failed:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2837:57: note: candidate expects 2 arguments, 1 provided
wordsMap.insert(*s->getWords().find(jter->first));
^
In file included from /usr/include/c++/7/map:62:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/ULogger.h:34,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UEventsManager.h:27,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:28:
/usr/include/c++/7/bits/stl_multimap.h:617:7: note: candidate: void std::multimap<_Key, _Tp, _Compare, _Alloc>::insert(std::initializer_list<std::pair<const _Key, _Tp> >) [with _Key = int; _Tp = cv::KeyPoint; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cv::KeyPoint> >]
insert(initializer_list<value_type> __l)
^~~~~~
/usr/include/c++/7/bits/stl_multimap.h:617:7: note: no known conversion for argument 1 from ‘const std::pair<const int, int>’ to ‘std::initializer_list<std::pair<const int, cv::KeyPoint> >’
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2838:62: error: ‘const class cv::Mat’ has no member named ‘find’; did you mean ‘inv’?
wordsDescriptorsMap.insert(*s->getWordsDescriptors().find(jter->first));
^~~~
inv
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2846:13: error: ‘class rtabmap::Signature’ has no member named ‘setWords3’; did you mean ‘setWords’?
tmpFrom2.setWords3(words3DMap);
^~~~~~~~~
setWords
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2847:30: error: no matching function for call to ‘rtabmap::Signature::setWords(std::multimap<int, cv::KeyPoint>&)’
tmpFrom2.setWords(wordsMap);
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:36:0:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:108:7: note: candidate: void rtabmap::Signature::setWords(const std::multimap<int, int>&, const std::vector<cv::KeyPoint>&, const std::vector<cv::Point3_<float> >&, const cv::Mat&)
void setWords(const std::multimap<int, int> & words, const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & words3, const cv::Mat & descriptors);
^~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:108:7: note: candidate expects 4 arguments, 1 provided
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2848:52: error: no matching function for call to ‘rtabmap::Signature::setWordsDescriptors(std::multimap<int, cv::Mat>&)’
tmpFrom2.setWordsDescriptors(wordsDescriptorsMap);
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:36:0:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: candidate: void rtabmap::Signature::setWordsDescriptors(const cv::Mat&)
void setWordsDescriptors(const cv::Mat & descriptors);
^~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Signature.h:116:7: note: no known conversion for argument 1 from ‘std::multimap<int, cv::Mat>’ to ‘const cv::Mat&’
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2854:87: error: no matching function for call to ‘uMultimapToMapUnique(const std::vector<cv::Point3_<float> >&)’
std::map<int, cv::Point3f> points3DMap = uMultimapToMapUnique(tmpFrom2.getWords3());
^
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:42:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UStl.h:505:23: note: candidate: template<class K, class V> std::map<K, V> uMultimapToMapUnique(const std::multimap<K, V>&)
inline std::map<K, V> uMultimapToMapUnique(const std::multimap<K, V> & m)
^~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/utilite/include/rtabmap/utilite/UStl.h:505:23: note: template argument deduction/substitution failed:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2854:87: note: ‘const std::vector<cv::Point3_<float> >’ is not derived from ‘const std::multimap<K, V>’
std::map<int, cv::Point3f> points3DMap = uMultimapToMapUnique(tmpFrom2.getWords3());
^
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2916:71: error: invalid initialization of reference of type ‘const std::map<int, cv::KeyPoint>&’ from expression of type ‘std::map<int, int>’
const std::map<int,cv::KeyPoint> & words = uMultimapToMapUnique(s->getWords());
~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:2922:80: error: ‘const class std::vector<cv::Point3_<float> >’ has no member named ‘find’; did you mean ‘cend’?
std::multimap<int, cv::Point3f>::const_iterator kter = s->getWords3().find(jter->first);
^~~~
cend
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Rtabmap.cpp: In constructor ‘rtabmap::Rtabmap::Rtabmap()’:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Rtabmap.cpp:128:2: error: class ‘rtabmap::Rtabmap’ does not have any field named ‘_savedLocalizationIgnored’
_savedLocalizationIgnored(Parameters::defaultRGBDSavedLocalizationIgnored()),
^~~~~~~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Rtabmap.cpp:128:40: error: ‘defaultRGBDSavedLocalizationIgnored’ is not a member of ‘rtabmap::Parameters’
_savedLocalizationIgnored(Parameters::defaultRGBDSavedLocalizationIgnored()),
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Rtabmap.cpp: In member function ‘void rtabmap::Rtabmap::init(const ParametersMap&, const string&, bool)’:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Rtabmap.cpp:341:6: error: ‘_savedLocalizationIgnored’ was not declared in this scope
if(_savedLocalizationIgnored)
^~~~~~~~~~~~~~~~~~~~~~~~~
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp: In member function ‘rtabmap::Transform rtabmap::Memory::computeIcpTransformMulti(int, int, const std::map<int, rtabmap::Transform>&, rtabmap::RegistrationInfo*)’:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:3173:152: error: no match for ‘operator=’ (operand types are ‘cv::Mat’ and ‘rtabmap::LaserScan’)
assembledScan = fromScan.is2d()?util3d::laserScan2dFromPointCloud(*assembledToNormalClouds):util3d::laserScanFromPointCloud(*assembledToNormalClouds);
^
In file included from /usr/local/include/opencv2/core/mat.hpp:3764:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/SensorData.h:32,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:35,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:790:6: note: candidate: cv::Mat& cv::Mat::operator=(const cv::Mat&)
Mat& Mat::operator = (const Mat& m)
^~~
/usr/local/include/opencv2/core/mat.inl.hpp:790:6: note: no known conversion for argument 1 from ‘rtabmap::LaserScan’ to ‘const cv::Mat&’
In file included from /usr/local/include/opencv2/core/mat.hpp:3764:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/SensorData.h:32,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:35,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:3429:6: note: candidate: cv::Mat& cv::Mat::operator=(const cv::MatExpr&)
Mat& Mat::operator = (const MatExpr& e)
^~~
/usr/local/include/opencv2/core/mat.inl.hpp:3429:6: note: no known conversion for argument 1 from ‘rtabmap::LaserScan’ to ‘const cv::MatExpr&’
In file included from /usr/local/include/opencv2/core.hpp:59:0,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/SensorData.h:32,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:35,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/usr/local/include/opencv2/core/mat.hpp:1258:10: note: candidate: cv::Mat& cv::Mat::operator=(const Scalar&)
Mat& operator = (const Scalar& s);
^~~~~~~~
/usr/local/include/opencv2/core/mat.hpp:1258:10: note: no known conversion for argument 1 from ‘rtabmap::LaserScan’ to ‘const Scalar& {aka const cv::Scalar_<double>&}’
In file included from /usr/local/include/opencv2/core/mat.hpp:3764:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/SensorData.h:32,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:35,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:1464:6: note: candidate: cv::Mat& cv::Mat::operator=(cv::Mat&&)
Mat& Mat::operator = (Mat&& m)
^~~
/usr/local/include/opencv2/core/mat.inl.hpp:1464:6: note: no known conversion for argument 1 from ‘rtabmap::LaserScan’ to ‘cv::Mat&&’
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:3177:140: error: no match for ‘operator=’ (operand types are ‘cv::Mat’ and ‘rtabmap::LaserScan’)
assembledScan = fromScan.is2d()?util3d::laserScan2dFromPointCloud(*assembledToClouds):util3d::laserScanFromPointCloud(*assembledToClouds);
^
In file included from /usr/local/include/opencv2/core/mat.hpp:3764:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/SensorData.h:32,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:35,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:790:6: note: candidate: cv::Mat& cv::Mat::operator=(const cv::Mat&)
Mat& Mat::operator = (const Mat& m)
^~~
/usr/local/include/opencv2/core/mat.inl.hpp:790:6: note: no known conversion for argument 1 from ‘rtabmap::LaserScan’ to ‘const cv::Mat&’
In file included from /usr/local/include/opencv2/core/mat.hpp:3764:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/SensorData.h:32,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:35,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:3429:6: note: candidate: cv::Mat& cv::Mat::operator=(const cv::MatExpr&)
Mat& Mat::operator = (const MatExpr& e)
^~~
/usr/local/include/opencv2/core/mat.inl.hpp:3429:6: note: no known conversion for argument 1 from ‘rtabmap::LaserScan’ to ‘const cv::MatExpr&’
In file included from /usr/local/include/opencv2/core.hpp:59:0,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/SensorData.h:32,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:35,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/usr/local/include/opencv2/core/mat.hpp:1258:10: note: candidate: cv::Mat& cv::Mat::operator=(const Scalar&)
Mat& operator = (const Scalar& s);
^~~~~~~~
/usr/local/include/opencv2/core/mat.hpp:1258:10: note: no known conversion for argument 1 from ‘rtabmap::LaserScan’ to ‘const Scalar& {aka const cv::Scalar_<double>&}’
In file included from /usr/local/include/opencv2/core/mat.hpp:3764:0,
from /usr/local/include/opencv2/core.hpp:59,
from /usr/local/include/opencv2/core/core.hpp:48,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/SensorData.h:32,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/../include/rtabmap/core/Memory.h:35,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:35:
/usr/local/include/opencv2/core/mat.inl.hpp:1464:6: note: candidate: cv::Mat& cv::Mat::operator=(cv::Mat&&)
Mat& Mat::operator = (Mat&& m)
^~~
/usr/local/include/opencv2/core/mat.inl.hpp:1464:6: note: no known conversion for argument 1 from ‘rtabmap::LaserScan’ to ‘cv::Mat&&’
/home/zxn/dev/active_slam_v/src/active_v_slam-master/rtabmap/corelib/src/Memory.cpp:3181:154: error: no match for ‘operator=’ (operand types are ‘cv::Mat’ and ‘rtabmap::LaserScan’)
Can you help me? Thanks
Hi @eliabntt, thanks for open sourcing this amazing work!
I have successfully built the entire set up required to run the irotate simulation on ROS Melodic (Ubuntu 18.04)
But when I try to run the simulation, I get the following error whenI try to alunch the rtabmap launch file using roslaunch robotino_simulations rtabmap.launch delete:=-d.
marmot@Cadence:~/irotate_ws/src/rtabmap/build$ roslaunch robotino_simulations rtabmap.launch delete:=-d
... logging to /home/marmot/.ros/log/1b2cabde-ebbd-11ec-9993-000ec666185a/roslaunch-Cadence-5031.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://Cadence:41029/
SUMMARY
========
PARAMETERS
* /camera_height: 0.85
* /depth: 4
* /feat_based: False
* /fov: 69.4
* /max_feat_dist: 10
* /move_base/GlobalPlanner/allow_unknown: False
* /move_base/GlobalPlanner/clearing_rotation_allowed: False
* /move_base/GlobalPlanner/cost_factor: 1
* /move_base/GlobalPlanner/default_tolerance: 0.5
* /move_base/GlobalPlanner/lethal_cost: 180
* /move_base/GlobalPlanner/max_planning_retries: 10
* /move_base/GlobalPlanner/neutral_cost: 50
* /move_base/GlobalPlanner/old_navfn_behavior: False
* /move_base/GlobalPlanner/orientation_window_size: 255
* /move_base/GlobalPlanner/oscillation_timeout: 5.0
* /move_base/GlobalPlanner/planner_costmap_publish_frequency: 0.0
* /move_base/GlobalPlanner/planner_window_x: 0.0
* /move_base/GlobalPlanner/planner_window_y: 0.0
* /move_base/GlobalPlanner/publish_scale: 100
* /move_base/GlobalPlanner/recovery_behaviour_enabled: False
* /move_base/GlobalPlanner/track_unknown_space: True
* /move_base/GlobalPlanner/use_dijkstra: True
* /move_base/GlobalPlanner/use_grid_path: False
* /move_base/GlobalPlanner/use_quadratic: True
* /move_base/base_global_planner: global_planner/Gl...
* /move_base/global_costmap/first_map_only: False
* /move_base/global_costmap/fotprint_padding: 0.02
* /move_base/global_costmap/global_frame: map
* /move_base/global_costmap/height: 100.0
* /move_base/global_costmap/inflation_layer/cost_scaling_factor: 2
* /move_base/global_costmap/inflation_layer/inflate_unknown: False
* /move_base/global_costmap/inflation_layer/inflation_radius: 2
* /move_base/global_costmap/map_type: voxel
* /move_base/global_costmap/obstacle_layer/combination_method: 1
* /move_base/global_costmap/obstacle_layer/laser/clearing: True
* /move_base/global_costmap/obstacle_layer/laser/data_type: LaserScan
* /move_base/global_costmap/obstacle_layer/laser/marking: True
* /move_base/global_costmap/obstacle_layer/laser/max_obstacle_height: 50
* /move_base/global_costmap/obstacle_layer/laser/min_obstacle_height: 0
* /move_base/global_costmap/obstacle_layer/laser/sensor_frame: lasersensor_link
* /move_base/global_costmap/obstacle_layer/laser/topic: /robot/laser/scan
* /move_base/global_costmap/obstacle_layer/lethal_cost_threshold: 80
* /move_base/global_costmap/obstacle_layer/mark_threshold: 0
* /move_base/global_costmap/obstacle_layer/observation_sources: laser
* /move_base/global_costmap/obstacle_layer/publish_voxel_map: False
* /move_base/global_costmap/obstacle_layer/track_unknown_space: True
* /move_base/global_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/global_costmap/obstacle_range: 15
* /move_base/global_costmap/plugins: [{'type': 'costma...
* /move_base/global_costmap/publish_frequency: 20.0
* /move_base/global_costmap/raytrace_range: 3
* /move_base/global_costmap/resolution: 0.05
* /move_base/global_costmap/robot_base_frame: base_link
* /move_base/global_costmap/robot_radius: 0.22
* /move_base/global_costmap/rolling_window: True
* /move_base/global_costmap/static_layer/enabled: True
* /move_base/global_costmap/static_layer/map_topic: /rtabmap/proj_map
* /move_base/global_costmap/static_layer/subscribe_to_updates: True
* /move_base/global_costmap/static_map: False
* /move_base/global_costmap/track_unknown_space: True
* /move_base/global_costmap/transform_tolerance: 1
* /move_base/global_costmap/update_frequency: 2.0
* /move_base/global_costmap/width: 100.0
* /move_base/local_costmap/fotprint_padding: 0.02
* /move_base/local_costmap/global_frame: odom
* /move_base/local_costmap/height: 6
* /move_base/local_costmap/inflation_layer/cost_scaling_factor: 2
* /move_base/local_costmap/inflation_layer/inflate_unknown: False
* /move_base/local_costmap/inflation_layer/inflation_radius: 0.4
* /move_base/local_costmap/map_type: voxel
* /move_base/local_costmap/obstacle_layer/combination_method: 1
* /move_base/local_costmap/obstacle_layer/cost_scaling_factor: 0.1
* /move_base/local_costmap/obstacle_layer/inflation_radius: 0.1
* /move_base/local_costmap/obstacle_layer/laser/clearing: True
* /move_base/local_costmap/obstacle_layer/laser/data_type: LaserScan
* /move_base/local_costmap/obstacle_layer/laser/marking: True
* /move_base/local_costmap/obstacle_layer/laser/max_obstacle_height: 50
* /move_base/local_costmap/obstacle_layer/laser/min_obstacle_height: 0
* /move_base/local_costmap/obstacle_layer/laser/sensor_frame: lasersensor_link
* /move_base/local_costmap/obstacle_layer/laser/topic: /robot/laser/scan
* /move_base/local_costmap/obstacle_layer/lethal_cost_threshold: 80
* /move_base/local_costmap/obstacle_layer/mark_threshold: 0
* /move_base/local_costmap/obstacle_layer/observation_sources: laser
* /move_base/local_costmap/obstacle_layer/publish_voxel_map: False
* /move_base/local_costmap/obstacle_layer/track_unknown_space: True
* /move_base/local_costmap/obstacle_layer/unknown_threshold: 15
* /move_base/local_costmap/obstacle_range: 3.5
* /move_base/local_costmap/plugins: [{'type': 'costma...
* /move_base/local_costmap/publish_frequency: 10.0
* /move_base/local_costmap/raytrace_range: 4.0
* /move_base/local_costmap/resolution: 0.05
* /move_base/local_costmap/robot_base_frame: base_link
* /move_base/local_costmap/robot_radius: 0.22
* /move_base/local_costmap/rolling_window: True
* /move_base/local_costmap/static_layer/enabled: True
* /move_base/local_costmap/static_layer/map_topic: map
* /move_base/local_costmap/static_layer/subscribe_to_updates: True
* /move_base/local_costmap/static_map: False
* /move_base/local_costmap/transform_tolerance: 1
* /move_base/local_costmap/update_frequency: 10.0
* /move_base/local_costmap/width: 6
* /move_base/make_plan_clear_costmap: False
* /rosdistro: melodic
* /rosversion: 1.14.13
* /rtabmap/icp_odometry/Odom/GuessMotion: true
* /rtabmap/icp_odometry/Odom/ResetCountdown: 10
* /rtabmap/icp_odometry/Odom/ScanKeyFrameThr: 0.95
* /rtabmap/icp_odometry/Odom/Strategy: 0
* /rtabmap/icp_odometry/frame_id: base_link
* /rtabmap/icp_odometry/publish_tf: False
* /rtabmap/icp_odometry/queue_size: 1
* /rtabmap/rgbd_sync/approx_sync: False
* /rtabmap/rtabmap/GFTT/BlockSize: 4
* /rtabmap/rtabmap/GFTT/K: 0.04
* /rtabmap/rtabmap/GFTT/MinDistance: 5
* /rtabmap/rtabmap/GFTT/QualityLevel: 0.005
* /rtabmap/rtabmap/GFTT/UseHarrisDetector: false
* /rtabmap/rtabmap/Grid/3D: true
* /rtabmap/rtabmap/Grid/CellSize: 0.05
* /rtabmap/rtabmap/Grid/ClusterRadius: 0.05
* /rtabmap/rtabmap/Grid/DepthDecimation: 1.0
* /rtabmap/rtabmap/Grid/FootprintHeight: 0.8
* /rtabmap/rtabmap/Grid/FootprintLength: 0.4
* /rtabmap/rtabmap/Grid/FootprintWidth: 0.4
* /rtabmap/rtabmap/Grid/FromDepth: true
* /rtabmap/rtabmap/Grid/MaxGroundAngle: 45.0
* /rtabmap/rtabmap/Grid/MaxGroundHeight: 0.1
* /rtabmap/rtabmap/Grid/MaxObstacleHeight: 1.5
* /rtabmap/rtabmap/Grid/MinClusterSize: 10.0
* /rtabmap/rtabmap/Grid/MinGroundHeight: -0.05
* /rtabmap/rtabmap/Grid/NoiseFilteringMinNeighbors: 5.0
* /rtabmap/rtabmap/Grid/NoiseFilteringRadius: 0.1
* /rtabmap/rtabmap/Grid/NormalK: 15.0
* /rtabmap/rtabmap/Grid/NormalsSegmentation: false
* /rtabmap/rtabmap/Grid/RangeMax: 4.0
* /rtabmap/rtabmap/Grid/RangeMin: 0.4
* /rtabmap/rtabmap/Grid/RayTracing: true
* /rtabmap/rtabmap/Grid/ScanDecimation: 0
* /rtabmap/rtabmap/GridGlobal/FootprintRadius: 0.0
* /rtabmap/rtabmap/GridGlobal/MaxNodes: 0
* /rtabmap/rtabmap/GridGlobal/MinSize: 30
* /rtabmap/rtabmap/GridGlobal/OccupancyThr: 0.55
* /rtabmap/rtabmap/GridGlobal/ProbClampingMax: 0.999
* /rtabmap/rtabmap/GridGlobal/ProbClampingMin: 0.001
* /rtabmap/rtabmap/GridGlobal/ProbHit: 0.8
* /rtabmap/rtabmap/GridGlobal/ProbMiss: 0.4
* /rtabmap/rtabmap/GridGlobal/UpdateError: 0.05
* /rtabmap/rtabmap/Icp/CorrespondenceRatio: 0.2
* /rtabmap/rtabmap/Icp/DownsamplingStep: 1
* /rtabmap/rtabmap/Icp/Epsilon: 0.00001
* /rtabmap/rtabmap/Icp/MaxCorrespondenceDistance: 0.05
* /rtabmap/rtabmap/Icp/MaxRotation: 0.3
* /rtabmap/rtabmap/Icp/MaxTranslation: 0.05
* /rtabmap/rtabmap/Icp/PM: true
* /rtabmap/rtabmap/Icp/PMOutlierRatio: 0.9
* /rtabmap/rtabmap/Icp/PointToPlane: false
* /rtabmap/rtabmap/Icp/PointToPlaneK: 5
* /rtabmap/rtabmap/Icp/PointToPlaneRadius: 0.5
* /rtabmap/rtabmap/Icp/RangeMin: 0.4
* /rtabmap/rtabmap/Icp/VoxelSize: 0.0
* /rtabmap/rtabmap/Kp/BadSignRatio: 0.4
* /rtabmap/rtabmap/Kp/DetectorStrategy: 6
* /rtabmap/rtabmap/Kp/MaxDepth: 0.0
* /rtabmap/rtabmap/Kp/MaxFeatures: 500
* /rtabmap/rtabmap/Kp/MinDepth: 0.4
* /rtabmap/rtabmap/Kp/SubPixIterations: 2
* /rtabmap/rtabmap/Mem/BadignaturesIgnored: false
* /rtabmap/rtabmap/Mem/DepthAsMask: true
* /rtabmap/rtabmap/Mem/ImagePostDecimation: 2.0
* /rtabmap/rtabmap/Mem/ImagePreDecimation: 2.0
* /rtabmap/rtabmap/Mem/NotLinkedNodesKept: false
* /rtabmap/rtabmap/Mem/RawDescriptorsKept: False
* /rtabmap/rtabmap/Mem/RecentWmRatio: 0.2
* /rtabmap/rtabmap/Mem/ReduceGraph: True
* /rtabmap/rtabmap/Mem/STMSize: 30
* /rtabmap/rtabmap/ORB/Gpu: True
* /rtabmap/rtabmap/Optimizer/LadmarksIgnored: true
* /rtabmap/rtabmap/Optimizer/Robust: false
* /rtabmap/rtabmap/Optimizer/Strategy: 2
* /rtabmap/rtabmap/RGBD/AngularUpdate: 0.1
* /rtabmap/rtabmap/RGBD/LinearUpdate: 0.1
* /rtabmap/rtabmap/RGBD/LocalBundleOnLoopClosure: False
* /rtabmap/rtabmap/RGBD/LocalImmunizationRatio: 0.4
* /rtabmap/rtabmap/RGBD/LocalRadius: 5
* /rtabmap/rtabmap/RGBD/LoopClosureReextractFeatures: False
* /rtabmap/rtabmap/RGBD/MaxLocalRetrieved: 10
* /rtabmap/rtabmap/RGBD/MaxLoopClosureDistance: 2
* /rtabmap/rtabmap/RGBD/NeighborLinkRefining: false
* /rtabmap/rtabmap/RGBD/NewMapOdomChangeDistance: 2
* /rtabmap/rtabmap/RGBD/OptimizeFromGraphEnd: false
* /rtabmap/rtabmap/RGBD/OptimizeMaxError: 3.0
* /rtabmap/rtabmap/RGBD/ProximityAngle: 359
* /rtabmap/rtabmap/RGBD/ProximityBySpace: True
* /rtabmap/rtabmap/RGBD/ProximityMaxGraphDepth: 50
* /rtabmap/rtabmap/RGBD/ProximityMaxPaths: 4
* /rtabmap/rtabmap/RGBD/ProximityOdomGuess: false
* /rtabmap/rtabmap/RGBD/ProximityPathFilteringRadius: 1
* /rtabmap/rtabmap/RGBD/ProximityPathMaxNeighbors: 50
* /rtabmap/rtabmap/RGBD/SavedLocalizationIgnored: True
* /rtabmap/rtabmap/Reg/Force3DoF: true
* /rtabmap/rtabmap/Reg/RepeatOnce: false
* /rtabmap/rtabmap/Reg/Strategy: 2
* /rtabmap/rtabmap/Rtabmap/DetectionRate: 2
* /rtabmap/rtabmap/Rtabmap/ImageBufferSize: 2.0
* /rtabmap/rtabmap/Rtabmap/MaxRetrieved: 20
* /rtabmap/rtabmap/Rtabmap/MemoryThr: 0
* /rtabmap/rtabmap/Rtabmap/StartNewMapOnLoopClosure: False
* /rtabmap/rtabmap/Rtabmap/TimeThr: 500
* /rtabmap/rtabmap/Rtabmap/scan_range_min: 0.3
* /rtabmap/rtabmap/Vis/DepthAsMask: true
* /rtabmap/rtabmap/Vis/EpipolarGeometryVar: 0.5
* /rtabmap/rtabmap/Vis/FeatureType: 6
* /rtabmap/rtabmap/Vis/InlierDistance: 0.5
* /rtabmap/rtabmap/Vis/MaxDepth: 0
* /rtabmap/rtabmap/Vis/MaxFeatures: 500
* /rtabmap/rtabmap/Vis/MinDepth: 0.4
* /rtabmap/rtabmap/Vis/MinInliers: 15
* /rtabmap/rtabmap/Vis/PnPRefineIterations: 5
* /rtabmap/rtabmap/Vis/PnPReprojError: 10
* /rtabmap/rtabmap/Vis/SubPixIterations: 0
* /rtabmap/rtabmap/Vis/SubPixWinSize: 3
* /rtabmap/rtabmap/approx_sync: True
* /rtabmap/rtabmap/database_path: rtabmap.db
* /rtabmap/rtabmap/frame_id: base_link
* /rtabmap/rtabmap/g2o/Optimizer: 0
* /rtabmap/rtabmap/ground_truth_base_frame_id: base_footprint_gt
* /rtabmap/rtabmap/ground_truth_frame_id: world
* /rtabmap/rtabmap/map_always_update: False
* /rtabmap/rtabmap/map_filter_angle: 20.0
* /rtabmap/rtabmap/map_filter_radius: 0.3
* /rtabmap/rtabmap/odom_sensor_sync: True
* /rtabmap/rtabmap/publish_tf: True
* /rtabmap/rtabmap/queue_size: 30
* /rtabmap/rtabmap/rtabmap/scan_range_min: 0.3
* /rtabmap/rtabmap/rtabmap_ros/scan_range_min: 0.3
* /rtabmap/rtabmap/scan_range_min: 0.3
* /rtabmap/rtabmap/subscribe_depth: False
* /rtabmap/rtabmap/subscribe_rgb: False
* /rtabmap/rtabmap/subscribe_rgbd: True
* /rtabmap/rtabmap/subscribe_scan: True
* /rtabmap/rtabmap/wait_for_transform_duration: 0.1
* /rtabmap/use_sim_time: True
* /standalone_converter/converter_plugin: costmap_converter...
* /standalone_converter/costmap_topic: /move_base/local_...
* /standalone_converter/min_area: 8
* /standalone_converter/odom_topic: /odometry/filtered
* /use_sim_time: True
NODES
/
move_base (move_base/move_base)
standalone_converter (costmap_converter/standalone_converter)
standalone_nodelet (nodelet/nodelet)
/rtabmap/
icp_odometry (rtabmap_ros/icp_odometry)
rgbd_sync (nodelet/nodelet)
rtabmap (rtabmap_ros/rtabmap)
auto-starting new master
process[master]: started with pid [5056]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 1b2cabde-ebbd-11ec-9993-000ec666185a
process[rosout-1]: started with pid [5083]
started core service [/rosout]
process[rtabmap/rgbd_sync-2]: started with pid [5091]
type is rtabmap_ros/rgbd_sync
process[rtabmap/rtabmap-3]: started with pid [5092]
process[rtabmap/icp_odometry-4]: started with pid [5097]
process[standalone_nodelet-5]: started with pid [5099]
process[move_base-6]: started with pid [5100]
process[standalone_converter-7]: started with pid [5101]
[ INFO] [1655195798.456007473]: Initializing nodelet with 16 worker threads.
[ INFO] [1655195798.597252807]: Starting node...
[ INFO] [1655195798.638022627]: Initializing nodelet with 16 worker threads.
[ INFO] [1655195798.639833225]: /rtabmap/rgbd_sync: approx_sync = false
[ INFO] [1655195798.641474827]: /rtabmap/rgbd_sync: queue_size = 10
[ INFO] [1655195798.641538336]: /rtabmap/rgbd_sync: depth_scale = 1.000000
[ INFO] [1655195798.641553535]: /rtabmap/rgbd_sync: decimation = 1
[ INFO] [1655195798.641566779]: /rtabmap/rgbd_sync: compressed_rate = 0.000000
[ INFO] [1655195798.648074425]:
/rtabmap/rgbd_sync subscribed to (exact sync):
/camera2/color/image_raw \
/camera2/depth/image_raw \
/camera2/color/camera_info
[ INFO] [1655195798.705075952]: /rtabmap/rtabmap(maps): map_filter_radius = 0.300000
[ INFO] [1655195798.705103533]: /rtabmap/rtabmap(maps): map_filter_angle = 20.000000
[ INFO] [1655195798.705114103]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1655195798.705124002]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1655195798.705133119]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1655195798.705142977]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1655195798.705158316]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1655195798.705169357]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1655195798.711765379]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1655195798.727564896]: rtabmap: frame_id = base_link
[ INFO] [1655195798.727596145]: rtabmap: ground_truth_frame_id = world -> ground_truth_base_frame_id = base_footprint_gt
[ INFO] [1655195798.727615832]: rtabmap: map_frame_id = map
[ INFO] [1655195798.727634677]: rtabmap: use_action_for_goal = false
[ INFO] [1655195798.727653152]: rtabmap: tf_delay = 0.050000
[ INFO] [1655195798.727671065]: rtabmap: tf_tolerance = 0.100000
[ INFO] [1655195798.727688759]: rtabmap: odom_sensor_sync = true
[ INFO] [1655195798.788500309]: Setting RTAB-Map parameter "GFTT/BlockSize"="4"
[ INFO] [1655195798.788976643]: Setting RTAB-Map parameter "GFTT/K"="0.04"
[ INFO] [1655195798.789431306]: Setting RTAB-Map parameter "GFTT/MinDistance"="5"
[ INFO] [1655195798.789936364]: Setting RTAB-Map parameter "GFTT/QualityLevel"="0.005"
[ INFO] [1655195798.790409994]: Setting RTAB-Map parameter "GFTT/UseHarrisDetector"="false"
[ INFO] [1655195798.796186236]: Setting RTAB-Map parameter "Grid/3D"="true"
[ INFO] [1655195798.797661055]: Setting RTAB-Map parameter "Grid/CellSize"="0.05"
[ INFO] [1655195798.799083124]: Setting RTAB-Map parameter "Grid/ClusterRadius"="0.05"
[ INFO] [1655195798.800546842]: Setting RTAB-Map parameter "Grid/DepthDecimation"="1"
[ INFO] [1655195798.804766903]: Setting RTAB-Map parameter "Grid/FootprintHeight"="0.8"
[ INFO] [1655195798.805860145]: Setting RTAB-Map parameter "Grid/FootprintLength"="0.4"
[ INFO] [1655195798.806835536]: Setting RTAB-Map parameter "Grid/FootprintWidth"="0.4"
[ INFO] [1655195798.807138485]: Setting RTAB-Map parameter "Grid/FromDepth"="true"
[ INFO] [1655195798.810554567]: Setting RTAB-Map parameter "Grid/MaxGroundAngle"="45"
[ INFO] [1655195798.811596433]: Setting RTAB-Map parameter "Grid/MaxGroundHeight"="0.1"
[ INFO] [1655195798.812479871]: Setting RTAB-Map parameter "Grid/MaxObstacleHeight"="1.5"
[ INFO] [1655195798.813452938]: Setting RTAB-Map parameter "Grid/MinClusterSize"="10"
[ INFO] [1655195798.814397521]: Setting RTAB-Map parameter "Grid/MinGroundHeight"="-0.05"
[ INFO] [1655195798.815310234]: Setting RTAB-Map parameter "Grid/NoiseFilteringMinNeighbors"="5"
[ INFO] [1655195798.816292207]: Setting RTAB-Map parameter "Grid/NoiseFilteringRadius"="0.1"
[ INFO] [1655195798.817372185]: Setting RTAB-Map parameter "Grid/NormalK"="15"
[ INFO] [1655195798.817761015]: Setting RTAB-Map parameter "Grid/NormalsSegmentation"="false"
[ INFO] [1655195798.820350335]: Setting RTAB-Map parameter "Grid/RangeMax"="4"
[ INFO] [1655195798.821291712]: Setting RTAB-Map parameter "Grid/RangeMin"="0.4"
[ INFO] [1655195798.821614558]: Setting RTAB-Map parameter "Grid/RayTracing"="true"
[ INFO] [1655195798.823186359]: Setting RTAB-Map parameter "Grid/ScanDecimation"="0"
[ INFO] [1655195798.825371921]: Setting RTAB-Map parameter "GridGlobal/FootprintRadius"="0"
[ INFO] [1655195798.827218968]: Setting RTAB-Map parameter "GridGlobal/MaxNodes"="0"
[ INFO] [1655195798.827458257]: Setting RTAB-Map parameter "GridGlobal/MinSize"="30"
[ INFO] [1655195798.828435402]: Setting RTAB-Map parameter "GridGlobal/OccupancyThr"="0.55"
[ INFO] [1655195798.829385525]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMax"="0.999"
[ INFO] [1655195798.830445525]: Setting RTAB-Map parameter "GridGlobal/ProbClampingMin"="0.001"
[ INFO] [1655195798.831317351]: Setting RTAB-Map parameter "GridGlobal/ProbHit"="0.8"
[ INFO] [1655195798.832263858]: Setting RTAB-Map parameter "GridGlobal/ProbMiss"="0.4"
[ INFO] [1655195798.833193994]: Setting RTAB-Map parameter "GridGlobal/UpdateError"="0.05"
[ INFO] [1655195798.833513915]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.2"
[ INFO] [1655195798.833829727]: Setting RTAB-Map parameter "Icp/DownsamplingStep"="1"
[ INFO] [1655195798.834149137]: Setting RTAB-Map parameter "Icp/Epsilon"="0.00001"
[ INFO] [1655195798.835825514]: Setting RTAB-Map parameter "Icp/MaxCorrespondenceDistance"="0.05"
[ INFO] [1655195798.836979179]: Setting RTAB-Map parameter "Icp/MaxRotation"="0.3"
[ INFO] [1655195798.838119269]: Setting RTAB-Map parameter "Icp/MaxTranslation"="0.05"
[ INFO] [1655195798.838497600]: Setting RTAB-Map parameter "Icp/PM"="true"
[ INFO] [1655195798.843609595]: Setting RTAB-Map parameter "Icp/PMOutlierRatio"="0.9"
[ INFO] [1655195798.844078255]: Setting RTAB-Map parameter "Icp/PointToPlane"="false"
[ INFO] [1655195798.844483977]: Setting RTAB-Map parameter "Icp/PointToPlaneK"="5"
[ INFO] [1655195798.846402718]: Setting RTAB-Map parameter "Icp/PointToPlaneRadius"="0.5"
[ INFO] [1655195798.849181745]: Setting RTAB-Map parameter "Icp/RangeMin"="0.4"
[ INFO] [1655195798.849645375]: Setting RTAB-Map parameter "Icp/VoxelSize"="0.0"
[ INFO] [1655195798.867756021]: Setting RTAB-Map parameter "Kp/BadSignRatio"="0.4"
[ INFO] [1655195798.868083416]: Setting RTAB-Map parameter "Kp/DetectorStrategy"="6"
[ INFO] [1655195798.878715774]: Setting RTAB-Map parameter "Kp/MaxDepth"="0"
[ INFO] [1655195798.879112569]: Setting RTAB-Map parameter "Kp/MaxFeatures"="500"
[ INFO] [1655195798.880319865]: Setting RTAB-Map parameter "Kp/MinDepth"="0.4"
[ INFO] [1655195798.886657932]: Setting RTAB-Map parameter "Kp/SubPixIterations"="2"
[ WARN] [1655195798.895313550]: IcpOdometry: Transferring value 5 of "Icp/PointToPlaneK" to ros parameter "scan_normal_k" for convenience.
[ WARN] [1655195798.895621798]: IcpOdometry: Transferring value 1.0 of "Icp/PointToPlaneRadius" to ros parameter "scan_normal_radius" for convenience.
[ INFO] [1655195798.897475468]: Setting RTAB-Map parameter "Mem/DepthAsMask"="true"
[ INFO] [1655195798.899926909]: Setting RTAB-Map parameter "Mem/ImagePostDecimation"="2"
[ INFO] [1655195798.900616123]: Setting RTAB-Map parameter "Mem/ImagePreDecimation"="2"
[ INFO] [1655195798.910700683]: Setting RTAB-Map parameter "Mem/NotLinkedNodesKept"="false"
[ INFO] [1655195798.910948338]: Setting RTAB-Map parameter "Mem/RawDescriptorsKept"="false"
[ INFO] [1655195798.911295149]: Setting RTAB-Map parameter "Mem/RecentWmRatio"="0.2"
[ INFO] [1655195798.911532164]: Setting RTAB-Map parameter "Mem/ReduceGraph"="true"
[ INFO] [1655195798.912898929]: Setting RTAB-Map parameter "Mem/STMSize"="30"
[ INFO] [1655195798.916041939]: Setting RTAB-Map parameter "ORB/Gpu"="true"
[ INFO] [1655195798.920305102]: Setting RTAB-Map parameter "Optimizer/Robust"="false"
[ INFO] [1655195798.920443892]: Setting RTAB-Map parameter "Optimizer/Strategy"="2"
[ INFO] [1655195798.923205145]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.1"
[ INFO] [1655195798.925233052]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.1"
[ INFO] [1655195798.925449098]: Setting RTAB-Map parameter "RGBD/LocalBundleOnLoopClosure"="false"
[ INFO] [1655195798.925567189]: Setting RTAB-Map parameter "RGBD/LocalImmunizationRatio"="0.4"
[ INFO] [1655195798.925683257]: Setting RTAB-Map parameter "RGBD/LocalRadius"="5"
[ INFO] [1655195798.925893382]: Setting RTAB-Map parameter "RGBD/LoopClosureReextractFeatures"="false"
[ INFO] [1655195798.926766490]: Setting RTAB-Map parameter "RGBD/MaxLocalRetrieved"="10"
[ INFO] [1655195798.926882538]: Setting RTAB-Map parameter "RGBD/MaxLoopClosureDistance"="2"
[ INFO] [1655195798.927376926]: Setting RTAB-Map parameter "RGBD/NeighborLinkRefining"="false"
[ INFO] [1655195798.927493445]: Setting RTAB-Map parameter "RGBD/NewMapOdomChangeDistance"="2"
[ INFO] [1655195798.927608180]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false"
[ INFO] [1655195798.927919124]: Setting RTAB-Map parameter "RGBD/OptimizeMaxError"="3"
[ INFO] [1655195798.929560766]: Setting RTAB-Map parameter "RGBD/ProximityAngle"="359"
[ INFO] [1655195798.929781570]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true"
[ INFO] [1655195798.930312897]: Setting RTAB-Map parameter "RGBD/ProximityMaxGraphDepth"="50"
[ INFO] [1655195798.930538711]: Setting RTAB-Map parameter "RGBD/ProximityMaxPaths"="4"
[ INFO] [1655195798.930670088]: Setting RTAB-Map parameter "RGBD/ProximityOdomGuess"="false"
[ INFO] [1655195798.930790444]: Setting RTAB-Map parameter "RGBD/ProximityPathFilteringRadius"="1"
[ INFO] [1655195798.930907083]: Setting RTAB-Map parameter "RGBD/ProximityPathMaxNeighbors"="50"
[ INFO] [1655195798.931498132]: Setting RTAB-Map parameter "RGBD/SavedLocalizationIgnored"="true"
[ INFO] [1655195798.932002178]: Setting RTAB-Map parameter "Reg/Force3DoF"="true"
[ INFO] [1655195798.932126822]: Setting RTAB-Map parameter "Reg/RepeatOnce"="false"
[ INFO] [1655195798.932433678]: Setting RTAB-Map parameter "Reg/Strategy"="2"
[ INFO] [1655195798.933302850]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="2"
[ INFO] [1655195798.933614014]: Setting RTAB-Map parameter "Rtabmap/ImageBufferSize"="2"
[ INFO] [1655195798.935235919]: Setting RTAB-Map parameter "Rtabmap/MaxRetrieved"="20"
[ INFO] [1655195798.935355112]: Setting RTAB-Map parameter "Rtabmap/MemoryThr"="0"
[ INFO] [1655195798.938588792]: Setting RTAB-Map parameter "Rtabmap/StartNewMapOnLoopClosure"="false"
[ INFO] [1655195798.939860279]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="500"
[ INFO] [1655195798.975670910]: Setting RTAB-Map parameter "Vis/DepthAsMask"="true"
[ INFO] [1655195798.975817365]: Setting RTAB-Map parameter "Vis/EpipolarGeometryVar"="0.5"
[ INFO] [1655195798.976360194]: Setting RTAB-Map parameter "Vis/FeatureType"="6"
[ INFO] [1655195798.977689990]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.5"
[ INFO] [1655195798.978240112]: Setting RTAB-Map parameter "Vis/MaxDepth"="0"
[ INFO] [1655195798.978369766]: Setting RTAB-Map parameter "Vis/MaxFeatures"="500"
[ INFO] [1655195798.979114544]: Setting RTAB-Map parameter "Vis/MinDepth"="0.4"
[ INFO] [1655195798.979251912]: Setting RTAB-Map parameter "Vis/MinInliers"="15"
[ INFO] [1655195798.980193479]: Setting RTAB-Map parameter "Vis/PnPRefineIterations"="5"
[ INFO] [1655195798.980325777]: Setting RTAB-Map parameter "Vis/PnPReprojError"="10"
[ INFO] [1655195798.981645465]: Setting RTAB-Map parameter "Vis/SubPixIterations"="0"
[ INFO] [1655195798.981774286]: Setting RTAB-Map parameter "Vis/SubPixWinSize"="3"
[ INFO] [1655195798.982298971]: Setting RTAB-Map parameter "g2o/Optimizer"="0"
[ INFO] [1655195799.037525077]: RTAB-Map detection rate = 2.000000 Hz
[ INFO] [1655195799.037594558]: rtabmap: Using database from "/home/marmot/.ros/rtabmap.db" (0 MB).
[rtabmap/rtabmap-3] process has died [pid 5092, exit code -11, cmd /home/marmot/irotate_ws/devel/lib/rtabmap_ros/rtabmap -d scan:=/robot/laser/scan rgbd_image:=rgbd_image odom:=/odometry/filtered grid_map:=/map __name:=rtabmap __log:=/home/marmot/.ros/log/1b2cabde-ebbd-11ec-9993-000ec666185a/rtabmap-rtabmap-3.log].
log file: /home/marmot/.ros/log/1b2cabde-ebbd-11ec-9993-000ec666185a/rtabmap-rtabmap-3*.log
^C[standalone_converter-7] killing on exit
[move_base-6] killing on exit
[standalone_nodelet-5] killing on exit
[rtabmap/icp_odometry-4] killing on exit
[rtabmap/rgbd_sync-2] killing on exit
^C^C^C[rosout-1] killing on exit
^C[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
From my googling, I found out that one of the reasons this error pops is the unmatching versions of rtabmap and rtabmap_ros. I do not have any other rtabmap in my system and I have checked out to the brnahc that you've told to check out in the INSTALL.md file. Any idea why I might be facing this issue?
Let me know if you need any more information from my side
Any inputs are highly appreciated,
Thanks
Hello guys,
Thanks for open sourcing this work. I was trying to build the packages in this repository, but when I build it says it finds the robotine_msgs twice. So, I wanted to know which of the two robotino_msgs should I delete or remove? Is there any other way to resolve this issue? Following is the complete error log :
✘ adbidwai@adbidwai-g3-3579 ~/catkin_ws catkin build
-------------------------------------------------------------------------
Profile: default
Extending: [cached] /home/adbidwai/nus_ws/devel:/opt/ros/melodic
Workspace: /home/adbidwai/catkin_ws
-------------------------------------------------------------------------
Build Space: [exists] /home/adbidwai/catkin_ws/build
Devel Space: [exists] /home/adbidwai/catkin_ws/devel
Install Space: [unused] /home/adbidwai/catkin_ws/install
Log Space: [exists] /home/adbidwai/catkin_ws/logs
Source Space: [exists] /home/adbidwai/catkin_ws/src
DESTDIR: [unused] None
-------------------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
-------------------------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
-------------------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
-------------------------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------------------------
Traceback (most recent call last):
File "/usr/bin/catkin", line 11, in <module>
load_entry_point('catkin-tools==0.6.1', 'console_scripts', 'catkin')()
File "/usr/lib/python2.7/dist-packages/catkin_tools/commands/catkin.py", line 272, in main
catkin_main(sysargs)
File "/usr/lib/python2.7/dist-packages/catkin_tools/commands/catkin.py", line 267, in catkin_main
sys.exit(args.main(args) or 0)
File "/usr/lib/python2.7/dist-packages/catkin_tools/verbs/catkin_build/cli.py", line 422, in main
summarize_build=opts.summarize # Can be True, False, or None
File "/usr/lib/python2.7/dist-packages/catkin_tools/verbs/catkin_build/build.py", line 283, in build_isolated_workspace
workspace_packages = find_packages(context.source_space_abs, exclude_subspaces=True, warnings=[])
File "/usr/lib/python2.7/dist-packages/catkin_pkg/packages.py", line 96, in find_packages
raise RuntimeError('\n'.join(duplicates))
RuntimeError: Multiple packages found with the same name "robotino_msgs":
- active_v_slam/robotino_specific/robotino_msgs
- active_v_slam/src/robotino_msgs
TIA
Hi,
Thanks for open sourcing this work.I followed the INSTALL.md and finished all the prerequisites.And I test the rtabmap installation by running rtabmap command in a console and it success. Now I am trying to build this using catkin build -DRTABMAP_SYNC_USER_DATA=ON, but it fails and throw many erros like:
Errors << rtabmap_ros:make /home/vision/irotate/irotate_active_slam-main/logs/rtabmap_ros/build.make.005.log
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp: In member function ‘virtual void rtabmap_ros::OdometryROS::onInit()’:
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp:356:34: error: ‘class rtabmap::Odometry’ has no member named ‘canProcessIMU’; did you mean ‘canProcessAsyncIMU’?
if(waitIMUToinit_ || odometry_->canProcessIMU())
^~~~~~~~~~~~~
canProcessAsyncIMU
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp: In member function ‘void rtabmap_ros::OdometryROS::callbackIMU(const ImuConstPtr&)’:
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp:425:18: error: ‘class rtabmap::Odometry’ has no member named ‘canProcessIMU’; did you mean ‘canProcessAsyncIMU’?
if(!odometry_->canProcessIMU() &&
^~~~~~~~~~~~~
canProcessAsyncIMU
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp:453:18: error: ‘class rtabmap::Odometry’ has no member named ‘canProcessIMU’; did you mean ‘canProcessAsyncIMU’?
if(!odometry_->canProcessIMU())
^~~~~~~~~~~~~
canProcessAsyncIMU
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp: In member function ‘void rtabmap_ros::OdometryROS::processData(const rtabmap::SensorData&, const ros::Time&)’:
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp:524:16: error: ‘class rtabmap::Odometry’ has no member named ‘canProcessIMU’; did you mean ‘canProcessAsyncIMU’?
if(odometry_->canProcessIMU())
^~~~~~~~~~~~~
canProcessAsyncIMU
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp:775:106: error: invalid initialization of reference of type ‘const std::multimap<int, cv::Point3_ >&’ from expression of type ‘const std::vector<cv::Point3_ >’
const std::multimap<int, cv::Point3f> & words3 = ((OdometryF2M*)odometry_)->getLastFrame().getWords3();
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp:800:89: error: conversion from ‘std::vector<cv::Point3_ >::const_iterator {aka gnu_cxx::normal_iterator<const cv::Point3*, std::vector<cv::Point3 > >}’ to non-scalar type ‘std::multimap<int, cv::Point3 >::const_iterator {aka std::Rb_tree_const_iterator<std::pair<const int, cv::Point3 > >}’ requested
for(std::multimap<int, cv::Point3f>::const_iterator iter=refFrame.getWords3().begin(); iter!=refFrame.getWords3().end(); ++iter)
~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/OdometryROS.cpp:800:97: error: no match for ‘operator!=’ (operand types are ‘std::multimap<int, cv::Point3 >::const_iterator {aka std::Rb_tree_const_iterator<std::pair<const int, cv::Point3 > >}’ and ‘std::vector<cv::Point3_ >::const_iterator {aka __gnu_cxx::normal_iterator<const cv::Point3*, std::vector<cv::Point3 > >}’)
for(std::multimap<int, cv::Point3f>::const_iterator iter=refFrame.getWords3().begin(); iter!=refFrame.getWords3().end(); ++iter)
and
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:231:38: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
rtabmap_ros::cameraModelToROS(data.stereoCameraModel().left(), msg.rgb_camera_info);
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:232:38: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
rtabmap_ros::cameraModelToROS(data.stereoCameraModel().right(), msg.depth_camera_info);
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:235:25: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
localTransform = data.stereoCameraModel().localTransform();
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp: In function ‘void rtabmap_ros::nodeDataToROS(const rtabmap::Signature&, rtabmap_ros::NodeData&)’:
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:1260:33: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
else if(signature.sensorData().stereoCameraModel().isValidForProjection())
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:1262:43: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
msg.fx.push_back(signature.sensorData().stereoCameraModel().left().fx());
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:1263:43: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
msg.fy.push_back(signature.sensorData().stereoCameraModel().left().fy());
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:1264:43: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
msg.cx.push_back(signature.sensorData().stereoCameraModel().left().cx());
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:1265:43: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
msg.cy.push_back(signature.sensorData().stereoCameraModel().left().cy());
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:1266:46: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
msg.width.push_back(signature.sensorData().stereoCameraModel().left().imageWidth());
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:1267:47: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
msg.height.push_back(signature.sensorData().stereoCameraModel().left().imageHeight());
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:1268:41: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
msg.baseline = signature.sensorData().stereoCameraModel().baseline();
^~~~~~~~~~~~~~~~~
stereoCameraModels
/home/vision/irotate/irotate_active_slam-main/src/rtabmap_ros/src/MsgConversion.cpp:1270:49: error: ‘const class rtabmap::SensorData’ has no member named ‘stereoCameraModel’; did you mean ‘stereoCameraModels’?
transformToGeometryMsg(signature.sensorData().stereoCameraModel().left().localTransform(), msg.localTransform[0])
could you please give me some advices? I am working on Ubuntu18.04, ros melodic. Thank you very much.
Hi, I have the new issue. Can you help me one more time? Thanks
fatal error: robot_localization/SetPose.h: No such file or directory
#include "robot_localization/SetPose.h"
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/zxn/dev/active_slam_v/src/active_v_slam-master/src/robotino_mpc/include/nlmpc.h:27:0,
from /home/zxn/dev/active_slam_v/src/active_v_slam-master/src/robotino_mpc/src/nlmpc.cpp:5:
/home/zxn/dev/active_slam_v/src/active_v_slam-master/src/robotino_fsm/include/robotino_fsm_node.h:26:10: fatal error: robot_localization/SetPose.h: No such file or directory
#include "robot_localization/SetPose.h"
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Hi @eliabntt, thanks for open sourcing your amazing job.
I'm pretty new to this area and if you can give me any ideas about my issues, I will be really appreciate.
I tested this algorithm on Ubuntu 20.04 with ROS Noetic. It was compiled successfully and can be run under my system. But everytime after it determined the target, it always showed "ROBOT IS INVALID", like shown below, and it won't move.
It moved a little bit only when robotino_mpc showed "[ERROR] [1667120842.856498300, 244.120000000]: MOVE AWAY".
From fsm:
[ INFO] [1667120838.623885998, 240.140000000]: Received 6 goals.
[ INFO] [1667120838.623949493, 240.140000000]: is goal empty? 0
[ INFO] [1667120838.623978323, 240.140000000]: WE HAVE SOMETHING
[ INFO] [1667120838.646793222, 240.160000000]: get best path among 0
[ WARN] [1667120838.865163544, 240.370000000]: Empty current plan, retry. Failed 6 plans.
[ INFO] [1667120838.865219609, 240.370000000]: Got new Goal
[ INFO] [1667120839.133167287, 240.620000000]: Received 5 goals.
[ INFO] [1667120839.133236803, 240.620000000]: is goal empty? 0
[ INFO] [1667120839.173304259, 240.660000000]: Best path identified toward
[ INFO] [1667120839.173383452, 240.660000000]: x: 2.70065
y: -3.07662
z: 0
[ INFO] [1667120839.173439095, 240.660000000]: Got new Goal
[ WARN] [1667120839.257242694, 240.740000000]: ROBOT IS INVALID. Number failures = 5
And in the active_node, it always showed get 0 utility and 0 entropy, like shown as below:
------------------------------------------------------------------
[ INFO] [1667120838.864799288, 240.370000000]: FOR kind of cost 7 we have:
[ INFO] [1667120838.864852699, 240.370000000]: We get 0 utility
[ INFO] [1667120838.864884093, 240.370000000]: We get 0 entropy
[ INFO] [1667120838.864912923, 240.370000000]: Toward -1
[ INFO] [1667120842.848955562, 244.120000000]: req received
[ INFO] [1667120842.855480606, 244.120000000]: OccupancyGrid map call successfull
The robotino_mpc will show:
[ WARN] [1667120839.233826914, 240.720000000]: Nonlinear MPC: Solver failed with status: 0
[ WARN] [1667120839.233936635, 240.720000000]: Error Successful return
[ WARN] [1667120839.234005375, 240.720000000]: reinitializing...
And the best_heading always shows:
[ WARN] [1667120616.187923805, 33.710000000]: kp3D is empty
It was tested on 'cafe', and if you have any ideas about this issue, please let me know. Any replies will be appreciate.
Thanks!
And could you tell me how to run the independent camera? Sorry to bother you again.
Changing this should be sufficient iirc. The parameter controls the maximum speed of the camera allowed by the NMPC. If the speed is 0 clearly it resorts to make rotate only the robot while if it's != 0 it will plan the optimal rotation according to the kinematic definition here
Note: if you change the config file you need to rebuild! Otherwise it is possible to use either dynamic reconfigure or the yaml file.
Originally posted by @eliabntt in #5 (comment)
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