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Compiling LIO-SAM on Ubuntu 22.04 and ROS2 #400

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fferroni opened this issue Feb 1, 2023 · 9 comments
Closed

Compiling LIO-SAM on Ubuntu 22.04 and ROS2 #400

fferroni opened this issue Feb 1, 2023 · 9 comments

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@fferroni
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fferroni commented Feb 1, 2023 •
edited
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Hello,

I tried to follow the compilation instructions on the ROS2 branch, but got the following error. Any tips would be much appreciated!

(base) francesco@razer:~/ros2_ws/src$ colcon build
Starting >>> lio_sam 
[Processing: lio_sam]                             
--- stderr: lio_sam                               
Traceback (most recent call last):
  File "/opt/ros/humble/share/rosidl_generator_py/cmake/../../../lib/rosidl_generator_py/rosidl_generator_py", line 8, in <module>
    from rosidl_generator_py import generate_py
ImportError: cannot import name 'generate_py' from 'rosidl_generator_py' (/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/__init__.py)
gmake[2]: *** [lio_sam__py/CMakeFiles/lio_sam__py.dir/build.make:184: rosidl_generator_py/lio_sam/_lio_sam_s.ep.rosidl_typesupport_fastrtps_c.c] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:710: lio_sam__py/CMakeFiles/lio_sam__py.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
In file included from /home/francesco/ros2_ws/src/LIO-SAM/src/mapOptmization.cpp:9:
/usr/include/gtsam/navigation/ImuFactor.h: In member function ‘void gtsam::ImuFactor2::serialize(ARCHIVE&, unsigned int)’:
/usr/include/gtsam/navigation/ImuFactor.h:328:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
  328 |     ar & boost::serialization::make_nvp("NoiseModelFactor3",
      |                                ^~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:329:32: error: ‘base_object’ is not a member of ‘boost::serialization’
  329 |          boost::serialization::base_object<Base>(*this));
      |                                ^~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:329:48: error: expected primary-expression before ‘>’ token
  329 |          boost::serialization::base_object<Base>(*this));
      |                                                ^
/usr/include/gtsam/navigation/ImuFactor.h:330:10: error: there are no arguments to ‘BOOST_SERIALIZATION_NVP’ that depend on a template parameter, so a declaration of ‘BOOST_SERIALIZATION_NVP’ must be available [-fpermissive]
  330 |     ar & BOOST_SERIALIZATION_NVP(_PIM_);
      |          ^~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:330:10: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
In file included from /home/francesco/ros2_ws/src/LIO-SAM/src/imuPreintegration.cpp:8:
/usr/include/gtsam/navigation/ImuFactor.h: In member function ‘void gtsam::ImuFactor2::serialize(ARCHIVE&, unsigned int)’:
/usr/include/gtsam/navigation/ImuFactor.h:328:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
  328 |     ar & boost::serialization::make_nvp("NoiseModelFactor3",
      |                                ^~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:329:32: error: ‘base_object’ is not a member of ‘boost::serialization’
  329 |          boost::serialization::base_object<Base>(*this));
      |                                ^~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:329:48: error: expected primary-expression before ‘>’ token
  329 |          boost::serialization::base_object<Base>(*this));
      |                                                ^
/usr/include/gtsam/navigation/ImuFactor.h:330:10: error: there are no arguments to ‘BOOST_SERIALIZATION_NVP’ that depend on a template parameter, so a declaration of ‘BOOST_SERIALIZATION_NVP’ must be available [-fpermissive]
  330 |     ar & BOOST_SERIALIZATION_NVP(_PIM_);
      |          ^~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:330:10: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/francesco/ros2_ws/src/LIO-SAM/src/imuPreintegration.cpp: In constructor ‘IMUPreintegration::IMUPreintegration(const rclcpp::NodeOptions&)’:
/home/francesco/ros2_ws/src/LIO-SAM/src/imuPreintegration.cpp:248:100: error: conversion from ‘std::shared_ptr<gtsam::PreintegrationParams>’ to non-scalar type ‘boost::shared_ptr<gtsam::PreintegrationParams>’ requested
  248 |         boost::shared_ptr<gtsam::PreintegrationParams> p = gtsam::PreintegrationParams::MakeSharedU(imuGravity);
      |                                                            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/home/francesco/ros2_ws/src/LIO-SAM/src/imuPreintegration.cpp:261:86: error: no matching function for call to ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(boost::shared_ptr<gtsam::PreintegrationParams>&, gtsam::imuBias::ConstantBias&)’
  261 |         imuIntegratorImu_ = new gtsam::PreintegratedImuMeasurements(p, prior_imu_bias); // setting up the IMU integration for IMU message thread
      |                                                                                      ^
In file included from /home/francesco/ros2_ws/src/LIO-SAM/src/imuPreintegration.cpp:8:
/usr/include/gtsam/navigation/ImuFactor.h:105:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const PreintegrationType&, const Matrix9&)’
  105 |   PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:105:58: note:   no known conversion for argument 1 from ‘boost::shared_ptr<gtsam::PreintegrationParams>’ to ‘const PreintegrationType&’ {aka ‘const gtsam::TangentPreintegration&’}
  105 |   PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/usr/include/gtsam/navigation/ImuFactor.h:94:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const std::shared_ptr<gtsam::PreintegrationParams>&, const gtsam::imuBias::ConstantBias&)’
   94 |   PreintegratedImuMeasurements(const std::shared_ptr<PreintegrationParams>& p,
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:94:77: note:   no known conversion for argument 1 from ‘boost::shared_ptr<gtsam::PreintegrationParams>’ to ‘const std::shared_ptr<gtsam::PreintegrationParams>&’
   94 |   PreintegratedImuMeasurements(const std::shared_ptr<PreintegrationParams>& p,
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/usr/include/gtsam/navigation/ImuFactor.h:85:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements()’
   85 |   PreintegratedImuMeasurements() {
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:85:3: note:   candidate expects 0 arguments, 2 provided
/usr/include/gtsam/navigation/ImuFactor.h:72:20: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements&)’
   72 | class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
      |                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:72:20: note:   candidate expects 1 argument, 2 provided
/home/francesco/ros2_ws/src/LIO-SAM/src/imuPreintegration.cpp:262:86: error: no matching function for call to ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(boost::shared_ptr<gtsam::PreintegrationParams>&, gtsam::imuBias::ConstantBias&)’
  262 |         imuIntegratorOpt_ = new gtsam::PreintegratedImuMeasurements(p, prior_imu_bias); // setting up the IMU integration for optimization
      |                                                                                      ^
In file included from /home/francesco/ros2_ws/src/LIO-SAM/src/imuPreintegration.cpp:8:
/usr/include/gtsam/navigation/ImuFactor.h:105:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const PreintegrationType&, const Matrix9&)’
  105 |   PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:105:58: note:   no known conversion for argument 1 from ‘boost::shared_ptr<gtsam::PreintegrationParams>’ to ‘const PreintegrationType&’ {aka ‘const gtsam::TangentPreintegration&’}
  105 |   PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/usr/include/gtsam/navigation/ImuFactor.h:94:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const std::shared_ptr<gtsam::PreintegrationParams>&, const gtsam::imuBias::ConstantBias&)’
   94 |   PreintegratedImuMeasurements(const std::shared_ptr<PreintegrationParams>& p,
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:94:77: note:   no known conversion for argument 1 from ‘boost::shared_ptr<gtsam::PreintegrationParams>’ to ‘const std::shared_ptr<gtsam::PreintegrationParams>&’
   94 |   PreintegratedImuMeasurements(const std::shared_ptr<PreintegrationParams>& p,
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/usr/include/gtsam/navigation/ImuFactor.h:85:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements()’
   85 |   PreintegratedImuMeasurements() {
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:85:3: note:   candidate expects 0 arguments, 2 provided
/usr/include/gtsam/navigation/ImuFactor.h:72:20: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements&)’
   72 | class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
      |                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:72:20: note:   candidate expects 1 argument, 2 provided
gmake[2]: *** [CMakeFiles/lio_sam_imuPreintegration.dir/build.make:76: CMakeFiles/lio_sam_imuPreintegration.dir/src/imuPreintegration.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:656: CMakeFiles/lio_sam_imuPreintegration.dir/all] Error 2
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
---
Failed   <<< lio_sam [44.7s, exited with code 2]

Summary: 0 packages finished [44.9s]
  1 package failed: lio_sam
  1 package had stderr output: lio_sam

The only other issue is #398 but it appears to be a different problem.

I have this version of boost

libboost-serialization-dev is already the newest version (1.74.0.3ubuntu7).
@yuma116
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yuma116 commented Feb 2, 2023

I have a same problem on ROS1 of Ubuntu20.04

nuc@nuc:~/ros1_ws/liosam01_ws
$ catkin_make
Base path: /home/nuc/ros1_ws/liosam01_ws
Source space: /home/nuc/ros1_ws/liosam01_ws/src
Build space: /home/nuc/ros1_ws/liosam01_ws/build
Devel space: /home/nuc/ros1_ws/liosam01_ws/devel
Install space: /home/nuc/ros1_ws/liosam01_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/nuc/ros1_ws/liosam01_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/nuc/ros1_ws/liosam01_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/nuc/ros1_ws/liosam01_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") 
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 17 packages in topological order:
-- ~~  - ublox (metapackage)
-- ~~  - velodyne (metapackage)
-- ~~  - velodyne_msgs
-- ~~  - nl_tools
-- ~~  - lidar_imu_calib
-- ~~  - microstrain_mips
-- ~~  - lio_sam
-- ~~  - ndt_omp
-- ~~  - robot_localization
-- ~~  - ublox_serialization
-- ~~  - ublox_msgs
-- ~~  - ublox_gps
-- ~~  - ublox_msg_filters
-- ~~  - velodyne_driver
-- ~~  - velodyne_laserscan
-- ~~  - velodyne_pcl
-- ~~  - velodyne_pointcloud
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'ublox'
-- ==> add_subdirectory(lio-sam/ublox/ublox)
-- +++ processing catkin metapackage: 'velodyne'
-- ==> add_subdirectory(lio-sam/velodyne/velodyne)
-- +++ processing catkin package: 'velodyne_msgs'
-- ==> add_subdirectory(lio-sam/velodyne/velodyne_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- velodyne_msgs: 2 messages, 0 services
-- +++ processing catkin package: 'nl_tools'
-- ==> add_subdirectory(lio-sam/nl_tools)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex 
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_APPS
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN  
-- +++ processing catkin package: 'lidar_imu_calib'
-- ==> add_subdirectory(lio-sam/lidar_imu_calib/lidar_imu_calib)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/noetic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
  The FindEigen.cmake Module in the cmake_modules package is deprecated.

  Please use the FindEigen3.cmake Module provided with Eigen.  Change
  instances of find_package(Eigen) to find_package(Eigen3).  Check the
  FindEigen3.cmake Module for the resulting CMake variable names.

Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:152 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:316 (find_eigen)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library)
  lio-sam/lidar_imu_calib/lidar_imu_calib/CMakeLists.txt:25 (find_package)


-- Eigen found (include: /usr/include/eigen3)
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_APPS
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.a;/usr/lib/x86_64-linux-gnu/libboost_filesystem.a;/usr/lib/x86_64-linux-gnu/libboost_date_time.a;/usr/lib/x86_64-linux-gnu/libboost_iostreams.a;/usr/lib/x86_64-linux-gnu/libboost_regex.a;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN (Required is at least version "1.7") 
-- +++ processing catkin package: 'microstrain_mips'
-- ==> add_subdirectory(lio-sam/microstrain_mips)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- microstrain_mips: 1 messages, 24 services
-- +++ processing catkin package: 'lio_sam'
-- ==> add_subdirectory(lio-sam/LIO-SAM)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- GTSAM include directory:  /usr/lib/cmake/GTSAM/../../../include
-- Found Boost: /usr/include (found version "1.71.0") found components: timer thread serialization chrono date_time atomic 
-- lio_sam: 1 messages, 1 services
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'GTSAM' but neither 'GTSAM_INCLUDE_DIRS' nor
  'GTSAM_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  lio-sam/LIO-SAM/CMakeLists.txt:51 (catkin_package)


-- +++ processing catkin package: 'ndt_omp'
-- ==> add_subdirectory(lio-sam/lidar_imu_calib/ndt_omp)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex 
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_APPS
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN (Required is at least version "1.7") 
-- PCL_INCLUDE_DIRS:/usr/include/pcl-1.10/usr/include/eigen3/usr/include/usr/include/vtk-7.1/usr/include/freetype2/usr/include/x86_64-linux-gnu/usr/include/ni/usr/include/openni2
-- PCL_LIBRARY_DIRS:/usr/lib/x86_64-linux-gnu
-- PCL_DEFINITIONS:-DDISABLE_PCAP-DDISABLE_PNG-DDISABLE_LIBUSB_1_0
-- +++ processing catkin package: 'robot_localization'
-- ==> add_subdirectory(lio-sam/robot_localization)
robot_localization: You did not request a specific build type: selecting 'RelWithDebInfo'.
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Checking for module 'yaml-cpp'
--   Found yaml-cpp, version 0.6.2
-- robot_localization: 0 messages, 7 services
-- +++ processing catkin package: 'ublox_serialization'
-- ==> add_subdirectory(lio-sam/ublox/ublox_serialization)
-- +++ processing catkin package: 'ublox_msgs'
-- ==> add_subdirectory(lio-sam/ublox/ublox_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- ublox_msgs: 79 messages, 0 services
-- +++ processing catkin package: 'ublox_gps'
-- ==> add_subdirectory(lio-sam/ublox/ublox_gps)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: system regex thread 
-- +++ processing catkin package: 'ublox_msg_filters'
-- ==> add_subdirectory(lio-sam/ublox/ublox_msg_filters)
-- +++ processing catkin package: 'velodyne_driver'
-- ==> add_subdirectory(lio-sam/velodyne/velodyne_driver)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: thread 
-- +++ processing catkin package: 'velodyne_laserscan'
-- ==> add_subdirectory(lio-sam/velodyne/velodyne_laserscan)
-- +++ processing catkin package: 'velodyne_pcl'
-- ==> add_subdirectory(lio-sam/velodyne/velodyne_pcl)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'velodyne_pointcloud'
-- ==> add_subdirectory(lio-sam/velodyne/velodyne_pointcloud)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find Boost: missing: signals (found /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0"))
-- Checking for module 'yaml-cpp'
--   Found yaml-cpp, version 0.6.2
-- Configuring done
-- Generating done
-- Build files have been written to: /home/nuc/ros1_ws/liosam01_ws/build
####
#### Running command: "make -j8 -l8" in "/home/nuc/ros1_ws/liosam01_ws/build"
####
[  0%] Built target tf_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target tf2_msgs_generate_messages_lisp
[  0%] Built target tf2_msgs_generate_messages_nodejs
[  0%] Built target actionlib_msgs_generate_messages_cpp
[  0%] Built target actionlib_msgs_generate_messages_py
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[  0%] Built target actionlib_generate_messages_py
[  0%] Built target tf2_msgs_generate_messages_cpp
[  0%] Built target actionlib_generate_messages_lisp
[  0%] Built target dynamic_reconfigure_generate_messages_lisp
[  0%] Built target _velodyne_msgs_generate_messages_check_deps_VelodynePacket
[  0%] Built target _velodyne_msgs_generate_messages_check_deps_VelodyneScan
[  0%] Built target std_srvs_generate_messages_lisp
[  0%] Built target pcl_ros_gencfg
[  0%] Built target pcl_msgs_generate_messages_py
[  0%] Built target rosgraph_msgs_generate_messages_nodejs
[  0%] Built target roscpp_generate_messages_eus
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[  0%] Built target topic_tools_generate_messages_nodejs
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[  0%] Built target roscpp_generate_messages_cpp
[  0%] Built target actionlib_msgs_generate_messages_nodejs
[  0%] Built target tf_generate_messages_py
[  0%] Built target actionlib_msgs_generate_messages_lisp
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[  0%] Built target tf_generate_messages_cpp
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[  0%] Built target rosgraph_msgs_generate_messages_eus
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[  0%] Built target dynamic_reconfigure_generate_messages_cpp
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[  0%] Built target geometry_msgs_generate_messages_cpp
[  0%] Built target rosgraph_msgs_generate_messages_py
[  0%] Built target sensor_msgs_generate_messages_py
[  0%] Built target tf2_msgs_generate_messages_eus
[  0%] Built target roscpp_generate_messages_lisp
[  0%] Built target geometry_msgs_generate_messages_py
[  0%] Built target geometry_msgs_generate_messages_nodejs
[  0%] Built target dynamic_reconfigure_generate_messages_eus
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[  0%] Built target nodelet_generate_messages_cpp
[  0%] Built target tf2_msgs_generate_messages_py
[  0%] Built target pcl_msgs_generate_messages_eus
[  0%] Built target topic_tools_generate_messages_cpp
[  0%] Built target sensor_msgs_generate_messages_nodejs
[  0%] Built target dynamic_reconfigure_generate_messages_nodejs
[  0%] Built target bond_generate_messages_cpp
[  0%] Built target nodelet_topic_tools_gencfg
[  0%] Built target sensor_msgs_generate_messages_eus
[  0%] Built target bond_generate_messages_eus
[  0%] Built target dynamic_reconfigure_generate_messages_py
[  0%] Built target sensor_msgs_generate_messages_lisp
[  0%] Built target bond_generate_messages_lisp
[  0%] Built target actionlib_msgs_generate_messages_eus
[  0%] Built target nodelet_generate_messages_lisp
[  0%] Built target nodelet_generate_messages_eus
[  0%] Built target nodelet_generate_messages_nodejs
[  0%] Built target bond_generate_messages_nodejs
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[  0%] Built target tf_generate_messages_eus
[  0%] Built target std_srvs_generate_messages_cpp
[  0%] Built target bond_generate_messages_py
[  0%] Built target std_srvs_generate_messages_eus
[  0%] Built target nodelet_generate_messages_py
[  0%] Built target std_srvs_generate_messages_nodejs
[  0%] Built target topic_tools_generate_messages_lisp
[  1%] Built target ndt_omp
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetZeroAngleUpdateThreshold
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetComplementaryFilter
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetSensorVehicleFrameTrans
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetAccelAdaptiveVals
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetReferencePosition
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetHardIronValues
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetConingScullingComp
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetSoftIronMatrix
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetTareOrientation
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetAccelBiasModel
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetGyroBias
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetMagAdaptiveVals
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetFilterHeading
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetAccelNoise
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetEstimationControlFlags
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetSensorVehicleFrameOffset
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetGyroNoise
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetGyroBiasModel
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetFilterEuler
[  1%] Built target _microstrain_mips_generate_messages_check_deps_status_msg
[  1%] Built target _microstrain_mips_generate_messages_check_deps_SetMagNoise
[  2%] Built target GX4-45_Test
[  2%] Built target visualization_msgs_generate_messages_py
[  2%] Built target get_soft_iron_matrix_client
[  2%] Built target _catkin_empty_exported_target
[  2%] Built target _microstrain_mips_generate_messages_check_deps_SetDynamicsMode
[  2%] Building CXX object lio-sam/LIO-SAM/CMakeFiles/lio_sam_imuPreintegration.dir/src/imuPreintegration.cpp.o
[  2%] Built target nav_msgs_generate_messages_eus
[  2%] Built target nav_msgs_generate_messages_cpp
[  2%] Built target _microstrain_mips_generate_messages_check_deps_SetAccelBias
[  2%] Built target nav_msgs_generate_messages_lisp
[  2%] Built target _microstrain_mips_generate_messages_check_deps_SetMagDipAdaptiveVals
[  2%] Built target nav_msgs_generate_messages_py
[  2%] Built target nav_msgs_generate_messages_nodejs
[  2%] Built target visualization_msgs_generate_messages_cpp
[  2%] Built target visualization_msgs_generate_messages_lisp
[  2%] Built target visualization_msgs_generate_messages_eus
[  2%] Built target visualization_msgs_generate_messages_nodejs
[  2%] Built target align
[  2%] Built target _lio_sam_generate_messages_check_deps_cloud_info
[  2%] Built target _lio_sam_generate_messages_check_deps_save_map
[  2%] Built target _robot_localization_generate_messages_check_deps_ToggleFilterProcessing
[  2%] Built target _robot_localization_generate_messages_check_deps_SetPose
[  2%] Built target geographic_msgs_generate_messages_cpp
[  2%] Built target _robot_localization_generate_messages_check_deps_SetUTMZone
[  2%] Built target _robot_localization_generate_messages_check_deps_SetDatum
[  2%] Built target geographic_msgs_generate_messages_lisp
[  2%] Built target geographic_msgs_generate_messages_eus
[  2%] Built target filter_utilities
[  2%] Built target ros_filter_utilities
[  2%] Built target _robot_localization_generate_messages_check_deps_ToLL
[  2%] Built target _robot_localization_generate_messages_check_deps_GetState
[  2%] Built target geographic_msgs_generate_messages_py
[  2%] Built target _robot_localization_generate_messages_check_deps_FromLL
[  2%] Built target geographic_msgs_generate_messages_nodejs
[  2%] Built target test_ros_robot_localization_listener_publisher
[  2%] Built target _ublox_msgs_generate_messages_check_deps_NavSOL
[  2%] Built target _ublox_msgs_generate_messages_check_deps_UpdSOS
[  2%] Built target _ublox_msgs_generate_messages_check_deps_TimTM2
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmSVSI_SV
[  2%] Built target _ublox_msgs_generate_messages_check_deps_UpdSOS_Ack
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmSFRB
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmSVSI
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmRTCM
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmSFRBX
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmRAWX_Meas
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmEPH
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmRAW_SV
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmRAW
[  2%] Built target _ublox_msgs_generate_messages_check_deps_NavVELECEF
[  2%] Built target _ublox_msgs_generate_messages_check_deps_NavTIMEGPS
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[  2%] Built target nmea_msgs_generate_messages_lisp
[  2%] Built target _ublox_msgs_generate_messages_check_deps_NavPVT
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[  2%] Built target diagnostic_msgs_generate_messages_nodejs
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[  2%] Built target diagnostic_msgs_generate_messages_cpp
[  2%] Built target _ublox_msgs_generate_messages_check_deps_RxmRAWX
[  2%] Built target diagnostic_msgs_generate_messages_lisp
[  2%] Built target diagnostic_msgs_generate_messages_py
[  2%] Built target rtcm_msgs_generate_messages_cpp
[  2%] Built target rtcm_msgs_generate_messages_eus
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[  2%] Built target nmea_msgs_generate_messages_cpp
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[  2%] Built target nmea_msgs_generate_messages_py
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[  2%] Built target rtcm_msgs_generate_messages_py
[  2%] Built target velodyne_laserscan_gencfg
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[  3%] Built target velodyne_msgs_generate_messages_py
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[  4%] Built target velodyne_msgs_generate_messages_lisp
[  6%] Built target microstrain_mips_generate_messages_eus
[  9%] Built target microstrain_mips_generate_messages_nodejs
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[ 12%] Built target map_saver
[ 12%] Built target calib
[ 16%] Built target microstrain_mips_generate_messages_lisp
[ 19%] Built target microstrain_mips_generate_messages_py
[ 19%] Built target lio_sam_generate_messages_py
[ 19%] Built target lio_sam_generate_messages_lisp
[ 20%] Built target lio_sam_generate_messages_nodejs
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[ 21%] Built target robot_localization_generate_messages_cpp
[ 22%] Built target robot_localization_generate_messages_lisp
[ 23%] Built target robot_localization_generate_messages_eus
[ 24%] Built target robot_localization_generate_messages_py
[ 24%] Built target robot_localization_generate_messages_nodejs
[ 35%] Built target ublox_msgs_generate_messages_py
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[ 76%] Built target velodyne_input
[ 76%] Built target velodyne_laserscan
[ 76%] Built target microstrain_mips_gencpp
[ 77%] Built target microstrain_diagnostic_updater
[ 77%] Built target calib_exR_lidar2imu_node
[ 77%] Built target microstrain_mips_generate_messages
[ 79%] Built target microstrain_mips
[ 79%] Built target robot_localization_gencpp
[ 79%] Building CXX object lio-sam/LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/src/mapOptmization.cpp.o
[ 79%] Built target robot_localization_generate_messages
[ 79%] Building CXX object lio-sam/LIO-SAM/CMakeFiles/lio_sam_featureExtraction.dir/src/featureExtraction.cpp.o
[ 79%] Built target lio_sam_generate_messages
[ 79%] Building CXX object lio-sam/LIO-SAM/CMakeFiles/lio_sam_imageProjection.dir/src/imageProjection.cpp.o
[ 79%] Built target ublox_msgs
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Scanning dependencies of target velodyne_rawdata
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Scanning dependencies of target get_mag_dip_adaptive_vals_client
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[ 80%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_accel_bias_model_client.dir/src/get_accel_bias_model_client.cpp.o
[ 80%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_mag_dip_adaptive_vals_client.dir/src/get_mag_dip_adaptive_vals_client.cpp.o
[ 80%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_mag_adaptive_vals_client.dir/src/get_mag_adaptive_vals_client.cpp.o
[ 80%] Building CXX object lio-sam/velodyne/velodyne_pointcloud/src/lib/CMakeFiles/velodyne_rawdata.dir/rawdata.cc.o
[ 80%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_accel_bias_model_client
[ 81%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_mag_adaptive_vals_client
[ 81%] Built target get_accel_bias_model_client
[ 81%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_mag_dip_adaptive_vals_client
Scanning dependencies of target get_gyro_bias_model_client
[ 81%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_gyro_bias_model_client.dir/src/get_gyro_bias_model_client.cpp.o
[ 81%] Built target get_mag_adaptive_vals_client
Scanning dependencies of target set_gyro_bias_model_client
[ 81%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_gyro_bias_model_client.dir/src/set_gyro_bias_model_client.cpp.o
[ 81%] Built target get_mag_dip_adaptive_vals_client
[ 81%] Building CXX object lio-sam/velodyne/velodyne_pointcloud/src/lib/CMakeFiles/velodyne_rawdata.dir/calibration.cc.o
[ 81%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_gyro_bias_model_client
[ 81%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_gyro_bias_model_client
[ 81%] Built target get_gyro_bias_model_client
Scanning dependencies of target get_mag_noise_client
[ 81%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_mag_noise_client.dir/src/get_mag_noise_client.cpp.o
[ 81%] Built target set_gyro_bias_model_client
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[ 81%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_mag_noise_client.dir/src/set_mag_noise_client.cpp.o
Scanning dependencies of target set_gyro_noise_client
[ 81%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_gyro_noise_client.dir/src/set_gyro_noise_client.cpp.o
[ 82%] Linking CXX shared library /home/nuc/ros1_ws/liosam01_ws/devel/lib/libvelodyne_rawdata.so
[ 82%] Built target velodyne_rawdata
Scanning dependencies of target get_zero_angle_update_threshold_client
[ 82%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_zero_angle_update_threshold_client.dir/src/get_zero_angle_update_threshold_client.cpp.o
[ 82%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_mag_noise_client
[ 82%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_mag_noise_client
[ 82%] Built target get_mag_noise_client
Scanning dependencies of target set_accel_noise_client
[ 82%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_accel_noise_client.dir/src/set_accel_noise_client.cpp.o
[ 82%] Built target set_mag_noise_client
Scanning dependencies of target set_zero_angle_update_threshold_client
[ 82%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_zero_angle_update_threshold_client.dir/src/set_zero_angle_update_threshold_client.cpp.o
[ 82%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_gyro_noise_client
[ 82%] Built target set_gyro_noise_client
Scanning dependencies of target set_dynamics_mode_client
[ 82%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_dynamics_mode_client.dir/src/set_dynamics_mode_client.cpp.o
[ 82%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_zero_angle_update_threshold_client
[ 82%] Built target get_zero_angle_update_threshold_client
Scanning dependencies of target get_estimation_control_flags_client
[ 82%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_estimation_control_flags_client.dir/src/get_estimation_control_flags_client.cpp.o
In file included from /usr/include/boost/preprocessor/tuple/elem.hpp:23,
                 from /usr/include/boost/preprocessor/arithmetic/add.hpp:21,
                 from /usr/include/boost/mpl/aux_/preprocessor/def_params_tail.hpp:66,
                 from /usr/include/boost/mpl/aux_/na_spec.hpp:28,
                 from /usr/include/boost/mpl/next_prior.hpp:18,
                 from /usr/include/boost/mpl/next.hpp:17,
                 from /usr/include/boost/mpl/list/aux_/push_front.hpp:18,
                 from /usr/include/boost/mpl/list/list0.hpp:19,
                 from /usr/include/boost/mpl/list/list10.hpp:18,
                 from /usr/include/boost/mpl/list/list20.hpp:18,
                 from /usr/include/boost/mpl/list.hpp:36,
                 from /usr/include/boost/math/policies/policy.hpp:9,
                 from /usr/include/boost/math/policies/error_handling.hpp:21,
                 from /usr/include/boost/math/special_functions/round.hpp:14,
                 from /opt/ros/noetic/include/ros/time.h:58,
                 from /opt/ros/noetic/include/ros/ros.h:38,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:6,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:14:6: warning: ‘using uint16_t = uint16_t’ is deprecated: use std::uint16_t instead of pcl::uint16_t [-Wdeprecated-declarations]
   14 |     (uint16_t, ring, ring) (float, time, time)
      |      ^~~~~~~~
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
                 from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:20,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/usr/include/pcl-1.10/pcl/pcl_macros.h:94:9: note: declared here
   94 |   using uint16_t [[deprecated("use std::uint16_t instead of pcl::uint16_t")]] = std::uint16_t;
      |         ^~~~~~~~
In file included from /usr/include/boost/preprocessor/tuple/elem.hpp:23,
                 from /usr/include/boost/preprocessor/arithmetic/add.hpp:21,
                 from /usr/include/boost/mpl/aux_/preprocessor/def_params_tail.hpp:66,
                 from /usr/include/boost/mpl/aux_/na_spec.hpp:28,
                 from /usr/include/boost/mpl/next_prior.hpp:18,
                 from /usr/include/boost/mpl/next.hpp:17,
                 from /usr/include/boost/mpl/list/aux_/push_front.hpp:18,
                 from /usr/include/boost/mpl/list/list0.hpp:19,
                 from /usr/include/boost/mpl/list/list10.hpp:18,
                 from /usr/include/boost/mpl/list/list20.hpp:18,
                 from /usr/include/boost/mpl/list.hpp:36,
                 from /usr/include/boost/math/policies/policy.hpp:9,
                 from /usr/include/boost/math/policies/error_handling.hpp:21,
                 from /usr/include/boost/math/special_functions/round.hpp:14,
                 from /opt/ros/noetic/include/ros/time.h:58,
                 from /opt/ros/noetic/include/ros/ros.h:38,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:6,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:29:6: warning: ‘using uint32_t = uint32_t’ is deprecated: use std::uint32_t instead of pcl::uint32_t [-Wdeprecated-declarations]
   29 |     (uint32_t, t, t) (uint16_t, reflectivity, reflectivity)
      |      ^~~~~~~~
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
                 from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:20,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/usr/include/pcl-1.10/pcl/pcl_macros.h:96:9: note: declared here
   96 |   using uint32_t [[deprecated("use std::uint32_t instead of pcl::uint32_t")]] = std::uint32_t;
      |         ^~~~~~~~
In file included from /usr/include/boost/preprocessor/tuple/elem.hpp:23,
                 from /usr/include/boost/preprocessor/arithmetic/add.hpp:21,
                 from /usr/include/boost/mpl/aux_/preprocessor/def_params_tail.hpp:66,
                 from /usr/include/boost/mpl/aux_/na_spec.hpp:28,
                 from /usr/include/boost/mpl/next_prior.hpp:18,
                 from /usr/include/boost/mpl/next.hpp:17,
                 from /usr/include/boost/mpl/list/aux_/push_front.hpp:18,
                 from /usr/include/boost/mpl/list/list0.hpp:19,
                 from /usr/include/boost/mpl/list/list10.hpp:18,
                 from /usr/include/boost/mpl/list/list20.hpp:18,
                 from /usr/include/boost/mpl/list.hpp:36,
                 from /usr/include/boost/math/policies/policy.hpp:9,
                 from /usr/include/boost/math/policies/error_handling.hpp:21,
                 from /usr/include/boost/math/special_functions/round.hpp:14,
                 from /opt/ros/noetic/include/ros/time.h:58,
                 from /opt/ros/noetic/include/ros/ros.h:38,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:6,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:29:23: warning: ‘using uint16_t = uint16_t’ is deprecated: use std::uint16_t instead of pcl::uint16_t [-Wdeprecated-declarations]
   29 |     (uint32_t, t, t) (uint16_t, reflectivity, reflectivity)
      |                       ^~~~~~~~
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
                 from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:20,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/usr/include/pcl-1.10/pcl/pcl_macros.h:94:9: note: declared here
   94 |   using uint16_t [[deprecated("use std::uint16_t instead of pcl::uint16_t")]] = std::uint16_t;
      |         ^~~~~~~~
In file included from /usr/include/boost/preprocessor/tuple/elem.hpp:23,
                 from /usr/include/boost/preprocessor/arithmetic/add.hpp:21,
                 from /usr/include/boost/mpl/aux_/preprocessor/def_params_tail.hpp:66,
                 from /usr/include/boost/mpl/aux_/na_spec.hpp:28,
                 from /usr/include/boost/mpl/next_prior.hpp:18,
                 from /usr/include/boost/mpl/next.hpp:17,
                 from /usr/include/boost/mpl/list/aux_/push_front.hpp:18,
                 from /usr/include/boost/mpl/list/list0.hpp:19,
                 from /usr/include/boost/mpl/list/list10.hpp:18,
                 from /usr/include/boost/mpl/list/list20.hpp:18,
                 from /usr/include/boost/mpl/list.hpp:36,
                 from /usr/include/boost/math/policies/policy.hpp:9,
                 from /usr/include/boost/math/policies/error_handling.hpp:21,
                 from /usr/include/boost/math/special_functions/round.hpp:14,
                 from /opt/ros/noetic/include/ros/time.h:58,
                 from /opt/ros/noetic/include/ros/ros.h:38,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:6,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:30:6: warning: ‘using uint8_t = uint8_t’ is deprecated: use std::uint8_t instead of pcl::uint8_t [-Wdeprecated-declarations]
   30 |     (uint8_t, ring, ring) (uint16_t, noise, noise) (uint32_t, range, range)
      |      ^~~~~~~
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
                 from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:20,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/usr/include/pcl-1.10/pcl/pcl_macros.h:92:9: note: declared here
   92 |   using uint8_t [[deprecated("use std::uint8_t instead of pcl::uint8_t")]] = std::uint8_t;
      |         ^~~~~~~
In file included from /usr/include/boost/preprocessor/tuple/elem.hpp:23,
                 from /usr/include/boost/preprocessor/arithmetic/add.hpp:21,
                 from /usr/include/boost/mpl/aux_/preprocessor/def_params_tail.hpp:66,
                 from /usr/include/boost/mpl/aux_/na_spec.hpp:28,
                 from /usr/include/boost/mpl/next_prior.hpp:18,
                 from /usr/include/boost/mpl/next.hpp:17,
                 from /usr/include/boost/mpl/list/aux_/push_front.hpp:18,
                 from /usr/include/boost/mpl/list/list0.hpp:19,
                 from /usr/include/boost/mpl/list/list10.hpp:18,
                 from /usr/include/boost/mpl/list/list20.hpp:18,
                 from /usr/include/boost/mpl/list.hpp:36,
                 from /usr/include/boost/math/policies/policy.hpp:9,
                 from /usr/include/boost/math/policies/error_handling.hpp:21,
                 from /usr/include/boost/math/special_functions/round.hpp:14,
                 from /opt/ros/noetic/include/ros/time.h:58,
                 from /opt/ros/noetic/include/ros/ros.h:38,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:6,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:30:28: warning: ‘using uint16_t = uint16_t’ is deprecated: use std::uint16_t instead of pcl::uint16_t [-Wdeprecated-declarations]
   30 |     (uint8_t, ring, ring) (uint16_t, noise, noise) (uint32_t, range, range)
      |                            ^~~~~~~~
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
                 from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:20,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/usr/include/pcl-1.10/pcl/pcl_macros.h:94:9: note: declared here
   94 |   using uint16_t [[deprecated("use std::uint16_t instead of pcl::uint16_t")]] = std::uint16_t;
      |         ^~~~~~~~
In file included from /usr/include/boost/preprocessor/tuple/elem.hpp:23,
                 from /usr/include/boost/preprocessor/arithmetic/add.hpp:21,
                 from /usr/include/boost/mpl/aux_/preprocessor/def_params_tail.hpp:66,
                 from /usr/include/boost/mpl/aux_/na_spec.hpp:28,
                 from /usr/include/boost/mpl/next_prior.hpp:18,
                 from /usr/include/boost/mpl/next.hpp:17,
                 from /usr/include/boost/mpl/list/aux_/push_front.hpp:18,
                 from /usr/include/boost/mpl/list/list0.hpp:19,
                 from /usr/include/boost/mpl/list/list10.hpp:18,
                 from /usr/include/boost/mpl/list/list20.hpp:18,
                 from /usr/include/boost/mpl/list.hpp:36,
                 from /usr/include/boost/math/policies/policy.hpp:9,
                 from /usr/include/boost/math/policies/error_handling.hpp:21,
                 from /usr/include/boost/math/special_functions/round.hpp:14,
                 from /opt/ros/noetic/include/ros/time.h:58,
                 from /opt/ros/noetic/include/ros/ros.h:38,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:6,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:30:53: warning: ‘using uint32_t = uint32_t’ is deprecated: use std::uint32_t instead of pcl::uint32_t [-Wdeprecated-declarations]
   30 |     (uint8_t, ring, ring) (uint16_t, noise, noise) (uint32_t, range, range)
      |                                                     ^~~~~~~~
In file included from /usr/include/pcl-1.10/pcl/PCLHeader.h:10,
                 from /usr/include/pcl-1.10/pcl/point_cloud.h:47,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/include/utility.h:20,
                 from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imageProjection.cpp:1:
/usr/include/pcl-1.10/pcl/pcl_macros.h:96:9: note: declared here
   96 |   using uint32_t [[deprecated("use std::uint32_t instead of pcl::uint32_t")]] = std::uint32_t;
      |         ^~~~~~~~
[ 82%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_accel_noise_client
[ 83%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_zero_angle_update_threshold_client
[ 83%] Built target set_accel_noise_client
Scanning dependencies of target get_accel_noise_client
[ 83%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_accel_noise_client.dir/src/get_accel_noise_client.cpp.o
[ 83%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_dynamics_mode_client
[ 83%] Built target set_zero_angle_update_threshold_client
Scanning dependencies of target set_estimation_control_flags_client
[ 83%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_estimation_control_flags_client.dir/src/set_estimation_control_flags_client.cpp.o
[ 83%] Built target set_dynamics_mode_client
Scanning dependencies of target get_coning_sculling_comp_client
[ 84%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_coning_sculling_comp_client.dir/src/get_coning_sculling_comp_client.cpp.o
[ 84%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_estimation_control_flags_client
[ 84%] Built target get_estimation_control_flags_client
Scanning dependencies of target set_coning_sculling_comp_client
[ 86%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_coning_sculling_comp_client.dir/src/set_coning_sculling_comp_client.cpp.o
[ 86%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_estimation_control_flags_client
[ 86%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_accel_noise_client
In file included from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imuPreintegration.cpp:8:
/usr/include/gtsam/navigation/ImuFactor.h: In member function ‘void gtsam::ImuFactor2::serialize(ARCHIVE&, unsigned int)’:
/usr/include/gtsam/navigation/ImuFactor.h:328:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
  328 |     ar & boost::serialization::make_nvp("NoiseModelFactor3",
      |                                ^~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:329:32: error: ‘base_object’ is not a member of ‘boost::serialization’
  329 |          boost::serialization::base_object<Base>(*this));
      |                                ^~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:329:48: error: expected primary-expression before ‘>’ token
  329 |          boost::serialization::base_object<Base>(*this));
      |                                                ^
/usr/include/gtsam/navigation/ImuFactor.h:330:10: error: there are no arguments to ‘BOOST_SERIALIZATION_NVP’ that depend on a template parameter, so a declaration of ‘BOOST_SERIALIZATION_NVP’ must be available [-fpermissive]
  330 |     ar & BOOST_SERIALIZATION_NVP(_PIM_);
      |          ^~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:330:10: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
[ 86%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_coning_sculling_comp_client
[ 86%] Built target set_estimation_control_flags_client
Scanning dependencies of target set_mag_adaptive_vals_client
[ 86%] Built target get_accel_noise_client
Scanning dependencies of target set_reference_position_client
[ 86%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_mag_adaptive_vals_client.dir/src/set_mag_adaptive_vals_client.cpp.o
[ 86%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_reference_position_client.dir/src/set_reference_position_client.cpp.o
[ 86%] Built target get_coning_sculling_comp_client
Scanning dependencies of target get_dynamics_mode_client
[ 86%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_dynamics_mode_client.dir/src/get_dynamics_mode_client.cpp.o
[ 86%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_coning_sculling_comp_client
[ 86%] Built target set_coning_sculling_comp_client
Scanning dependencies of target set_sensor_vehicle_frame_offset_client
[ 87%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_sensor_vehicle_frame_offset_client.dir/src/set_sensor_vehicle_frame_offset_client.cpp.o
In file included from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/mapOptmization.cpp:10:
/usr/include/gtsam/navigation/ImuFactor.h: In member function ‘void gtsam::ImuFactor2::serialize(ARCHIVE&, unsigned int)’:
/usr/include/gtsam/navigation/ImuFactor.h:328:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
  328 |     ar & boost::serialization::make_nvp("NoiseModelFactor3",
      |                                ^~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:329:32: error: ‘base_object’ is not a member of ‘boost::serialization’
  329 |          boost::serialization::base_object<Base>(*this));
      |                                ^~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:329:48: error: expected primary-expression before ‘>’ token
  329 |          boost::serialization::base_object<Base>(*this));
      |                                                ^
/usr/include/gtsam/navigation/ImuFactor.h:330:10: error: there are no arguments to ‘BOOST_SERIALIZATION_NVP’ that depend on a template parameter, so a declaration of ‘BOOST_SERIALIZATION_NVP’ must be available [-fpermissive]
  330 |     ar & BOOST_SERIALIZATION_NVP(_PIM_);
      |          ^~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:330:10: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
[ 87%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_reference_position_client
[ 87%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_mag_adaptive_vals_client
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imuPreintegration.cpp: In constructor ‘TransformFusion::TransformFusion()’:
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imuPreintegration.cpp:53:43: warning: catching polymorphic type ‘tf::TransformException’ {aka ‘class tf2::TransformException’} by value [-Wcatch-value=]
   53 |             catch (tf::TransformException ex)
      |                                           ^~
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imuPreintegration.cpp: In constructor ‘IMUPreintegration::IMUPreintegration()’:
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imuPreintegration.cpp:214:100: error: conversion from ‘std::shared_ptr<gtsam::PreintegrationParams>’ to non-scalar type ‘boost::shared_ptr<gtsam::PreintegrationParams>’ requested
  214 |         boost::shared_ptr<gtsam::PreintegrationParams> p = gtsam::PreintegrationParams::MakeSharedU(imuGravity);
      |                                                            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
[ 87%] Built target set_reference_position_client
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imuPreintegration.cpp:227:86: error: no matching function for call to ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(boost::shared_ptr<gtsam::PreintegrationParams>&, gtsam::imuBias::ConstantBias&)’
  227 |         imuIntegratorImu_ = new gtsam::PreintegratedImuMeasurements(p, prior_imu_bias); // setting up the IMU integration for IMU message thread
      |                                                                                      ^
In file included from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imuPreintegration.cpp:8:
/usr/include/gtsam/navigation/ImuFactor.h:105:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const PreintegrationType&, const Matrix9&)’
  105 |   PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:105:58: note:   no known conversion for argument 1 from ‘boost::shared_ptr<gtsam::PreintegrationParams>’ to ‘const PreintegrationType&’ {aka ‘const gtsam::TangentPreintegration&’}
  105 |   PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/usr/include/gtsam/navigation/ImuFactor.h:94:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const std::shared_ptr<gtsam::PreintegrationParams>&, const gtsam::imuBias::ConstantBias&)’
   94 |   PreintegratedImuMeasurements(const std::shared_ptr<PreintegrationParams>& p,
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:94:77: note:   no known conversion for argument 1 from ‘boost::shared_ptr<gtsam::PreintegrationParams>’ to ‘const std::shared_ptr<gtsam::PreintegrationParams>&’
   94 |   PreintegratedImuMeasurements(const std::shared_ptr<PreintegrationParams>& p,
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/usr/include/gtsam/navigation/ImuFactor.h:85:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements()’
   85 |   PreintegratedImuMeasurements() {
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:85:3: note:   candidate expects 0 arguments, 2 provided
/usr/include/gtsam/navigation/ImuFactor.h:72:20: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements&)’
   72 | class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
      |                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:72:20: note:   candidate expects 1 argument, 2 provided
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imuPreintegration.cpp:228:86: error: no matching function for call to ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(boost::shared_ptr<gtsam::PreintegrationParams>&, gtsam::imuBias::ConstantBias&)’
  228 |         imuIntegratorOpt_ = new gtsam::PreintegratedImuMeasurements(p, prior_imu_bias); // setting up the IMU integration for optimization
      |                                                                                      ^
In file included from /home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/imuPreintegration.cpp:8:
/usr/include/gtsam/navigation/ImuFactor.h:105:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const PreintegrationType&, const Matrix9&)’
  105 |   PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:105:58: note:   no known conversion for argument 1 from ‘boost::shared_ptr<gtsam::PreintegrationParams>’ to ‘const PreintegrationType&’ {aka ‘const gtsam::TangentPreintegration&’}
  105 |   PreintegratedImuMeasurements(const PreintegrationType& base, const Matrix9& preintMeasCov)
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/usr/include/gtsam/navigation/ImuFactor.h:94:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const std::shared_ptr<gtsam::PreintegrationParams>&, const gtsam::imuBias::ConstantBias&)’
   94 |   PreintegratedImuMeasurements(const std::shared_ptr<PreintegrationParams>& p,
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:94:77: note:   no known conversion for argument 1 from ‘boost::shared_ptr<gtsam::PreintegrationParams>’ to ‘const std::shared_ptr<gtsam::PreintegrationParams>&’
   94 |   PreintegratedImuMeasurements(const std::shared_ptr<PreintegrationParams>& p,
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/usr/include/gtsam/navigation/ImuFactor.h:85:3: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements()’
   85 |   PreintegratedImuMeasurements() {
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:85:3: note:   candidate expects 0 arguments, 2 provided
/usr/include/gtsam/navigation/ImuFactor.h:72:20: note: candidate: ‘gtsam::PreintegratedImuMeasurements::PreintegratedImuMeasurements(const gtsam::PreintegratedImuMeasurements&)’
   72 | class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
      |                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/navigation/ImuFactor.h:72:20: note:   candidate expects 1 argument, 2 provided
Scanning dependencies of target get_sensor_vehicle_frame_offset_client
[ 87%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_sensor_vehicle_frame_offset_client.dir/src/get_sensor_vehicle_frame_offset_client.cpp.o
[ 87%] Built target set_mag_adaptive_vals_client
Scanning dependencies of target get_sensor_vehicle_frame_trans_client
[ 87%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_dynamics_mode_client
[ 88%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_sensor_vehicle_frame_trans_client.dir/src/get_sensor_vehicle_frame_trans_client.cpp.o
[ 88%] Built target get_dynamics_mode_client
Scanning dependencies of target get_accel_adaptive_vals_client
[ 88%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_accel_adaptive_vals_client.dir/src/get_accel_adaptive_vals_client.cpp.o
[ 88%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_sensor_vehicle_frame_offset_client
[ 88%] Built target set_sensor_vehicle_frame_offset_client
Scanning dependencies of target set_sensor_vehicle_frame_trans_client
[ 88%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_sensor_vehicle_frame_trans_client.dir/src/set_sensor_vehicle_frame_trans_client.cpp.o
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/mapOptmization.cpp: In member function ‘void mapOptimization::publishFrames()’:
/home/nuc/ros1_ws/liosam01_ws/src/lio-sam/LIO-SAM/src/mapOptmization.cpp:1762:37: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::size_t’ {aka ‘long unsigned int’} [-Wsign-compare]
 1762 |             if (lastSLAMInfoPubSize != cloudKeyPoses6D->size())
      |                 ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
[ 88%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_sensor_vehicle_frame_offset_client
[ 88%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_sensor_vehicle_frame_trans_client
[ 88%] Built target get_sensor_vehicle_frame_offset_client
Scanning dependencies of target set_accel_bias_model_client
[ 88%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_accel_bias_model_client.dir/src/set_accel_bias_model_client.cpp.o
[ 88%] Built target get_sensor_vehicle_frame_trans_client
Scanning dependencies of target set_filter_heading_client
[ 88%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_filter_heading_client.dir/src/set_filter_heading_client.cpp.o
[ 88%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_accel_adaptive_vals_client
[ 88%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_sensor_vehicle_frame_trans_client
[ 88%] Built target get_accel_adaptive_vals_client
Scanning dependencies of target get_gyro_noise_client
[ 88%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_gyro_noise_client.dir/src/get_gyro_noise_client.cpp.o
[ 88%] Built target set_sensor_vehicle_frame_trans_client
Scanning dependencies of target get_complementary_filter_client
[ 88%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_complementary_filter_client.dir/src/get_complementary_filter_client.cpp.o
[ 88%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_accel_bias_model_client
[ 89%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_filter_heading_client
[ 89%] Built target set_accel_bias_model_client
Scanning dependencies of target set_complementary_filter_client
[ 89%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_complementary_filter_client.dir/src/set_complementary_filter_client.cpp.o
[ 89%] Built target set_filter_heading_client
Scanning dependencies of target set_accel_bias_client
[ 90%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_accel_bias_client.dir/src/set_accel_bias_client.cpp.o
[ 90%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_gyro_noise_client
[ 90%] Built target get_gyro_noise_client
Scanning dependencies of target device_report_client
[ 90%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/device_report_client.dir/src/device_report_client.cpp.o
[ 90%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_complementary_filter_client
[ 90%] Built target get_complementary_filter_client
Scanning dependencies of target set_mag_dip_adaptive_vals_client
[ 90%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_mag_dip_adaptive_vals_client.dir/src/set_mag_dip_adaptive_vals_client.cpp.o
[ 90%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_accel_bias_client
[ 90%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_complementary_filter_client
[ 90%] Built target set_accel_bias_client
Scanning dependencies of target set_filter_euler_client
[ 90%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_filter_euler_client.dir/src/set_filter_euler_client.cpp.o
[ 90%] Built target set_complementary_filter_client
[ 90%] Built target get_basic_status_client
[ 90%] Built target set_tare_orientation_client
[ 90%] Built target get_diagnostic_report_client
[ 91%] Built target set_hard_iron_values_client
[ 91%] Built target get_reference_position_client
[ 91%] Built target set_accel_adaptive_vals_client
Scanning dependencies of target microstrain_mips_node
[ 91%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/microstrain_mips_node.dir/src/microstrain_3dm_node.cpp.o
[ 91%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/device_report_client
[ 91%] Built target device_report_client
Scanning dependencies of target get_accel_bias_client
[ 91%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_accel_bias_client.dir/src/get_accel_bias_client.cpp.o
[ 91%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_mag_dip_adaptive_vals_client
[ 91%] Built target set_mag_dip_adaptive_vals_client
Scanning dependencies of target set_gyro_bias_client
[ 91%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_gyro_bias_client.dir/src/set_gyro_bias_client.cpp.o
[ 91%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_filter_euler_client
[ 91%] Built target set_filter_euler_client
Scanning dependencies of target get_hard_iron_values_client
[ 91%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_hard_iron_values_client.dir/src/get_hard_iron_values_client.cpp.o
[ 91%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/microstrain_mips_node.dir/src/microstrain_diagnostic_updater.cpp.o
[ 92%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_accel_bias_client
[ 92%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_gyro_bias_client
[ 92%] Built target get_accel_bias_client
Scanning dependencies of target gyro_bias_capture_client
[ 92%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/gyro_bias_capture_client.dir/src/gyro_bias_capture_client.cpp.o
[ 92%] Built target set_gyro_bias_client
Scanning dependencies of target get_gyro_bias_client
[ 92%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/get_gyro_bias_client.dir/src/get_gyro_bias_client.cpp.o
[ 92%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_hard_iron_values_client
[ 92%] Built target get_hard_iron_values_client
Scanning dependencies of target set_soft_iron_matrix_client
[ 92%] Building CXX object lio-sam/microstrain_mips/CMakeFiles/set_soft_iron_matrix_client.dir/src/set_soft_iron_matrix_client.cpp.o
[ 92%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/gyro_bias_capture_client
[ 93%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/get_gyro_bias_client
[ 93%] Built target gyro_bias_capture_client
Scanning dependencies of target filter_base
[ 93%] Building CXX object lio-sam/robot_localization/CMakeFiles/filter_base.dir/src/filter_base.cpp.o
[ 93%] Built target get_gyro_bias_client
Scanning dependencies of target navsat_transform
[ 93%] Building CXX object lio-sam/robot_localization/CMakeFiles/navsat_transform.dir/src/navsat_transform.cpp.o
make[2]: *** [lio-sam/LIO-SAM/CMakeFiles/lio_sam_imuPreintegration.dir/build.make:63: lio-sam/LIO-SAM/CMakeFiles/lio_sam_imuPreintegration.dir/src/imuPreintegration.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:6981: lio-sam/LIO-SAM/CMakeFiles/lio_sam_imuPreintegration.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 93%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/microstrain_mips_node
[ 93%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/microstrain_mips/set_soft_iron_matrix_client
[ 93%] Built target microstrain_mips_node
[ 93%] Built target set_soft_iron_matrix_client
[ 94%] Linking CXX shared library /home/nuc/ros1_ws/liosam01_ws/devel/lib/libfilter_base.so
[ 94%] Built target filter_base
[ 95%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/lio_sam/lio_sam_featureExtraction
[ 95%] Linking CXX executable /home/nuc/ros1_ws/liosam01_ws/devel/lib/lio_sam/lio_sam_imageProjection
[ 95%] Built target lio_sam_featureExtraction
[ 95%] Built target lio_sam_imageProjection
make[2]: *** [lio-sam/LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/build.make:63: lio-sam/LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/src/mapOptmization.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:7069: lio-sam/LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/all] Error 2
[ 95%] Linking CXX shared library /home/nuc/ros1_ws/liosam01_ws/devel/lib/libnavsat_transform.so
[ 95%] Built target navsat_transform
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed

@yuma116
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yuma116 commented Feb 2, 2023

My version is it

$ dpkg -l | grep libboost-serialization-dev
ii  libboost-serialization-dev:amd64            1.71.0.0ubuntu2                     amd64        serialization library for C++ (default version)

@bumblebeeCC
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Same issue on ROS2 branch with ROS2 humble/22.04 LTS, root cause might be the prerequisite gtsam, ROS2 branch recommend install "develop" unstable release, but gtsam has removed boost on Jan 2023.

"Important Note

As of January 2023, the develop branch is officially in "Pre 4.3" mode. We envision several API-breaking changes as we switch to C++17 and away from boost. "

@grischi
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grischi commented Feb 2, 2023 •
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as i see this line:
ImportError: cannot import name 'generate_py' from 'rosidl_generator_py' (/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/__init__.py)

have you tried the solution suggested there?: https://answers.ros.org/question/407879/humble-tutorial-creating-a-workspace/

@grischi
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grischi commented Feb 2, 2023 •
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The other problem with gtsam can (as indicated by @bumblebeeCC ) be resolved by selecting the gtsam release ppa, like so:
sudo add-apt-repository ppa:borglab/gtsam-release-4.1

Clean your workspace before rebuilding.

grischi added a commit that referenced this issue Feb 2, 2023
@grischi
#400
23d5e5d
@grischi
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grischi commented Feb 2, 2023

Same issue on ROS2 branch with ROS2 humble/22.04 LTS, root cause might be the prerequisite gtsam, ROS2 branch recommend install "develop" unstable release, but gtsam has removed boost on Jan 2023.

"Important Note

As of January 2023, the develop branch is officially in "Pre 4.3" mode. We envision several API-breaking changes as we switch to C++17 and away from boost. "

Note: Using the "develop" ppa was recommended because the release ppas did not provide packages for 22.04 at that time.

@fferroni
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fferroni commented Feb 3, 2023 •
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OK, thanks, that seems to have fixed the boost issue, but I get a new issue (I wiped my workspace and restarted). I also deactivated Conda and sourced the ros bash.

francesco@razer:~/ros2_ws/src$ colcon build
Starting >>> lio_sam 
[Processing: lio_sam]                             
[Processing: lio_sam]                                     
[Processing: lio_sam]                                       
--- 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:39 (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:43 (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:48 (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:53 (rosidl_target_interfaces)


Traceback (most recent call last):
  File "/opt/ros/humble/share/rosidl_generator_py/cmake/../../../lib/rosidl_generator_py/rosidl_generator_py", line 8, in <module>
    from rosidl_generator_py import generate_py
ImportError: cannot import name 'generate_py' from 'rosidl_generator_py' (/opt/ros/humble/local/lib/python3.10/dist-packages/rosidl_generator_py/__init__.py)
gmake[2]: *** [lio_sam__py/CMakeFiles/lio_sam__py.dir/build.make:184: rosidl_generator_py/lio_sam/_lio_sam_s.ep.rosidl_typesupport_fastrtps_c.c] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:710: lio_sam__py/CMakeFiles/lio_sam__py.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
/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
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< lio_sam [1min 50s, exited with code 2]

Summary: 0 packages finished [1min 50s]
  1 package failed: lio_sam
  1 package had stderr output: lio_sam

@zuowei1998
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@yuma116 hello，Did you solve this problem, I have the same problem。 Thanks.

@grischi
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grischi commented May 9, 2023 •
edited
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The latest build error of @fferroni seems to be unrelated to LIO-SAM: https://stackoverflow.com/questions/72752937/ros2-importerror-cannot-import-name-generate-py-from-rosidl-generator-py

On my Ubuntu 22.04 environment LIO-SAM/ros2 runs satisfactory.

@grischi grischi closed this as completed May 9, 2023
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@grischi @fferroni @yuma116 @bumblebeeCC @zuowei1998