rtabmap and rtabmap_ros make error (rtabmap 컴파일 오류)

Build from source following README.nd in rtabmap_ros

rtabmap make error

Error 1

make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libpng.so', needed by '../bin/rtabmap-extractObject'.  Stop.
make[2]: *** Waiting for unfinished jobs....

make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libpng.so', needed by '../bin/librtabmap_core.so.0.19.1'.  Stop.
CMakeFiles/Makefile2:1586: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
^Ctools/ExtractObject/CMakeFiles/extractObject.dir/build.make:62: recipe for target 'tools/ExtractObject/CMakeFiles/extractObject.dir/main.cpp.o' failed
make[2]: *** [tools/ExtractObject/CMakeFiles/extractObject.dir/main.cpp.o] Interrupt
CMakeFiles/Makefile2:1970: recipe for target 'tools/ExtractObject/CMakeFiles/extractObject.dir/all' failed
make[1]: *** [tools/ExtractObject/CMakeFiles/extractObject.dir/all] Interrupt
Makefile:160: recipe for target 'all' failed
make: *** [all] Interrupt

Solution 1

locate libpng.so stat /usr/lib/x86_64-linux-gnu/libpng.so
Of course the file exist.
Output:

File: 'libpng.so' -> 'libpng12.so'
Size: 11            Blocks: 0          IO Block: 4096   symbolic link
Device: 816h/2070d  Inode: 6296757     Links: 1
Access: (0777/lrwxrwxrwx)  Uid: (    0/    root)   Gid: (    0/    root)
Access: 2019-04-04 10:09:50.543715873 +0800
Modify: 2019-04-04 10:09:50.539715795 +0800
Change: 2019-04-04 10:09:50.539715795 +0800
 Birth: -

Copy another libpng.so file from my laptop. Problem fixed.

Error 2

make -j4
[  4%] Built target rtabmap_utilite
[  5%] Built target res_tool
[  5%] Built target imagesJoiner
[  6%] Built target extractObject
[ 42%] Built target rtabmap_core
[ 42%] Linking CXX executable ../../../bin/rtabmap-stereoEval
[ 42%] Linking CXX executable ../../../bin/rtabmap-console
[ 43%] Linking CXX executable ../../../bin/rtabmap-camera
[ 82%] Built target rtabmap_gui
[ 82%] Linking CXX executable ../../../bin/rtabmap-kitti_dataset
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_pinv'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_post'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_calloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_malloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_nfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_spfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_etree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_symperm'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_schol'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_cumsum'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_sfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_amd'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_free'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_counts'
collect2: error: ld returned 1 exit status
tools/ConsoleApp/CMakeFiles/consoleApp.dir/build.make:741: recipe for target '../bin/rtabmap-console' failed
make[2]: *** [../bin/rtabmap-console] Error 1
CMakeFiles/Makefile2:1860: recipe for target 'tools/ConsoleApp/CMakeFiles/consoleApp.dir/all' failed
make[1]: *** [tools/ConsoleApp/CMakeFiles/consoleApp.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_pinv'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_calloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_etree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_symperm'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_schol'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_cumsum'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_amd'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_free'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_post'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_malloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_nfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_spfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_sfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_counts'
collect2: error: ld returned 1 exit status
tools/Camera/CMakeFiles/camera.dir/build.make:741: recipe for target '../bin/rtabmap-camera' failed
make[2]: *** [../bin/rtabmap-camera] Error 1
CMakeFiles/Makefile2:2026: recipe for target 'tools/Camera/CMakeFiles/camera.dir/all' failed
make[1]: *** [tools/Camera/CMakeFiles/camera.dir/all] Error 2
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_pinv'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_post'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_calloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_malloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_nfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_spfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_etree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_symperm'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_schol'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_cumsum'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_sfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_amd'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_free'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_counts'
collect2: error: ld returned 1 exit status
tools/KittiDataset/CMakeFiles/kitti_dataset.dir/build.make:741: recipe for target '../bin/rtabmap-kitti_dataset' failed
make[2]: *** [../bin/rtabmap-kitti_dataset] Error 1
CMakeFiles/Makefile2:2138: recipe for target 'tools/KittiDataset/CMakeFiles/kitti_dataset.dir/all' failed
make[1]: *** [tools/KittiDataset/CMakeFiles/kitti_dataset.dir/all] Error 2
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_pinv'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_calloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_etree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_symperm'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_schol'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_cumsum'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_amd'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_free'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_post'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_malloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_nfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_spfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_sfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_counts'
collect2: error: ld returned 1 exit status
tools/StereoEval/CMakeFiles/stereoEval.dir/build.make:741: recipe for target '../bin/rtabmap-stereoEval' failed
make[2]: *** [../bin/rtabmap-stereoEval] Error 1
CMakeFiles/Makefile2:2082: recipe for target 'tools/StereoEval/CMakeFiles/stereoEval.dir/all' failed
make[1]: *** [tools/StereoEval/CMakeFiles/stereoEval.dir/all] Error 2
Makefile:160: recipe for target 'all' failed
make: *** [all] Error 2

Solution 2

Clear the cache

$ cd rtabmap/build
$ rm CMakeCache.txt
$ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel ..

Then remove directory EXTERNAL in/usr/local/include $ sudo rm -rf /usr/local/include/EXTERNAL

Referrence: (error while build #162)[https://github.com/introlab/rtabmap/issues/162]

Error 3

../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
collect2: error: ld returned 1 exit status
tools/ConsoleApp/CMakeFiles/consoleApp.dir/build.make:741: recipe for target '../bin/rtabmap-console' failed
make[2]: *** [../bin/rtabmap-console] Error 1
CMakeFiles/Makefile2:1910: recipe for target 'tools/ConsoleApp/CMakeFiles/consoleApp.dir/all' failed
make[1]: *** [tools/ConsoleApp/CMakeFiles/consoleApp.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
collect2: error: ld returned 1 exit status
tools/Camera/CMakeFiles/camera.dir/build.make:741: recipe for target '../bin/rtabmap-camera' failed
make[2]: *** [../bin/rtabmap-camera] Error 1
CMakeFiles/Makefile2:2096: recipe for target 'tools/Camera/CMakeFiles/camera.dir/all' failed
make[1]: *** [tools/Camera/CMakeFiles/camera.dir/all] Error 2
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
collect2: error: ld returned 1 exit status
tools/StereoEval/CMakeFiles/stereoEval.dir/build.make:741: recipe for target '../bin/rtabmap-stereoEval' failed
make[2]: *** [../bin/rtabmap-stereoEval] Error 1
CMakeFiles/Makefile2:2162: recipe for target 'tools/StereoEval/CMakeFiles/stereoEval.dir/all' failed
make[1]: *** [tools/StereoEval/CMakeFiles/stereoEval.dir/all] Error 2
[ 80%] Built target rtabmap_gui
Makefile:149: recipe for target 'all' failed
make: *** [all] Error 2

Solution 3

** reinstall the new version of loam_velodyne **

$ cd ~/catkin_ws/src/
$ git clone https://github.com/laboshinl/loam_velodyne.git
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release 
$ source ~/catkin_ws/devel/setup.bash

Referrence: (Installation problem for last version of RTAB-Map with loam_velodyne (not in ROS) in Ubuntu 16.04:loam::MultiScanMapper::getRingForAngle(float const&)Undefined references #321)[https://github.com/introlab/rtabmap/issues/321]

catkin_make error

Error 4

/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/MsgConversion.cpp: In function ‘void rtabmap_ros::nodeDataToROS(const rtabmap::Signature&, rtabmap_ros::NodeData&)’:
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/MsgConversion.cpp:939:71: error: ‘const class rtabmap::LaserScan’ has no member named ‘maxRange’
  msg.laserScanMaxRange = signature.sensorData().laserScanCompressed().maxRange();
                                                                       ^
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:486: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/MsgConversion.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/MsgConversion.cpp.o] Error 1
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

Solution 4

$ gedit /home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/MsgConversion.cpp
modifiy ** maxRange ** to ** rangeMax **.

Why I can solve this?*

Look for “maxRange” in the directory “~/catkin_ws/devel/include/rtabmap-0.19/rtabmap/core”

grep -rn * -ie maxRange

LaserScan.h:61:         int maxRange = 0,
LaserScan.h:66:         float maxRange,
LaserScan.h:76:         float maxRange,
LaserScan.h:82:         float maxRange,
OctoMap.h:214:  void setMaxRange(float value) {rangeMax_ = value;}
util3d_mapping.h:52:        float scanMaxRange = 0.0f), "Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
util3d_mapping.h:61:        float scanMaxRange = 0.0f), "Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.");
util3d_mapping.h:71:        float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
util3d_mapping.h:90:        float scanMaxRange = 0.0f), "Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
util3d_mapping.h:100:       float scanMaxRange = 0.0f), "Use interface with cv::Mat scans.");
util3d_mapping.h:110:       float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true

and in "~/catkin_ws/src/rtabmap_ros-kinetic-devel"

msg/NodeData.msg:40:float32 laserScanMaxRange
src/MsgConversion.cpp:880:                          msg.laserScanMaxRange,
src/MsgConversion.cpp:892:                          msg.laserScanMaxRange,
src/MsgConversion.cpp:939:  msg.laserScanMaxRange = signature.sensorData().laserScanCompressed().maxRange();

Obviously, there is nothing related to maxRange. So We can see another same file MsgConversion.cpp in branch * "master". Search for "signature.sensorData().laserScanCompressed() "*, and we can see it's rangeMax() but not maxRange()

Error 5

/home/william/catkin_ws/src/rtabmap_ros/src/MapsManager.cpp: In member function ‘std::map MapsManager::updateMapCaches(const std::map&, const rtabmap::Memory*, bool, bool, const std::map&)’:
/home/william/catkin_ws/src/rtabmap_ros/src/MapsManager.cpp:713:17: error: void value not ignored as it ought to be
    gridUpdated_ = occupancyGrid_->update(filteredPoses);
                 ^
/home/william/catkin_ws/src/rtabmap_ros/src/MapsManager.cpp:721:20: error: void value not ignored as it ought to be
    octomapUpdated_ = octomap_->update(filteredPoses);
                    ^
rtabmap_ros/CMakeFiles/rtabmap_ros.dir/build.make:86: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o' failed
make[2]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o] Error 1
CMakeFiles/Makefile2:7883: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed

/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp: In member function ‘void rtabmap_ros::CoreWrapper::publishStats(const ros::Time&)’:
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2604:10: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
    stats.getSignatures(),
          ^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2630:36: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
   if(stats.poses().size() && stats.getSignatures().size())
                                    ^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2639:60: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
    for(std::map::const_iterator iter=stats.getSignatures().begin();
                                                            ^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2640:17: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
     iter!=stats.getSignatures().end();
                 ^
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:558: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/CoreWrapper.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/CoreWrapper.cpp.o] Error 1
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp: In member function ‘void rtabmap_ros::CoreWrapper::publishStats(const ros::Time&)’:
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2604:10: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
    stats.getSignatures(),
          ^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2630:36: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
   if(stats.poses().size() && stats.getSignatures().size())
                                    ^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2639:60: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
    for(std::map::const_iterator iter=stats.getSignatures().begin();
                                                            ^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2640:17: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
     iter!=stats.getSignatures().end();
                 ^
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:558: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/CoreWrapper.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/CoreWrapper.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
^CTraceback (most recent call last):
  File "/opt/ros/kinetic/bin/catkin_make", line 296, in 
    sys.exit(main())
  File "/opt/ros/kinetic/bin/catkin_make", line 240, in main
    run_command(cmd, make_path)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/catkin/builder.py", line 239, in run_command
make[2]: *** wait: No child processes.  Stop.
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Interrupt
    proc.wait()
  File "/usr/lib/python2.7/subprocess.py", line 1392, in wait
    pid, sts = _eintr_retry_call(os.waitpid, self.pid, 0)
  File "/usr/lib/python2.7/subprocess.py", line 476, in _eintr_retry_call
    return func(*args)

Solution 5 * ( in a weird way ) *

** Replace the source file from another one which had been built completely successful.**

Error 6

make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbd_sync'.  Stop.
CMakeFiles/Makefile2:6324: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/icp_odometry'.  Stop.
CMakeFiles/Makefile2:6361: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all] Error 2
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbdicp_odometry'.  Stop.
CMakeFiles/Makefile2:6398: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all] Error 2
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/stereo_odometry'.  Stop.
CMakeFiles/Makefile2:6435: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make VERBOS=1 -j4 -l4" failed

Scanning dependencies of target rtabmap_rgbd_sync
Scanning dependencies of target rtabmap_icp_odometry
[ 15%] Built target _rtabmap_ros_generate_messages_check_deps_Link
Scanning dependencies of target rtabmap_rgbdicp_odometry
Scanning dependencies of target rtabmap_stereo_odometry
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbd_sync'.  Stop.
make[2]: *** Waiting for unfinished jobs....
[ 15%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/src/RGBDSyncNode.cpp.o
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbdicp_odometry'.  Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/icp_odometry'.  Stop.
make[2]: *** Waiting for unfinished jobs....
[ 16%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/src/ICPOdometryNode.cpp.o
[ 17%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/src/RGBDICPOdometryNode.cpp.o
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/stereo_odometry'.  Stop.
make[2]: *** Waiting for unfinished jobs....
[ 17%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/src/StereoOdometryNode.cpp.o
CMakeFiles/Makefile2:6324: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:6361: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all] Error 2
CMakeFiles/Makefile2:6398: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all] Error 2
CMakeFiles/Makefile2:6435: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

Solution 6

Copy the whole lib files in the directory of * pcl * to */usr/local/lib * .

Error 7

/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/OdometryROS.cpp:40:38: fatal error: rtabmap/core/OdometryF2M.h: No such file or directory
compilation terminated.
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:462: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o] Error 1
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed

/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/OdometryROS.cpp:41:38: fatal error: rtabmap/core/OdometryF2F.h: No such file or directory
compilation terminated.
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:462: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o] Error 1
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed

Solution 7

$ cd /home/william/catkin_ws/devel/include/rtabmap-0.19/rtabmap/core/
$ sudo cp /home/william/Documents/program_files/rtabmap/corelib/include/rtabmap/core/odometry/OdometryF2M.h OdometryF2M.h
$ sudo cp /home/william/Documents/program_files/rtabmap/corelib/include/rtabmap/core/odometry/OdometryF2F.h OdometryF2F.h

Error 8

[ 32%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o
/home/william/rtabmap/corelib/src/odometry/OdometryVINS.cpp:39:33: fatal error: estimator/estimator.h: No such file or directory
compilation terminated.
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1795: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o' failed
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:2386: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
Makefile:160: recipe for target 'all' failed
make: *** [all] Error 2

Solution 8

다음으로 전송:https://www.cnblogs.com/williamc17/p/10653859.html

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