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[WIP] Catkin build 2

Closed [WIP] Catkin build 2
catkin_build_2 into master
Closed Jeremie Deray requested to merge catkin_build_2 into master

Depends on !86 (closed) .

[WIP] - To be tested by others.

Enable use of catkin build (catkin_tools).

It allows for a much simpler setup of the required workspace for development in wolf - see update in README.md -.

However the former compilation flow should still work. Well up to cd347095ef0dd040a706f04818f889ee4f6d80fb I guess.

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  • Jeremie Deray Added 11 commits:

    Added 11 commits:

    • b92d2ae3 - move Findwolf to cmake_modules
    • 6db7341e - add FindEigen
    • 8b5fa380 - add package.xml -> catkin build
    • 545625e2 - add wolfConfig.cmake adapted from Ceres. Export wolf install-targets to enable find_package(wolf)
    • bd8ef66a - comment custom install path
    • f446505b - proper CMAKE_MODULE_PATH & missing Eigen 3 deps
    • 80f99226 - looks like a missing header
    • ad077068 - export install targets
    • d9aac59d - One shouldnt install directly in the CMAKE_ROOT/Modules folder has those module …
    • da157d3b - install wolfConfig.cmake & export project
    • a93fd918 - update readme catkin_tools
    Toggle commit list
  • Joan Solà Ortega
    Joan Solà Ortega @jsola ·
    Owner

    Trying this out. Issues: The README.md file might have errors or outdated info:

    • Step 2: create mkdir -p wolf_ws/src --> remove 'create'
    • Steps 3, 4: Using github/artivis here is correct?
    • Steps 3, 4: should we launch this from the directory wolf_ws/src? This is what I did
    • Step 5: should we launch this from the directory wolf_ws/src? This is what I did
    • Step 6: error:
    [build] Error: Unable to find source space `/home/jsola/dev/wolf_ws/src/src`
  • Joan Solà Ortega
    Joan Solà Ortega @jsola ·
    Owner

    Update: Trying Step 6 from wolf_ws seems to work, but not fully:

    jsola@encantats:~/dev/wolf_ws$ catkin build
-------------------------------------------------------------------------
Profile:                     default
Extending:             [env] /home/jsola/dev/ros_ws/devel:/opt/ros/indigo
Workspace:                   /home/jsola/dev/wolf_ws
-------------------------------------------------------------------------
Source Space:       [exists] /home/jsola/dev/wolf_ws/src
Log Space:         [missing] /home/jsola/dev/wolf_ws/logs
Build Space:        [exists] /home/jsola/dev/wolf_ws/build
Devel Space:        [exists] /home/jsola/dev/wolf_ws/devel
Install Space:      [unused] /home/jsola/dev/wolf_ws/install
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.

NOTE: Forcing CMake to run for each package.
-------------------------------------------------------------------------
[build] Found '3' packages in 0.0 seconds.                                                                              
[build] Updating package table.                                                                                         
Starting  >>> catkin_tools_prebuild                                                                                     
Finished  <<< catkin_tools_prebuild                [ 0.9 seconds ]                                                      
Starting  >>> Ceres                                                                                                     
Starting  >>> wolf_ros                                                                                                  
________________________________________________________________________________________________________________________
Warnings   << wolf_ros:cmake /home/jsola/dev/wolf_ws/logs/wolf_ros/build.cmake.000.log                                  
Found wolf include dirs: /usr/local/include/iri-algorithms
wolf_INCLUDE_DIRS: /usr/local/include/iri-algorithms
laser_scan_utils_INCLUDE_DIRS: /usr/local/include/iri-algorithms
cd /home/jsola/dev/wolf_ws/build/wolf_ros; catkin build --get-env wolf_ros | catkin env -si  /usr/bin/cmake /home/jsola/dev/wolf_ws/src/Wolf_ros --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/jsola/dev/wolf_ws/devel/.private/wolf_ros -DCMAKE_INSTALL_PREFIX=/home/jsola/dev/wolf_ws/install; cd -
........................................................................................................................
________________________________________________________________________________________________________________________
Warnings   << Ceres:cmake /home/jsola/dev/wolf_ws/logs/Ceres/build.cmake.000.log                                        
-- Found Eigen version 3.2.0: /usr/include/eigen3

   ===============================================================
   Disabling the use of Eigen as a sparse linear algebra library.
   This does not affect the covariance estimation algorithm
   which can still use the EIGEN_SPARSE_QR algorithm.
   ===============================================================

-- Found LAPACK library: /usr/lib/liblapack.so;/usr/lib/libblas.so
-- Found BLAS library: /usr/lib/libblas.so
-- Found SuiteSparse 4.2.1, building with SuiteSparse.
-- Failed to find CXSparse - Could not find CXSparse include directory, set CXSPARSE_INCLUDE_DIR to directory containing cs.h
-- Did not find CXSparse, Building without CXSparse.
-- Google Flags disabled; no tests or tools will be built!
-- Compiling minimal glog substitute into Ceres.
-- Using minimal glog substitute (include): internal/ceres/miniglog
-- Building with OpenMP.
-- Found tr1/unordered_map/set in std::tr1 namespace.
-- Found shared_ptr in std::tr1 namespace using <tr1/memory> header.
-- Building Ceres as a static library.
-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.
-- Build the examples.
cd /home/jsola/dev/wolf_ws/build/Ceres; catkin build --get-env Ceres | catkin env -si  /usr/bin/cmake /home/jsola/dev/wolf_ws/src/ceres_solver --no-warn-unused-cli -DCMAKE_INSTALL_PREFIX=/home/jsola/dev/wolf_ws/devel; cd -
........................................................................................................................
________________________________________________________________________________________________________________________
Errors     << wolf_ros:make /home/jsola/dev/wolf_ws/logs/wolf_ros/build.make.000.log                                    
In file included from /home/jsola/dev/wolf_ws/src/Wolf_ros/src/wolf_main.cpp:5:0:
/home/jsola/dev/wolf_ws/src/Wolf_ros/include/wolf_node.h:31:52: fatal error: wolf/processor_tracker_landmark_corner.h: No such file or directory
 #include "wolf/processor_tracker_landmark_corner.h"
                                                    ^
compilation terminated.
In file included from /home/jsola/dev/wolf_ws/src/Wolf_ros/src/wolf_node.cpp:5:0:
/home/jsola/dev/wolf_ws/src/Wolf_ros/include/wolf_node.h:31:52: fatal error: wolf/processor_tracker_landmark_corner.h: No such file or directory
 #include "wolf/processor_tracker_landmark_corner.h"
                                                    ^
compilation terminated.
make[2]: *** [CMakeFiles/wolf_ros.dir/src/wolf_main.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/wolf_ros.dir/src/wolf_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/wolf_ros.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /usr/local/include/iri-algorithms/wolf/ceres_wrapper/ceres_manager.h:11:0,
                 from /home/jsola/dev/wolf_ws/src/Wolf_ros/src/wolf_prunning_test.cpp:22:
/usr/local/include/iri-algorithms/wolf/ceres_wrapper/local_parametrization_wrapper.h:36:40: fatal error: local_parametrization_base.h: No such file or directory
 #include "local_parametrization_base.h"
                                        ^
compilation terminated.
make[2]: *** [CMakeFiles/wolf_prunning.dir/src/wolf_prunning_test.cpp.o] Error 1
make[1]: *** [CMakeFiles/wolf_prunning.dir/all] Error 2
make: *** [all] Error 2
cd /home/jsola/dev/wolf_ws/build/wolf_ros; catkin build --get-env wolf_ros | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
........................................................................................................................
Failed     << wolf_ros:make                        [ Exited with code 2 ]                                               
Failed    <<< wolf_ros                             [ 7.8 seconds ]                                                      
Abandoned <<< wolf                                 [ Unrelated job failed ]                                             
Finished  <<< Ceres                                [ 46.8 seconds ]                                                     
[build] Summary: 2 of 4 packages succeeded.                                                                             
[build]   Ignored:   None.                                                                                              
[build]   Warnings:  2 packages succeeded with warnings.                                                                
[build]   Abandoned: 1 packages were abandoned.                                                                         
[build]   Failed:    1 packages failed.                                                                                 
[build] Runtime: 47.9 seconds total.                                                                                    
[build] Note: Workspace packages have changed, please re-source setup files to use them.
jsola@encantats:~/dev/wolf_ws$
    Edited by Joan Solà Ortega
  • Jeremie Deray
    Jeremie Deray @artivis ·
    Author Developer

    @jsola I didn't try to compile wolf_ros in this tuto. It seems that it is part of what's failing from your post.

    Moreover the

    /usr/local/include/iri-algorithms/wolf/ceres_wrapper/local_parametrization_wrapper.h:36:40: fatal error: local_parametrization_base.h: No such file or directory #include "local_parametrization_base.h"

    is supposed to be fixed in c8bb729e

  • Jeremie Deray Status changed to closed

    Status changed to closed

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