pengyu-team/co-lrio

A ROS2 package of CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms.

co-lrio's Issues

When will you publish your dataset?

nice work and good dataset

video

9.21._202392510279.mp4

ROS1 version

Hello, Mr. Zhong, I have great respect for your work and it is a fantastic work that i've seen!!! but there are some questions I want to know:
1.whether the ros1 version of this repo would be released in the future?
2.Is P440 UWB module supported in your repo?

libgtsam_unstable.so: undefined reference to `gtsam::Point2::equals(gtsam::Point2 const&, double) const'

Hello author, thank you very much for opening source codes. We would like to express our sincere respect.

However, when compiling your code, I encountered the following issues:

/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Point2::equals(gtsam::Point2 const&, double) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Rot2::rotate(gtsam::Point2 const&, gtsam::OptionalJacobian<2, 1>, gtsam::OptionalJacobian<2, 2>) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Ordering::ColamdConstrainedFirst(gtsam::VariableIndex const&, std::vector<unsigned long, std::allocator<unsigned long> > const&, bool)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Point2::norm(gtsam::OptionalJacobian<1, 2>) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Rot3::rpy() const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::GaussianFactorGraph::optimize(boost::function<std::pair<boost::shared_ptr<gtsam::GaussianConditional>, boost::shared_ptr<gtsam::GaussianFactor> > (gtsam::GaussianFactorGraph const&, gtsam::Ordering const&)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Rot3::rotate(gtsam::Point3 const&, gtsam::OptionalJacobian<3, 3>, gtsam::OptionalJacobian<3, 3>) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::HessianFactor::HessianFactor(std::vector<unsigned long, std::allocator<unsigned long> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > > const&, double)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Ordering::ColamdConstrainedLast(gtsam::VariableIndex const&, std::vector<unsigned long, std::allocator<unsigned long> > const&, bool)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::distance3(gtsam::Point3 const&, gtsam::Point3 const&, gtsam::OptionalJacobian<1, 3>, gtsam::OptionalJacobian<1, 3>)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Rot2::relativeBearing(gtsam::Point2 const&, gtsam::OptionalJacobian<1, 2>)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::DiscreteFactorGraph::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > (unsigned long)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::VectorValues::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > (unsigned long)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Point2::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::distance2(gtsam::Point2 const&, gtsam::Point2 const&, gtsam::OptionalJacobian<1, 2>, gtsam::OptionalJacobian<1, 2>)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::EliminateableFactorGraph<gtsam::DiscreteFactorGraph>::eliminateSequential(boost::optional<gtsam::Ordering::OrderingType>, boost::function<std::pair<boost::shared_ptr<gtsam::DiscreteConditional>, boost::shared_ptr<gtsam::DiscreteFactor> > (gtsam::DiscreteFactorGraph const&, gtsam::Ordering const&)> const&, boost::optional<gtsam::VariableIndex const&>) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Rot3::xyz() const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Pose2::transformFrom(gtsam::Point2 const&, gtsam::OptionalJacobian<2, 3>, gtsam::OptionalJacobian<2, 2>) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::JacobianFactor::updateHessian(std::vector<unsigned long, std::allocator<unsigned long> > const&, gtsam::SymmetricBlockMatrix*) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::ISAM2::update(gtsam::NonlinearFactorGraph const&, gtsam::Values const&, std::vector<unsigned long, std::allocator<unsigned long> > const&, boost::optional<gtsam::FastMap<unsigned long, int> > const&, boost::optional<gtsam::FastList<unsigned long> > const&, boost::optional<gtsam::FastList<unsigned long> > const&, bool)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Rot3::RzRyRx(double, double, double)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Point3::equals(gtsam::Point3 const&, double) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::NonlinearFactor::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > (unsigned long)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Factor::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > (unsigned long)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::fpEqual(double, double, double)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::DecisionTreeFactor::apply(gtsam::DecisionTreeFactor const&, boost::function<double (double const&, double const&)>) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Values::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > (unsigned long)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Rot3::operator*(gtsam::Point3 const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::BayesTree<gtsam::ISAM2Clique>::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > (unsigned long)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::JacobianFactor::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > (unsigned long)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::ISAM2::marginalizeLeaves(gtsam::FastList<unsigned long> const&, boost::optional<std::vector<unsigned long, std::allocator<unsigned long> >&>, boost::optional<std::vector<unsigned long, std::allocator<unsigned long> >&>)'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::NoiseModelFactor::print(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::function<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > (unsigned long)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Pose2::transformTo(gtsam::Point2 const&, gtsam::OptionalJacobian<2, 3>, gtsam::OptionalJacobian<2, 2>) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::GaussianFactorGraph::optimize(gtsam::Ordering const&, boost::function<std::pair<boost::shared_ptr<gtsam::GaussianConditional>, boost::shared_ptr<gtsam::GaussianFactor> > (gtsam::GaussianFactorGraph const&, gtsam::Ordering const&)> const&) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::EliminateableFactorGraph<gtsam::GaussianFactorGraph>::eliminatePartialMultifrontal(std::vector<unsigned long, std::allocator<unsigned long> > const&, boost::function<std::pair<boost::shared_ptr<gtsam::GaussianConditional>, boost::shared_ptr<gtsam::GaussianFactor> > (gtsam::GaussianFactorGraph const&, gtsam::Ordering const&)> const&, boost::optional<gtsam::VariableIndex const&>) const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::Rot3::ypr() const'
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/libgtsam_unstable.so: undefined reference to `gtsam::EliminateableFactorGraph<gtsam::DiscreteFactorGraph>::eliminateSequential(gtsam::Ordering const&, boost::function<std::pair<boost::shared_ptr<gtsam::DiscreteConditional>, boost::shared_ptr<gtsam::DiscreteFactor> > (gtsam::DiscreteFactorGraph const&, gtsam::Ordering const&)> const&, boost::optional<gtsam::VariableIndex const&>) const'
collect2: error: ld returned 1 exit status

Have you ever encountered this problem? Or do you have a solution to this error? Thank you very much!

DCL问题咨询

作者原有的地图输出模块是注释掉了，并且通过测试发现并不能正常使用，求助如何进行修改