install error about gtest #67

onlytailei · 2016-10-17T07:56:45Z

I'm installing cartographer_ros in ubuntu 14.04 and ROS indigo.
gcc version is 4.8.
Through the instruction of
https://google-cartographer-ros.readthedocs.io/en/latest/
I build a ros-workspace named cartographer_ws(Cause I already have a workspace named catkin_ws)
When I try to execute
catkin_make_isolated --install --use-ninja

I got output like that:

==> Processing catkin package: 'cartographer_ros'
==> Building with env: '/home/tyler/cartographer_ws/install_isolated/env.sh'
==> cmake /home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros -DCATKIN_DEVEL_PREFIX=/home/tyler/cartographer_ws/devel_isolated/cartographer_ros -DCMAKE_INSTALL_PREFIX=/home/tyler/cartographer_ws/install_isolated -G Ninja in '/home/tyler/cartographer_ws/build_isolated/cartographer_ros'
-- Found required Ceres dependency: Eigen version 3.2.8 in /usr/local/include/eigen3
-- Found required Ceres dependency: Glog in /usr/include
-- Found Ceres version: 1.11.0 installed in: /home/tyler/cartographer_ws/install_isolated
-- Build type: Release
-- Using CATKIN_DEVEL_PREFIX: /home/tyler/cartographer_ws/devel_isolated/cartographer_ros
-- Using CMAKE_PREFIX_PATH: /home/tyler/cartographer_ws/install_isolated;/opt/ros/indigo
-- This workspace overlays: /home/tyler/cartographer_ws/install_isolated;/opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/tyler/cartographer_ws/build_isolated/cartographer_ros/test_results
-- Found gtest: gtests will be built
CMake Error at /opt/ros/indigo/share/catkin/cmake/test/gtest.cmake:154 (add_library):
  add_library cannot create imported target "gtest" because another target
  with the same name already exists.
Call Stack (most recent call first):
  /opt/ros/indigo/share/catkin/cmake/all.cmake:147 (include)
  /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:36 (find_package)


CMake Error at /opt/ros/indigo/share/catkin/cmake/test/gtest.cmake:156 (add_library):
  add_library cannot create imported target "gtest_main" because another
  target with the same name already exists.
Call Stack (most recent call first):
  /opt/ros/indigo/share/catkin/cmake/all.cmake:147 (include)
  /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:36 (find_package)


-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.18
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
--   iostreams
--   serialization
--   chrono
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- looking for PCL_COMMON
-- looking for PCL_OCTREE
-- looking for PCL_IO
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   iostreams
-- Configuring incomplete, errors occurred!
See also "/home/tyler/cartographer_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeOutput.log".
See also "/home/tyler/cartographer_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeError.log".
<== Failed to process package 'cartographer_ros': 
  Command '['/home/tyler/cartographer_ws/install_isolated/env.sh', 'cmake', '/home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros', '-DCATKIN_DEVEL_PREFIX=/home/tyler/cartographer_ws/devel_isolated/cartographer_ros', '-DCMAKE_INSTALL_PREFIX=/home/tyler/cartographer_ws/install_isolated', '-G', 'Ninja']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/tyler/cartographer_ws/build_isolated/cartographer_ros && /home/tyler/cartographer_ws/install_isolated/env.sh cmake /home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros -DCATKIN_DEVEL_PREFIX=/home/tyler/cartographer_ws/devel_isolated/cartographer_ros -DCMAKE_INSTALL_PREFIX=/home/tyler/cartographer_ws/install_isolated -G Ninja

Command failed, exiting.

When I directly install in in the catkin_ws, I got the same error.

The text was updated successfully, but these errors were encountered:

SirVer · 2016-10-17T08:39:33Z

Did you manually drop a gtest .so or .a file into your library paths?

onlytailei · 2016-10-17T09:31:00Z

@SirVer
There is a libgtest.a in the /usr/lib.
But even if I remove it from the /usr/lib.
I still got the same error.

SirVer · 2016-10-17T09:52:01Z

This could be related to ros/catkin#830, maybe this goes away if we do not call catkin_add_gtest.

onlytailei · 2016-10-17T11:36:32Z

So should I comment this function about add_gtest in CMake?

SirVer · 2016-10-17T12:19:37Z

That might fix the issue for now - You can also comment the google_test() function in the CMakeLists.txt one directory further down to disable testing.

onlytailei · 2016-10-17T12:49:24Z

/home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node_main.cc:167:28: error: expected ';' at end of declaration list
  bool terminating_ = false GUARDED_BY(mutex_);

Another problem accrued...

SirVer · 2016-10-17T12:55:12Z

Seems like an incompatibility in the compiler. GUARDED_BY seems to not be found.

Please set the environment variable export VERBOSE=1 and rerun the full installation from scratch, capturing the output and post it in a gist.

onlytailei · 2016-10-17T12:58:27Z

<== Finished processing package [3 of 5]: 'cartographer_ros_msgs'

==> Processing catkin package: 'cartographer_ros'
==> Building with env: '/home/tyler/cartographer_ws/install_isolated/env.sh'
build.ninja exists, skipping explicit cmake invocation...
==> ninja build.ninja in '/home/tyler/cartographer_ws/build_isolated/cartographer_ros'
ninja: no work to do.
==> ninja -j8 -l8 in '/home/tyler/cartographer_ws/build_isolated/cartographer_ros'
[1/2] Building CXX object cartographer_ros/CMakeFiles/cartographer_node.dir/node_main.cc.o
FAILED: /usr/bin/c++   -DDISABLE_PCAP -DDISABLE_PNG -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME=\"cartographer_ros\" -Wno-deprecated -O3 -DNDEBUG -isystem /usr/include/vtk-5.8 -isystem /usr/local/include/eigen3 -isystem /home/tyler/cartographer_ws/install_isolated/include -isystem /opt/ros/indigo/include -isystem /usr/include/eigen3 -isystem /usr/include/lua5.2 -I. -I/home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros -isystem /usr/include/pcl-1.7 -isystem /usr/include/ni -isystem /usr/include/openni2     -pthread -std=c++11  -Wall -Wpedantic -Werror=format-security -Werror=reorder -Werror=return-type -Werror=uninitialized -O3 -DNDEBUG -MMD -MT cartographer_ros/CMakeFiles/cartographer_node.dir/node_main.cc.o -MF "cartographer_ros/CMakeFiles/cartographer_node.dir/node_main.cc.o.d" -o cartographer_ros/CMakeFiles/cartographer_node.dir/node_main.cc.o -c /home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node_main.cc
/home/tyler/cartographer_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node_main.cc:167:28: error: expected ';' at end of declaration list
  bool terminating_ = false GUARDED_BY(mutex_);
                           ^
1 error generated.
ninja: build stopped: subcommand failed.
<== Failed to process package 'cartographer_ros': 
  Command '['/home/tyler/cartographer_ws/install_isolated/env.sh', 'ninja', '-j8', '-l8']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/tyler/cartographer_ws/build_isolated/cartographer_ros && /home/tyler/cartographer_ws/install_isolated/env.sh ninja -j8 -l8

Command failed, exiting.

onlytailei · 2016-10-17T13:00:52Z

This seems good
SensorBridge sensor_bridge_ GUARDED_BY(mutex_);
But this is an error
bool terminating_ = false GUARDED_BY(mutex_);

SirVer · 2016-10-17T13:08:36Z

What does /usr/bin/c++ --version output?

onlytailei · 2016-10-17T13:16:32Z

Quite wired.
it linked to clang3.7
Relink it to g++, now everything works.

Conclude that:
comment line 34
google_enable_tesing()
in src/cartographer_ros/cartographer_ros/CMakeLists.txt

Thank you very much @SirVer
Really help a lot.

onlytailei · 2016-10-17T14:15:17Z

When running 2d demo:

[ WARN] [1476713426.029530762, 1432647016.954832117]: W1017 22:10:26.000000 11690 tf_bridge.cc:51] Lookup would require extrapolation into the past. Requested time 1432647016.963997200 but the earliest data is at time 1432647016.982176773, when looking up transform from frame [imu_link] to frame [base_link] [ WARN] [1476713426.035637161, 1432647016.964886038]: W1017 22:10:26.000000 11690 tf_bridge.cc:51] Lookup would require extrapolation into the past. Requested time 1432647016.970029900 but the earliest data is at time 1432647016.982176773, when looking up transform from frame [imu_link] to frame [base_link] [ WARN] [1476713426.037167923, 1432647016.964886038]: W1017 22:10:26.000000 11690 tf_bridge.cc:51] Lookup would require extrapolation into the past. Requested time 1432647016.971389900 but the earliest data is at time 1432647016.982176773, when looking up transform from frame [horizontal_laser_link] to frame [base_link] [ WARN] [1476713426.041435726, 1432647016.974951963]: W1017 22:10:26.000000 11690 tf_bridge.cc:51] Lookup would require extrapolation into the past. Requested time 1432647016.975897100 but the earliest data is at time 1432647016.982176773, when looking up transform from frame [imu_link] to frame [base_link] [ WARN] [1476713426.041571208, 1432647016.974951963]: W1017 22:10:26.000000 11690 tf_bridge.cc:51] Lookup would require extrapolation into the past. Requested time 1432647016.975931000 but the earliest data is at time 1432647016.982176773, when looking up transform from frame [imu_link] to frame [base_link] [ WARN] [1476713426.047592037, 1432647016.974951963]: W1017 22:10:26.000000 11690 tf_bridge.cc:51] Lookup would require extrapolation into the past. Requested time 1432647016.982035800 but the earliest data is at time 1432647016.982176773, when looking up transform from frame [imu_link] to frame [base_link] [cartographer_node-3] process has died [pid 11690, exit code -8, cmd /home/tyler/cartographer_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/tyler/cartographer_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename backpack_2d.lua echoes:=horizontal_laser_2d __name:=cartographer_node __log:=/home/tyler/.ros/log/72a823ea-9473-11e6-b439-00216a8ea37a/cartographer_node-3.log]. log file: /home/tyler/.ros/log/72a823ea-9473-11e6-b439-00216a8ea37a/cartographer_node-3*.log

How can I debug that?

SirVer · 2016-10-17T14:20:31Z

Does the demo work? I think this is due to the sensor data arriving at different times - We do not have a pose information before the first scan match, so any data before (like in this case from the IMU) can be transformed yet. So this is working as intended.

onlytailei · 2016-10-17T14:29:53Z

No, it does not work.
No map output.

SirVer · 2016-10-20T11:13:14Z

From the output above it is hard to know where the process died. Is there not more output - like a LOG(FATAL) somewhere?

I suggest you try running our docker image and see if everything works with that.

SirVer · 2016-10-26T13:42:41Z

I cannot reproduce this. Using a pristine docker container based on ros:indigo and following the ros installation instructions everything compiles and starts cleanly on my system.

For running the demo, I needed to install ros-indigo-robot-state-publisher - could that be the problem you have and you just missed the error output because of all the warnings?

Closing since I cannot reproduce. The gtest issues is tracked in #73.

snehagn · 2017-10-31T13:47:05Z

I had the same error and I commented out line 34 in in src/cartographer_ros/cartographer_ros/CMakeLists.txt. The program compiled till 4/5 and then gave me this error (I am using Ubuntu 16.04 and ROS Kinetic with g++ 5.4.0).

CMake Error at /opt/ros/kinetic/share/catkin/cmake/assert.cmake:3 (message):

Assertion failed: GTEST_LIBRARIES (value is '')

Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/test/gtest.cmake:84 (assert)
/opt/ros/kinetic/share/catkin/cmake/test/gtest.cmake:34 (catkin_add_executable_with_gtest)
CMakeLists.txt:139 (catkin_add_gtest)

-- Configuring incomplete, errors occurred!
See also "/home/udoo2/google_carto/build_isolated/cartographer_ros/CMakeFiles/CMakeOutput.log".
See also "/home/udoo2/google_carto/build_isolated/cartographer_ros/CMakeFiles/CMakeError.log".
<== Failed to process package 'cartographer_ros':
Command '['/home/udoo2/google_carto/install_isolated/env.sh', 'cmake', '/home/udoo2/google_carto/src/cartographer_ros/cartographer_ros', '-DCATKIN_DEVEL_PREFIX=/home/udoo2/google_carto/devel_isolated/cartographer_ros', '-DCMAKE_INSTALL_PREFIX=/home/udoo2/google_carto/install_isolated', '-G', 'Ninja']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/udoo2/google_carto/build_isolated/cartographer_ros && /home/udoo2/google_carto/install_isolated/env.sh cmake /home/udoo2/google_carto/src/cartographer_ros/cartographer_ros -DCATKIN_DEVEL_PREFIX=/home/udoo2/google_carto/devel_isolated/cartographer_ros -DCMAKE_INSTALL_PREFIX=/home/udoo2/google_carto/install_isolated -G Ninja

Command failed, exiting.

Are there more lines I would need to comment out and from which files? Any help is appreciated thanks!

gaschler · 2017-11-02T09:14:26Z

To me it looks like you have a non-default version of gtest or in your library path.

More details are needed here.

recompile with export VERBOSE=1 (as was already suggested)
gcc --version
Contents of (install|devel)_isolated/cartographer/devel/CMakeCache.txt
env | grep ROS

As always, perhaps you already did this, please retry with a current checkout from git and compile again after deleting all build/install folders.

Of course, you could work around by commenting out catkin_add_gtest, as it was suggested, but Ubuntu 16.04 is fully supported, there is no need for a work around.

Rolanding · 2017-11-09T05:22:36Z

I got the same problem as @snehagn
I'm installing cartographer_ros in ubuntu 14.04 and ROS indigo.
gcc version is 4.8, and I also commented out line 34 in in src/cartographer_ros/cartographer_ros/CMakeLists.txt

CMake Error at /opt/ros/indigo/share/catkin/cmake/assert.cmake:3 (message):

Assertion failed: GTEST_LIBRARIES (value is 'GMOCK_LIBRARIES-NOTFOUND')

Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/test/gtest.cmake:84 (assert)
/opt/ros/indigo/share/catkin/cmake/test/gtest.cmake:34 (catkin_add_executable_with_gtest)
CMakeLists.txt:139 (catkin_add_gtest)

-- Configuring incomplete, errors occurred!
See also "/home/roland/catkin_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeOutput.log".
See also "/home/roland/catkin_ws/build_isolated/cartographer_ros/CMakeFiles/CMakeError.log".
ninja: error: rebuilding 'build.ninja': subcommand failed
<== Failed to process package 'cartographer_ros':
Command '['/home/roland/catkin_ws/install_isolated/env.sh', 'ninja', 'build.ninja']' returned non-zero exit status 1

Reproduce this error by running==> cd /home/roland/catkin_ws/build_isolated/cartographer_ros && /home/roland/catkin_ws/install_isolated/env.sh ninja build.ninja

Command failed, exiting.

And I already set the environment variable export VERBOSE=1. But still it comes out anyway.
So if there is any idea can solve this problem, please let me know, thanks!

SirVer · 2017-11-09T08:10:31Z

@RuochenYin Please open a new issue and provide the full output of all commands you ran to set up your catkin workstation.

SirVer self-assigned this Oct 17, 2016

SirVer closed this as completed Oct 26, 2016

damienrg pushed a commit to damienrg/cartographer that referenced this issue Nov 8, 2017

Simplify the 3D configuration file. (cartographer-project#67)

87a2437

schayapathy mentioned this issue Aug 28, 2019

Rb 1639 BossaNova/cartographer#4

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install error about gtest #67

install error about gtest #67

onlytailei commented Oct 17, 2016

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snehagn commented Oct 31, 2017 •

edited

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Rolanding commented Nov 9, 2017 •

edited

SirVer commented Nov 9, 2017

install error about gtest #67

install error about gtest #67

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Rolanding commented Nov 9, 2017 • edited

SirVer commented Nov 9, 2017

snehagn commented Oct 31, 2017 •

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