Issue with catkin build

[duda1202]

Hi,

it looks like there is a mistake with your headers as it is showing this error when trying to build the catkin workspace. As im not that familiar with C++, is there a quick solve to it? I am using ROS Noetic and Ubuntu 20.04 in a docker container for this package.

Errors     << slict:make /home/fruc_docker/catkin_ws/logs/slict/build.make.011.log                                                                                                                                
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/or.hpp:24,
                 from /usr/include/boost/iterator/interoperable.hpp:11,
                 from /usr/include/boost/iterator/iterator_facade.hpp:11,
                 from /usr/include/boost/filesystem/path.hpp:29,
                 from /usr/include/boost/filesystem.hpp:16,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:30:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:132:35: warning: ‘using uint32_t = uint32_t’ is deprecated: use std::uint32_t instead of pcl::uint32_t [-Wdeprecated-declarations]
  132 |                                  (uint32_t, t, t)
      |                                   ^~~~~~~~
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 /usr/include/pcl-1.10/pcl/search/search.h:41,
                 from /usr/include/pcl-1.10/pcl/search/kdtree.h:42,
                 from /usr/include/pcl-1.10/pcl/search/impl/kdtree.hpp:41,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:41:
/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/or.hpp:24,
                 from /usr/include/boost/iterator/interoperable.hpp:11,
                 from /usr/include/boost/iterator/iterator_facade.hpp:11,
                 from /usr/include/boost/filesystem/path.hpp:29,
                 from /usr/include/boost/filesystem.hpp:16,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:30:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:133:35: warning: ‘using uint16_t = uint16_t’ is deprecated: use std::uint16_t instead of pcl::uint16_t [-Wdeprecated-declarations]
  133 |                                  (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 /usr/include/pcl-1.10/pcl/search/search.h:41,
                 from /usr/include/pcl-1.10/pcl/search/kdtree.h:42,
                 from /usr/include/pcl-1.10/pcl/search/impl/kdtree.hpp:41,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:41:
/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/or.hpp:24,
                 from /usr/include/boost/iterator/interoperable.hpp:11,
                 from /usr/include/boost/iterator/iterator_facade.hpp:11,
                 from /usr/include/boost/filesystem/path.hpp:29,
                 from /usr/include/boost/filesystem.hpp:16,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:30:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:134:35: warning: ‘using uint8_t = uint8_t’ is deprecated: use std::uint8_t instead of pcl::uint8_t [-Wdeprecated-declarations]
  134 |                                  (uint8_t,  ring, ring)
      |                                   ^~~~~~~
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 /usr/include/pcl-1.10/pcl/search/search.h:41,
                 from /usr/include/pcl-1.10/pcl/search/kdtree.h:42,
                 from /usr/include/pcl-1.10/pcl/search/impl/kdtree.hpp:41,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:41:
/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/or.hpp:24,
                 from /usr/include/boost/iterator/interoperable.hpp:11,
                 from /usr/include/boost/iterator/iterator_facade.hpp:11,
                 from /usr/include/boost/filesystem/path.hpp:29,
                 from /usr/include/boost/filesystem.hpp:16,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:30:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:136:35: warning: ‘using uint32_t = uint32_t’ is deprecated: use std::uint32_t instead of pcl::uint32_t [-Wdeprecated-declarations]
  136 |                                  (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 /usr/include/pcl-1.10/pcl/search/search.h:41,
                 from /usr/include/pcl-1.10/pcl/search/kdtree.h:42,
                 from /usr/include/pcl-1.10/pcl/search/impl/kdtree.hpp:41,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:41:
/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/or.hpp:24,
                 from /usr/include/boost/iterator/interoperable.hpp:11,
                 from /usr/include/boost/iterator/iterator_facade.hpp:11,
                 from /usr/include/boost/filesystem/path.hpp:29,
                 from /usr/include/boost/filesystem.hpp:16,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:30:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:149:36: warning: ‘using uint16_t = uint16_t’ is deprecated: use std::uint16_t instead of pcl::uint16_t [-Wdeprecated-declarations]
  149 |                                   (uint16_t, ring, ring)
      |                                    ^~~~~~~~
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 /usr/include/pcl-1.10/pcl/search/search.h:41,
                 from /usr/include/pcl-1.10/pcl/search/kdtree.h:42,
                 from /usr/include/pcl-1.10/pcl/search/impl/kdtree.hpp:41,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:41:
/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/or.hpp:24,
                 from /usr/include/boost/iterator/interoperable.hpp:11,
                 from /usr/include/boost/iterator/iterator_facade.hpp:11,
                 from /usr/include/boost/filesystem/path.hpp:29,
                 from /usr/include/boost/filesystem.hpp:16,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:30:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:164:35: warning: ‘using uint16_t = uint16_t’ is deprecated: use std::uint16_t instead of pcl::uint16_t [-Wdeprecated-declarations]
  164 |                                  (uint16_t, ring, ring))
      |                                   ^~~~~~~~
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 /usr/include/pcl-1.10/pcl/search/search.h:41,
                 from /usr/include/pcl-1.10/pcl/search/kdtree.h:42,
                 from /usr/include/pcl-1.10/pcl/search/impl/kdtree.hpp:41,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:41:
/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 /home/fruc_docker/catkin_ws/src/slict/include/factor/Point2PlaneDisFactorCT.h:37,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:78:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h: In member function ‘ImuSequence ImuSequence::subsequence(double, double)’:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:534:26: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::deque<ImuSample>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
  534 |         for(int i = 0; i < data.size(); i++ )
      |                        ~~^~~~~~~~~~~~~
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h: In member function ‘ImuSample ImuSequence::interpolate(double)’:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:569:26: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::deque<ImuSample>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
  569 |         for(int i = 0; i < data.size(); i++)
      |                        ~~^~~~~~~~~~~~~
In file included from /home/fruc_docker/catkin_ws/src/slict/include/factor/Point2PlaneDisFactorCT.h:37,
                 from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:78:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h: In constructor ‘ImuProp::ImuProp(Quaternd&, Eigen::Vector3d&, Eigen::Vector3d&, Eigen::Vector3d&, Eigen::Vector3d&, Eigen::Vector3d&, ImuSequence&, int)’:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:730:30: warning: comparison of integer expressions of different signedness: ‘int’ and ‘size_t’ {aka ‘long unsigned int’} [-Wsign-compare]
  730 |             for(int i = 1; i < imuSeq.size(); i++)
      |                            ~~^~~~~~~~~~~~~~~
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h: In member function ‘mytf ImuProp::getTf(double)’:
/home/fruc_docker/catkin_ws/src/slict/include/factor/../utility.h:861:30: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::deque<double>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
  861 |             for(int i = 0; i < t.size() - 1; i++)
      |                            ~~^~~~~~~~~~~~~~
In file included from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:78:
/home/fruc_docker/catkin_ws/src/slict/include/factor/Point2PlaneDisFactorCT.h: In constructor ‘Point2PlaneDisFactorCT::Point2PlaneDisFactorCT(const Vector3d&, const Vector4d&, double, double, double)’:
/home/fruc_docker/catkin_ws/src/slict/include/factor/Point2PlaneDisFactorCT.h:123:12: warning: ‘Point2PlaneDisFactorCT::sb’ will be initialized after [-Wreorder]
  123 |     double sb;
      |            ^~
/home/fruc_docker/catkin_ws/src/slict/include/factor/Point2PlaneDisFactorCT.h:120:12: warning:   ‘double Point2PlaneDisFactorCT::w’ [-Wreorder]
  120 |     double w;
      |            ^
/home/fruc_docker/catkin_ws/src/slict/include/factor/Point2PlaneDisFactorCT.h:43:5: warning:   when initialized here [-Wreorder]
   43 |     Point2PlaneDisFactorCT(const Eigen::Vector3d &f_, const Eigen::Vector4d &coef,
      |     ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:79:
/home/fruc_docker/catkin_ws/src/slict/include/PreintBase.h: In constructor ‘PreintBase::PreintBase(const Vector3d&, const Vector3d&, const Vector3d&, const Vector3d&, bool, double, double, double, double, Eigen::Vector3d, int)’:
/home/fruc_docker/catkin_ws/src/slict/include/PreintBase.h:368:14: warning: ‘PreintBase::GRAV’ will be initialized after [-Wreorder]
  368 |     Vector3d GRAV;
      |              ^~~~
/home/fruc_docker/catkin_ws/src/slict/include/PreintBase.h:341:35: warning:   ‘Eigen::Matrix<double, 15, 15> PreintBase::covariance’ [-Wreorder]
  341 |     Eigen::Matrix<double, 15, 15> covariance;
      |                                   ^~~~~~~~~~
In file included from /home/fruc_docker/catkin_ws/src/slict/src/Estimator.cpp:79:
/home/fruc_docker/catkin_ws/src/slict/include/PreintBase.h:51:5: warning:   when initialized here [-Wreorder]
   51 |     PreintBase(const Eigen::Vector3d &_acc_0,
      |     ^~~~~~~~~~
In file included from /home/fruc_docker/

[brytsknguyen]

Hi,

Can you try compiling with catkin_make_isolated? I think ros docker container has issue with catkin build so in the dockerfile setting I am actually using catkin_make_isolated.

[duda1202]

From what i gathered, the issue is that " The latest release of Ceres Solver (v 2.1.0) deprecates the ceres::LocalParameterization API. Going forward this will be removed. It should be updated to use ceres::Manifold (guarded by the ceres version number) instead of ceres::LocalParameterization.".

It would be best to either change the ceres version dependency from 2.1 to 2.0 or update the code to use ceres::Manifold instead

[duda1202]

Resolved by installing ceres-solver 2.0.0

[brytsknguyen]

Ceres 2.1.0 should also work. I suppose you have installed the latest ceres on your container so when you install 2.0.0 it overwrites the latest one.

[duda1202]

You are right, I had the Ceres 2.2 and they removed the function. I apologize!