Build errors with Ubuntu 16.04, Cmake 3.9 and boost 1.67

[Kaju-Bubanja]

I'm trying to build kalibr using catkin build, but I get following error:

/kalibr/aslam_cv/aslam_time/include/aslam/implementation/Duration.hpp: In instantiation of ‘boost::posix_time::time_duration aslam::DurationBase<T>::toBoost() const [with T = aslam::Duration]’:
/kalibr/aslam_cv/aslam_time/src/duration.cpp:36:16:   required from here
/kalibr/aslam_cv/aslam_time/include/aslam/implementation/Duration.hpp:168:27: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000000l>::subsecond_duration(double)’
   return bt::seconds(sec) + bt::microseconds(nsec / 1000.0);

I'm kinda confused by the error message because the function exists, but I guess it is typed with different input types? I think the easiest way to resolve is to change my boost, cmake, gcc version to match the version that was tested with kalibr and that is known to build.

[NikolausDemmel]

I had this error the other day compiling some ros time libraries on mac. I think it should be nsec / 1000 (to not convert to double).

[Kaju-Bubanja]

Thanks for the hint, looking at the code some more this was also my guess. Do you have any idea why this builds for some people and not for others? I guess it's a different compiler version? Or another version of something in the toolchain. I would like to know the cause so I can just switch whatever version it is that is wrong on my pc, because I don't feel like going around fixing all these small little things, because after fixing this I got the following error and I suppose there are more to come:

/kalibr/aslam_optimizer/aslam_backend_expressions/src/MatrixTransformation.cpp:20:62: error: no 
match for ‘operator==’ (operand types are ‘Eigen::internal::enable_if<true, 
Eigen::IndexedView<Eigen::Matrix<double, 3, 3>, Eigen::internal::SingleRange, double> >::type {aka 
Eigen::IndexedView<Eigen::Matrix<double, 3, 3>, Eigen::internal::SingleRange, double>}’ and ‘int’)
       if (_UpdatePattern(i%3,floor(static_cast<double>(i/3)))==1){

[NikolausDemmel]

No, unfortunately not. I didn't really look into it yet. I just noticed suddenly this issue on Mac (clang) for a project that includes some ROS libraries that must have been compiling on various platforms for a long time. Specifically that code was in an ifdef about boost having nanosecond resolution, so maybe something changed there...

[NikolausDemmel]

btw the first error seems to be caused by a change in boost: mikepurvis/ros-install-osx#116 (comment)

[Kaju-Bubanja]

Thank you for the lead, I will try to build it with 1.63 later and see if that fixes the issues.

[ffurrer]

Yup, some other people fixed the same issue by changing types from double to long:
https://gitlab.com/orcus/orcus/merge_requests/29/diffs

Would be nice if you could open a PR with these fixes, if you succeed :).

[Kaju-Bubanja]

Could fix the issue, PR is here: #213