Compile LIO-SAM on Ubuntu 22.04

[fupenghzau]

I am trying to compile LIO-SAM on Ubuntu 22.04 with ROS2. Below is the error I got after the command

colcon build

include/lio_sam/utility.hpp:16:10: fatal error: visualization_msgs/msg/marker.hpp: No such file or directory
16 | #include <visualization_msgs/msg/marker.hpp>
pcl_conversions.h:61:10: fatal error: pcl_msgs/msg/point_indices.hpp: No such file or directory
61 | #include <pcl_msgs/msg/point_indices.hpp>
compilation terminated.
gmake[2]: *** [CMakeFiles/lio_sam_mapOptimization.dir/build.make:76: CMakeFiles/lio_sam_mapOptimization.dir/src/mapOptmization.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:684: CMakeFiles/lio_sam_mapOptimization.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

Anyone knows what are the issues here?

[fupenghzau]

I can find these header files: marker.hpp, point_indces.hpp in the /opt/ros/humble/include folder. But somehow the compile still runs wrong. I guess it is some lines that I need to add to Cmakelists but not sure how to do it. Any suggestions?

[grischi]

This problem is caused by missing dependencies in CMakeLists.txt, I'm preparing a fix.

[fupenghzau]

Thanks. Looking forward to it.

[grischi]

Shall be fixed in d6af290

[fupenghzau]

It works. Thanks!
Below is the warning I got from the compilation. Just want to share in case there is any interest.

--- stderr: lio_sam
** WARNING ** io features related to pcap will be disabled
CMake Deprecation Warning at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_target_interfaces.cmake:32 (message):
Use rosidl_get_typesupport_target() and target_link_libraries() instead of
rosidl_target_interfaces()
Call Stack (most recent call first):
CMakeLists.txt:38 (rosidl_target_interfaces)

CMake Deprecation Warning at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_target_interfaces.cmake:32 (message):
Use rosidl_get_typesupport_target() and target_link_libraries() instead of
rosidl_target_interfaces()
Call Stack (most recent call first):
CMakeLists.txt:42 (rosidl_target_interfaces)

CMake Deprecation Warning at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_target_interfaces.cmake:32 (message):
Use rosidl_get_typesupport_target() and target_link_libraries() instead of
rosidl_target_interfaces()
Call Stack (most recent call first):
CMakeLists.txt:47 (rosidl_target_interfaces)

CMake Deprecation Warning at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_target_interfaces.cmake:32 (message):
Use rosidl_get_typesupport_target() and target_link_libraries() instead of
rosidl_target_interfaces()
Call Stack (most recent call first):
CMakeLists.txt:52 (rosidl_target_interfaces)

/usr/bin/ld: warning: libtbb.so.2, needed by /usr/lib/x86_64-linux-gnu/libopencv_core.so.4.5.4d, may conflict with libtbb.so.12

Finished <<< lio_sam [1min 42s]

[fupenghzau]

After compilation, when I launch it I got the following error:

[INFO] [launch]: All log files can be found below /home/pengfu/.ros/log/2023-01-18-17-54-24-062725-thor-145245
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : /home/pengfu/lidar/ros2_ws/src/install/lio_sam/share/lio_sam/config/robot.urdf.xacro
[ERROR] [launch]: Caught exception in launch (see debug for traceback): file not found: [Errno 2] No such file or directory: 'xacro'

Do you know why I am missing xacro file? I did find the /home/pengfu/lidar/ros2_ws/src/install/lio_sam/share/lio_sam/config/robot.urdf.xacro

[grischi]

/usr/bin/ld: warning: libtbb.so.2, needed by /usr/lib/x86_64-linux-gnu/libopencv_core.so.4.5.4d, may conflict with libtbb.so.12

Thanks for the hint, I pushed a fix in 06da1cc

[grischi]

After compilation, when I launch it I got the following error:

[INFO] [launch]: All log files can be found below /home/pengfu/.ros/log/2023-01-18-17-54-24-062725-thor-145245 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : /home/pengfu/lidar/ros2_ws/src/install/lio_sam/share/lio_sam/config/robot.urdf.xacro [ERROR] [launch]: Caught exception in launch (see debug for traceback): file not found: [Errno 2] No such file or directory: 'xacro'

Do you know why I am missing xacro file? I did find the /home/pengfu/lidar/ros2_ws/src/install/lio_sam/share/lio_sam/config/robot.urdf.xacro

I suppose you're missing the xacro binary. Have you installed ros-humble-xacro as mentioned in README.md?

[fupenghzau]

After compilation, when I launch it I got the following error:
[INFO] [launch]: All log files can be found below /home/pengfu/.ros/log/2023-01-18-17-54-24-062725-thor-145245 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : /home/pengfu/lidar/ros2_ws/src/install/lio_sam/share/lio_sam/config/robot.urdf.xacro [ERROR] [launch]: Caught exception in launch (see debug for traceback): file not found: [Errno 2] No such file or directory: 'xacro'
Do you know why I am missing xacro file? I did find the /home/pengfu/lidar/ros2_ws/src/install/lio_sam/share/lio_sam/config/robot.urdf.xacro

I suppose you're missing the xacro binary. Have you installed ros-humble-xacro as mentioned in README.md?

Yes, I did not install xacro and got it fixed.