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[incremental_dsg_builder_node-12] has died! process has died! -- A bug on ubuntu 20.04 and ROS Noetic #6

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Hao-Starrr opened this issue Jul 9, 2022 · 7 comments
Closed

[incremental_dsg_builder_node-12] has died! process has died! -- A bug on ubuntu 20.04 and ROS Noetic #6

Hao-Starrr opened this issue Jul 9, 2022 · 7 comments

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@Hao-Starrr
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Hi,
I am an undergraduate at CUHK, working on my summer research. I am really impressed by Hydra's excellent outcome and novel ideas.

But when I am trying to re-implement the code, I faced an unforeseen bug. I followed the instructions in readme file. After building it, I opened roscore and tried to run roslaunch hydra_dsg_builder uhumans2_incremental_dsg.launch start_visualizer:=true. It seemed that [incremental_dsg_builder_node-12] occurs the problem. Rviz flashed once and disappeared.

The error message was like this:

[ INFO] [1657355430.505268029]: Initializing pose graph visualizer
[ WARN] [1657355430.507929902]: PoseGraphPublisher waiting for subscriber...
[ INFO] [1657355430.564287765]: rviz version 1.14.14
[ INFO] [1657355430.564318708]: compiled against Qt version 5.12.8
[ INFO] [1657355430.564326571]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1657355430.579810715]: Forcing OpenGl version 0.
[ INFO] [1657355430.736187684]: Stereo is NOT SUPPORTED
[ INFO] [1657355430.736225276]: OpenGL device: Mesa Intel(R) UHD Graphics 630 (CFL GT2)
[ INFO] [1657355430.736242671]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.
================================================================================
REQUIRED process [incremental_dsg_builder_node-12] has died!
process has died [pid 32014, exit code -11, cmd /home/haostarrr/catkin_ws/devel/lib/hydra_dsg_builder/hydra_dsg_builder_incremental_node --minloglevel=3 -v=0 ~voxblox_mesh:=/hydra_topology_node/active_mesh ~active_places:=/hydra_topology_node/active_layer ~/bow_vectors:=/kimera_vio_ros/bow_query frame_registration:=/kimera_vio_ros/kimera_vio_ros_node/register_lcd_frames __name:=incremental_dsg_builder_node __log:=/home/haostarrr/.ros/log/0c6383cc-ff61-11ec-8540-f5c17cd13c52/incremental_dsg_builder_node-12.log].
log file: /home/haostarrr/.ros/log/0c6383cc-ff61-11ec-8540-f5c17cd13c52/incremental_dsg_builder_node-12*.log
Initiating shutdown!
================================================================================
[incremental_dsg_builder_node/pgmo/posegraph_viewer-14] killing on exit
[pose_graph_publisher_node-13] killing on exit
[incremental_dsg_builder_node-12] killing on exit
[rviz-11] killing on exit
[hydra_visualizer_node-10] killing on exit
[bag_static_tf_4-5] killing on exit
[cloudify-8] killing on exit
[nodelet_manager-7] killing on exit
[bag_static_tf_5-6] killing on exit
[hydra_topology_node-9] killing on exit
[bag_static_tf_3-4] killing on exit
[bag_static_tf_2-3] killing on exit
[bag_static_tf_1-2] killing on exit
timing stats: elapsed: 0 [s] (0 +/- 0 [s] with 0 measurements)
mesh timing stats: elapsed: 0 [s] (0 +/- 0 [s] with 0 measurements)
terminate called after throwing an instance of 'boost::wrapexcept<boost::lock_error>'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[bag_static_tf_0-1] killing on exit
QFileSystemWatcher::removePaths: list is empty
QFileSystemWatcher::removePaths: list is empty
shutting down processing monitor...
... shutting down processing monitor complete
done

I am using Ubuntu 20.04 and ROS Noetic. I am not sure whether it is my ROS's problem. I run ORB-SLAM3 last week (it may prove that my ROS can work?).
My .bashrc setting is like:

source /opt/ros/noetic/setup.bash

# For ORB-SLAM3
# export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/haostarrr/ORB_SLAM3_detailed_comments/Examples/ROS/ORB_SLAM3
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/haostarrr/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3

# For Hydra catkin_ws
source /home/haostarrr/catkin_ws/devel/setup.bash

Do you have any idea about this?

Thank you.
@nathanhhughes
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Thank you for your interest in our work, and for taking the time to write a bug report! I have a couple ideas as to what might be causing this, but the following pieces of information would help narrow things down:

Running hydra with GDB to get a backtrace: The most helpful piece of information for me would be to see a backtrace of where the segfault is occurring. You may have to install GDB (sudo apt install gdb) if you haven't already. You can then run:

roslaunch hydra_dsg_builder start_visualizer:=false debug:=true

Running with the visualizer doesn't really matter (i.e. you could run with start_visualizer:=true), it just makes the output logs cleaner to not run with rviz and the visualizer. You'll should see something like this:
image

Enter run into the prompt (type run and then hit enter), and Hydra should attempt to start up (it might take a minute or so). It should crash immediately (if I'm understanding what's causing the issue correctly), or you may need to play the rosbag for a little bit to replicate the crash. Once it does crash, enter bt into the promt and you should get output similar to this (though this backtrace is from an incomplete feature I'm currently working on):

Thread 1 "hydra_dsg_build" received signal SIGABRT, Aborted.
__GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
51      ../sysdeps/unix/sysv/linux/raise.c: No such file or directory.
(gdb) bt
#0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
#1  0x00007ffff5a547f1 in __GI_abort () at abort.c:79
#2  0x00007ffff6f234e7 in ?? () from /usr/lib/x86_64-linux-gnu/libglog.so.0
#3  0x00007ffff6f1a0cd in google::LogMessage::Fail() () from /usr/lib/x86_64-linux-gnu/libglog.so.0
#4  0x00007ffff6f1bf33 in google::LogMessage::SendToLog() () from /usr/lib/x86_64-linux-gnu/libglog.so.0
#5  0x00007ffff6f19c28 in google::LogMessage::Flush() () from /usr/lib/x86_64-linux-gnu/libglog.so.0
#6  0x00007ffff6f1c999 in google::LogMessageFatal::~LogMessageFatal() () from /usr/lib/x86_64-linux-gnu/libglog.so.0
#7  0x00007ffff521cb83 in kimera::SemanticLabel2Color::SemanticLabel2Color (this=0x555555811340, filename=...) at /home/ubuntu/catkin_ws/src/kimera_semantics/kimera_semantics/src/color.cpp:51
#8  0x00007ffff7b1dbbb in hydra::incremental::DsgFrontend::DsgFrontend (this=0x7fffffffcb40, nh=..., dsg=...) at /home/ubuntu/catkin_ws/src/hydra/hydra_dsg_builder/src/incremental_dsg_frontend.cpp:58
#9  0x0000555555560bfe in run (nh=..., frontend_dsg=std::shared_ptr<hydra::incremental::SharedDsgInfo> (use count 3, weak count 0) = {...}, 
    backend_dsg=std::shared_ptr<hydra::incremental::SharedDsgInfo> (use count 2, weak count 0) = {...}, output_path="/home/ubuntu/catkin_ws/src/hydra/hydra_dsg_builder/output/uhumans2/office")
    at /home/ubuntu/catkin_ws/src/hydra/hydra_dsg_builder/src/incremental_dsg_builder_node.cpp:56
#10 0x000055555556061d in main (argc=<optimized out>, argv=<optimized out>) at /home/ubuntu/catkin_ws/src/hydra/hydra_dsg_builder/src/incremental_dsg_builder_node.cpp:123
(gdb)

Attaching this backtrace would be really helpful.

Other Useful Information
It'd also help to have your catkin workspace configuration:

roscd
catkin config

and the repository information from your workspace:

roscd && cd ..
vcs export src > workspace_info.yaml

@nathanhhughes nathanhhughes mentioned this issue Jul 9, 2022
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@Hao-Starrr
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Hi

After I entered run, it shows:

For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/haostarrr/catkin_ws/devel/lib/hydra_dsg_builder/hydra_dsg_builder_incremental_node...
(No debugging symbols found in /home/haostarrr/catkin_ws/devel/lib/hydra_dsg_builder/hydra_dsg_builder_incremental_node)
(gdb) run
Starting program: /home/haostarrr/catkin_ws/devel/lib/hydra_dsg_builder/hydra_dsg_builder_incremental_node --minloglevel=3 -v=0 \~voxblox_mesh:=/hydra_topology_node/active_mesh \~active_places:=/hydra_topology_node/active_layer \~/bow_vectors:=/kimera_vio_ros/bow_query frame_registration:=/kimera_vio_ros/kimera_vio_ros_node/register_lcd_frames __name:=incremental_dsg_builder_node __log:=/home/haostarrr/.ros/log/660f6410-ff91-11ec-8540-f5c17cd13c52/incremental_dsg_builder_node-10.log
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".

Program received signal SIGSEGV, Segmentation fault.
0x00007fffee0da5d1 in ?? ()
   from /lib/x86_64-linux-gnu/libpcl_sample_consensus.so.1.10
(gdb)

No crash yet.
Then I started to play the bag. I got this but stuck at time 3.640108. Then nothing happened.

haostarrr@haostarrr-ROG-Strix-G531GU-S5DU:~$ rosbag play /home/haostarrr/Datasets/uHumans2/uHumans2_apartment_s1_00h.orig.bag --clock
[ INFO] [1657377130.648450250]: Opening /home/haostarrr/Datasets/uHumans2/uHumans2_apartment_s1_00h.orig.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.
 [RUNNING]  Bag Time:      3.500000   Duration: 0.000000 / 138.397900            
[RUNNING]  Bag Time:      3.500197   Duration: 0.000197 / 138.397900            
[RUNNING]  Bag Time:      3.505161   Duration: 0.005161 / 138.397900            
[RUNNING]  Bag Time:      3.510262   Duration: 0.010262 / 138.397900            
[RUNNING]  Bag Time:      3.515154   Duration: 0.015154 / 138.397900            
[RUNNING]  Bag Time:      3.520328   Duration: 0.020328 / 138.397900            
[RUNNING]  Bag Time:      3.525172   Duration: 0.025172 / 138.397900            
[RUNNING]  Bag Time:      3.530393   Duration: 0.030393 / 138.397900            
[RUNNING]  Bag Time:      3.535181   Duration: 0.035181 / 138.397900            
[RUNNING]  Bag Time:      3.540460   Duration: 0.040460 / 138.397900            
[RUNNING]  Bag Time:      3.545168   Duration: 0.045168 / 138.397900            
[RUNNING]  Bag Time:      3.627211   Duration: 0.127211 / 138.397900            
[RUNNING]  Bag Time:      3.630095   Duration: 0.130095 / 138.397900            
[RUNNING]  Bag Time:      3.637268   Duration: 0.137268 / 138.397900            
[RUNNING]  Bag Time:      3.640108   Duration: 0.140108 / 138.397900

I got the bag from here and decompress it. The downloaded file is uHumans2_apartment_s1_00h.bag (9.3G). After decompressing it, the name become uHumans2_apartment_s1_00h.orig.bag (2.7G). Looks weird here.

I tried to input run again and:

(gdb) run
The program being debugged has been started already.
Start it from the beginning? (y or n) n
Program not restarted.

Try input bt:

(gdb) bt
#0  0x00007fffee0da5d1 in ?? ()
   from /lib/x86_64-linux-gnu/libpcl_sample_consensus.so.1.10
#1  0x00007ffff7fe0b9a in call_init (l=<optimized out>, argc=argc@entry=9, 
    argv=argv@entry=0x7fffffffd408, env=env@entry=0x7fffffffd458)
    at dl-init.c:72
#2  0x00007ffff7fe0ca1 in call_init (env=0x7fffffffd458, argv=0x7fffffffd408, 
    argc=9, l=<optimized out>) at dl-init.c:30
#3  _dl_init (main_map=0x7ffff7ffe190, argc=9, argv=0x7fffffffd408, 
    env=0x7fffffffd458) at dl-init.c:119
#4  0x00007ffff7fd013a in _dl_start_user () from /lib64/ld-linux-x86-64.so.2
#5  0x0000000000000009 in ?? ()
#6  0x00007fffffffd822 in ?? ()
#7  0x00007fffffffd87b in ?? ()
#8  0x00007fffffffd88b in ?? ()
#9  0x00007fffffffd890 in ?? ()
#10 0x00007fffffffd8c0 in ?? ()
#11 0x00007fffffffd8f2 in ?? ()
#12 0x00007fffffffd91b in ?? ()
#13 0x00007fffffffd967 in ?? ()
#14 0x00007fffffffd98c in ?? ()
#15 0x0000000000000000 in ?? ()
(gdb)

Here is the workspace configuration:

haostarrr@haostarrr-ROG-Strix-G531GU-S5DU:~/catkin_ws/devel$ catkin config
--------------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/noetic
Workspace:                   /home/haostarrr/catkin_ws
--------------------------------------------------------------------------------
Build Space:        [exists] /home/haostarrr/catkin_ws/build
Devel Space:        [exists] /home/haostarrr/catkin_ws/devel
Install Space:      [unused] /home/haostarrr/catkin_ws/install
Log Space:          [exists] /home/haostarrr/catkin_ws/logs
Source Space:       [exists] /home/haostarrr/catkin_ws/src
DESTDIR:            [unused] None
--------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release -DGTSAM_TANGENT_PREINTEGRATION=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DOPENGV_BUILD_WITH_MARCH_NATIVE=OFF
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------------
Buildlisted Packages:        None
Skiplisted Packages:         hdf5_map_io mesh_msgs_hdf5 label_manager mesh_tools rviz_map_plugin minkindr_python
--------------------------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------------------------

Repo information is:

repositories:
  catkin_simple:
    type: git
    url: git@github.com:catkin/catkin_simple.git
    version: master
  eigen_catkin:
    type: git
    url: git@github.com:ethz-asl/eigen_catkin.git
    version: master
  eigen_checks:
    type: git
    url: git@github.com:ethz-asl/eigen_checks.git
    version: master
  gflags_catkin:
    type: git
    url: git@github.com:ethz-asl/gflags_catkin.git
    version: master
  glog_catkin:
    type: git
    url: git@github.com:ethz-asl/glog_catkin.git
    version: master
  gtsam:
    type: git
    url: git@github.com:borglab/gtsam.git
    version: develop
  hydra:
    type: git
    url: git@github.com:MIT-SPARK/Hydra.git
    version: main
  kimera_pgmo:
    type: git
    url: git@github.com:MIT-SPARK/Kimera-PGMO.git
    version: master
  kimera_rpgo:
    type: git
    url: git@github.com:MIT-SPARK/Kimera-RPGO.git
    version: master
  kimera_semantics:
    type: git
    url: git@github.com:MIT-SPARK/Kimera-Semantics.git
    version: feature/noetic_fixes
  mesh_tools:
    type: git
    url: git@github.com:yunzc/mesh_tools.git
    version: master
  minkindr:
    type: git
    url: git@github.com:ethz-asl/minkindr.git
    version: master
  minkindr_ros:
    type: git
    url: git@github.com:ethz-asl/minkindr_ros.git
    version: master
  pose_graph_tools:
    type: git
    url: git@github.com:MIT-SPARK/pose_graph_tools.git
    version: feature/hydra
  spark_dsg:
    type: git
    url: git@github.com:MIT-SPARK/Spark-DSG.git
    version: main
  teaser_plusplus:
    type: git
    url: git@github.com:MIT-SPARK/TEASER-plusplus.git
    version: master
  voxblox:
    type: git
    url: git@github.com:MIT-SPARK/voxblox.git
    version: feature/hydra

@Hao-Starrr Hao-Starrr reopened this Jul 9, 2022
@nathanhhughes
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No crash yet.

Hydra actually did crash once you started it (i.e. Program received signal SIGSEGV, Segmentation fault.), and playing the rosbag didn't change things. It looks like the crash happens when trying to load in libpcl_sample_consensus.so.1.10.0 (i.e. one of the PCL modules that Hydra links against. However, I'm not entirely sure why. There are a couple options I could think of:

  • You installed PCL from source and enabled -march=native when building PCL
  • Somehow something corrupted the PCL install for the sample consensus module
  • You have a previous source install of PCL for something else that gets picked up when building Hydra and Hydra is building against a different version of the PCL headers than it is linking against

Unless the first option is true (i.e. you installed PCL from source), the next debug step is to rebuild hydra_dsg_builder and grab the output. To do this:

roscd && cd ..
catkin clean hydra_dsg_builder
catkin build hydra_dsg_builder --no-deps -v

and then attach the output. I'll also double check that a clean install of Hydra works on my side / see If I can limit how much of PCL gets linked into Hydra.

I got the bag from here and decompress it. The downloaded file is uHumans2_apartment_s1_00h.bag (9.3G). After decompressing it, the name become uHumans2_apartment_s1_00h.orig.bag (2.7G). Looks weird here.

rosbag decompress will save the original downloaded bag under uHumans2_apartment_s1_00h.orig.bag and the decompressed bag under the name of the downloaded bag (uHumans2_apartment_s1_00h.bag). The size difference between the original bag (2.7G) and the decompressed bag (9.3G) looks right, and the rosbag play behavior on the compressed bag (i.e. uHumans2_apartment_s1_00h.orig.bag) also seems right (playback will be significantly slower and stop occasionally on compressed rosbags). You should be able to just do rosbag play uHumans2_apartment_s1_00h.bag from now on (and you can get rid of the uHumans2_apartment_s1_00h.orig.bag if you'd like).

⚠️ The apartment rosbag uses a different set of semantic colors than the recommended office rosbag. You'll have to specify the location of this as an argument to Hydra as well as a different typology file. For your setup, it looks like it'd be:

roslaunch hydra_dsg_builder uhumans2_incremental_dsg.launch start_visualizer:=true semantic_color_path:=/home/haostarr/catkin_ws/src/kimera_semantics/kimera_semantics_ros/cfg.tesse_multiscene_archviz1_segmentation_mapping.csv typology_config:=uhumans2_apartment_typology.yaml

@Hao-Starrr
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Yes! I did install PCL before! So when I rebuild hydra_dsg_builder, I got warnings about PCL.

For rosbag, exactly the same as what you said. The compressed bag is very slow.

The warnings are:

haostarrr@haostarrr-ROG-Strix-G531GU-S5DU:~/catkin_ws/devel$ roscd && cd ..

haostarrr@haostarrr-ROG-Strix-G531GU-S5DU:~/catkin_ws$ catkin clean hydra_dsg_builder

Starting  >>> hydra_dsg_builder             
Finished  <<< hydra_dsg_builder              [ 0.1 seconds ]
[clean] Summary: All 1 packages succeeded!
[clean]   Ignored:   26 packages were skipped or are skiplisted.
[clean]   Warnings:  None.
[clean]   Abandoned: None.
[clean]   Failed:    None.
[clean] Runtime: 1.0 seconds total.
[clean] Note: Parts of the workspace have been cleaned which will necessitate re-configuring CMake on the next build.

haostarrr@haostarrr-ROG-Strix-G531GU-S5DU:~/catkin_ws$ catkin build hydra_dsg_builder --no-deps -v

--------------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/noetic
Workspace:                   /home/haostarrr/catkin_ws
--------------------------------------------------------------------------------
Build Space:        [exists] /home/haostarrr/catkin_ws/build
Devel Space:        [exists] /home/haostarrr/catkin_ws/devel
Install Space:      [unused] /home/haostarrr/catkin_ws/install
Log Space:          [exists] /home/haostarrr/catkin_ws/logs
Source Space:       [exists] /home/haostarrr/catkin_ws/src
DESTDIR:            [unused] None
--------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release -DGTSAM_TANGENT_PREINTEGRATION=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DOPENGV_BUILD_WITH_MARCH_NATIVE=OFF
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------------
Buildlisted Packages:        None
Skiplisted Packages:         hdf5_map_io mesh_msgs_hdf5 label_manager mesh_tools rviz_map_plugin minkindr_python
--------------------------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
--------------------------------------------------------------------------------
[build] Found 32 packages in 0.0 seconds.                                      
[build] Package table is up to date.                                           
Starting  >>> hydra_dsg_builder                                                
Starting   >> hydra_dsg_builder:loadenv                                        
Output     << hydra_dsg_builder:loadenv /home/haostarrr/catkin_ws/logs/hydra_dsg_builder/build.loadenv.001.log
Loading environment from: /home/haostarrr/catkin_ws/devel/env.sh
              
Finished   << hydra_dsg_builder:loadenv                                        
Starting   >> hydra_dsg_builder:mkdir                                          
Starting   >> hydra_dsg_builder:mkdir                                          
Starting   >> hydra_dsg_builder:cache-manifest                                 
Starting   >> hydra_dsg_builder:cmake                                          
Subprocess  > hydra_dsg_builder:cmake `cd /home/haostarrr/catkin_ws/build/hydra_dsg_builder; catkin build --get-env hydra_dsg_builder | catkin env -si  /usr/bin/cmake /home/haostarrr/catkin_ws/src/hydra/hydra_dsg_builder --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/haostarrr/catkin_ws/devel/.private/hydra_dsg_builder -DCMAKE_INSTALL_PREFIX=/home/haostarrr/catkin_ws/install -DCMAKE_BUILD_TYPE=Release -DGTSAM_TANGENT_PREINTEGRATION=OFF -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DOPENGV_BUILD_WITH_MARCH_NATIVE=OFF; cd -`
_______________________________________________________________________________
Warnings   << hydra_dsg_builder:cmake /home/haostarrr/catkin_ws/logs/hydra_dsg_builder/build.cmake.001.log
Not searching for unused variables given on the command line.
Re-run cmake no build system arguments
-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found Boost: /usr/local/lib/cmake/Boost-1.75.0/BoostConfig.cmake (found version "1.75.0") found components: timer
-- Found Boost: /usr/local/lib/cmake/Boost-1.75.0/BoostConfig.cmake (found version "1.75.0")
-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.90
-- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1")
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:134 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:314 (find_boost)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/spark_dsg/spark_dsgConfig.cmake:7 (find_dependency)
  CMakeLists.txt:10 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:134 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:314 (find_boost)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/spark_dsg/spark_dsgConfig.cmake:7 (find_dependency)
  CMakeLists.txt:10 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:134 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:314 (find_boost)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/spark_dsg/spark_dsgConfig.cmake:7 (find_dependency)
  CMakeLists.txt:10 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:134 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:314 (find_boost)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/spark_dsg/spark_dsgConfig.cmake:7 (find_dependency)
  CMakeLists.txt:10 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:134 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:314 (find_boost)
  /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/spark_dsg/spark_dsgConfig.cmake:7 (find_dependency)
  CMakeLists.txt:10 (find_package)


-- Checking for module 'flann'
--   Found flann, version 1.9.1
-- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so
-- 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.

-- Checking for module 'libusb-1.0'
--   Found libusb-1.0, version 1.0.23
-- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- Found libusb-1.0: /usr/include
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.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)
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
-- Found PCL_2D: /usr/include/pcl-1.10
-- Found PCL_GEOMETRY: /usr/include/pcl-1.10
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
-- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
-- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so
-- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.10
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.10
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
-- Using CATKIN_DEVEL_PREFIX: /home/haostarrr/catkin_ws/devel/.private/hydra_dsg_builder
-- Using CMAKE_PREFIX_PATH: /home/haostarrr/catkin_ws/devel;/opt/ros/noetic
-- This workspace overlays: /home/haostarrr/catkin_ws/devel;/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
-- Found PY_em: /usr/lib/python3/dist-packages/em.py
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/haostarrr/catkin_ws/build/hydra_dsg_builder/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")
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found OpenMP_C: -fopenmp (found version "4.5")
-- Found OpenMP_CXX: -fopenmp (found version "4.5")
-- Found OpenMP: TRUE (found version "4.5")
CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  CMakeLists.txt:25 (find_package)


-- Found Boost: /usr/local/include (found suitable version "1.75.0", minimum required is "1.65") found components: serialization system filesystem thread program_options date_time timer chrono regex atomic
-- GTSAM include directory:  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/../../../include
-- Found Boost: /usr/local/include (found version "1.75.0")
CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/GTSAMConfig.cmake:21 (find_dependency)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:13 (find_dependency)
  CMakeLists.txt:27 (find_package)


-- Found Boost: /usr/local/include (found suitable version "1.75.0", minimum required is "1.65") found components: serialization system filesystem thread program_options date_time timer chrono regex atomic
-- GTSAM include directory:  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM/../../../include
CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM_UNSTABLE/GTSAM_UNSTABLEConfig.cmake:21 (find_dependency)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:14 (find_package)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM_UNSTABLE/GTSAM_UNSTABLEConfig.cmake:21 (find_dependency)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:14 (find_package)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM_UNSTABLE/GTSAM_UNSTABLEConfig.cmake:21 (find_dependency)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:14 (find_package)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM_UNSTABLE/GTSAM_UNSTABLEConfig.cmake:21 (find_dependency)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:14 (find_package)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM_UNSTABLE/GTSAM_UNSTABLEConfig.cmake:21 (find_dependency)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:14 (find_package)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM_UNSTABLE/GTSAM_UNSTABLEConfig.cmake:21 (find_dependency)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:14 (find_package)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM_UNSTABLE/GTSAM_UNSTABLEConfig.cmake:21 (find_dependency)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:14 (find_package)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM_UNSTABLE/GTSAM_UNSTABLEConfig.cmake:21 (find_dependency)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:14 (find_package)
  CMakeLists.txt:27 (find_package)


CMake Warning at /usr/share/cmake-3.16/Modules/FindBoost.cmake:1161 (message):
  New Boost version may have incorrect or missing dependencies and imported
  targets
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1283 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/FindBoost.cmake:1921 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake:47 (find_package)
  /home/haostarrr/catkin_ws/devel/lib/cmake/GTSAM_UNSTABLE/GTSAM_UNSTABLEConfig.cmake:21 (find_dependency)
  /home/haostarrr/catkin_ws/devel/lib/cmake/KimeraRPGO/KimeraRPGOConfig.cmake:14 (find_package)
  CMakeLists.txt:27 (find_package)

Then I checked hydra.rosinstall file. I didn't find PCL in it. Is that mean: PCL is a dependency of one repo in hydra.rosinstall?

@nathanhhughes
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Then I checked hydra.rosinstall file. I didn't find PCL in it. Is that mean: PCL is a dependency of one repo in hydra.rosinstall?

PCL (the pointcloud library) is a dependency of a couple packages (e.g. voxblox_ros) and also a dependency of Hydra's (though I forgot to specify it directly in the package.xml). It's a system library though that gets pulled in on most ROS installs (the package itself is libpcl-dev).

The warnings are:

Looking at the output from cmake, it seems like the problem might be with a custom installation of boost on your machine instead; you have a lot of cmake warnings about missing dependencies in a newer version of boost than what 20.04 ships with. I see /usr/local/lib/cmake/Boost-1.75.0/BoostConfig.cmake is the version cmake is finding on your machine from your logs, whereas /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake is the system version that I'm finding on my machine. I'd suggest trying one of the following:

  • Removing the custom installation of boost and doing a clean build of the workspace
  • Trying docker to avoid problems with your system (Protobuf Compiler dependency #3 discusses success using the osrf/ros:noetic-desktop docker image)
  • Setting CMAKE_SYSTEM_PREFIX_PATH to find /usr/ before /usr/local/ (catkin config -a --cmake-args [CUSTOM_PREFIX_PATH] should make it straightforward to do that) and doing a clean build of the workspace

@Hao-Starrr
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Thank you for your patient explanation! The problem is solved. It is the boost version.

As you said, I checked my boost version and found the problem.
When I run dpkg -S /usr/include/boost/version.hpp to check my version, I got libboost1.71-dev:amd64: /usr/include/boost/version.hpp. This is the original version on ubuntu 20.04, not removed but also not used in Hydra building.
Then I checked the process when I installed ORB-SLAM3, and I found at that time, I installed boost 1.75 manually. The commands I used are:

tar -xzvf boost_1_75_0.tar.gz
sudo ./bootstrap.sh
sudo ./b2 install

So I went to /usr/include/boost/ to see the version file, it is 1.71.
Went to /usr/local/include/boost/, it is 1.75.
I tried catkin config -a --cmake-args /usr:/usr/local and catkin config -a --cmake-args /usr /usr/local. Both not work. So I reinstalled 1.71 version in /usr/local. Then I run it successfully!

Thank you again!

@nathanhhughes
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Great, glad that you were able to get it to work!

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