RTABMAP make error////////usr/bin/ld: cannot find -lBoost::timer

[ndinarvand]

Hello everyone,
I want to install rtabmap from scratch but in make step I've got bellow error:
[ 5%] Built target rtabmap_utilite
[ 6%] Built target res_tool
[ 6%] Linking CXX shared library ../../../bin/librtabmap_core.so
/usr/bin/ld: cannot find -lBoost::timer
collect2: error: ld returned 1 exit status
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:3045: recipe for target '../bin/librtabmap_core.so.0.18.3' failed
make[2]: *** [../bin/librtabmap_core.so.0.18.3] Error 1
CMakeFiles/Makefile2:267: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
Makefile:149: recipe for target 'all' failed
make: *** [all] Error 2

I'm using ubuntu 16.04 with installed ROS kinetic and opencv 3.3

THanks

[matlabbe]

Can you show outputs of cmake .. and make VERBOSE=1?

[matlabbe]

May be related to introlab/rtabmap#357

[ndinarvand]

Can you show outputs of cmake .. and make VERBOSE=1?

Sorry for my late reply...
*******cmake .. output:
-- 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-6.2/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-6.2/VTKTargets.cmake"
  but not all the files it references.

-- PCL definitions don't contain "-march=native", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).
-- Found Sqlite3: /usr/include /usr/lib/x86_64-linux-gnu/libsqlite3.so
-- Found OpenMP
-- Found OpenCV: /opt/ros/kinetic/include/opencv-3.3.1-dev;/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv
-- Found PCL: /usr/include/pcl-1.7;/usr/include/eigen3;/usr/include;/usr/include/ni;/usr/include/openni2;/usr/include/vtk-6.2;/usr/include/jsoncpp;/usr/include/x86_64-linux-gnu;/usr/include/freetype2;/usr/include/x86_64-linux-gnu/freetype2;/usr/include/hdf5/openmpi;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent;/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/python2.7;/usr/include/libxml2;/usr/include/tcl
-- Found ZLIB: /usr/include
-- VTK_RENDERING_BACKEND=OpenGL
-- Found Freenect: /usr/include
-- Found OpenNI2: /usr/include/openni2
-- Found DC1394: /usr/include/dc1394
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/include;/usr/local/include/gtsam/3rdparty/Eigen/
-- FlyCapture2_INCLUDE_DIR=FlyCapture2_INCLUDE_DIR-NOTFOUND
-- FlyCapture2_LIBRARY=FlyCapture2_LIBRARY-NOTFOUND
-- Triclops_INCLUDE_DIR=Triclops_INCLUDE_DIR-NOTFOUND
-- Triclops_LIBRARY=Triclops_LIBRARY-NOTFOUND
-- FlyCaptureBridge_LIBRARY=FlyCaptureBridge_LIBRARY-NOTFOUND
-- Found octomap 1.8.1: /opt/ros/kinetic/include
-- Found Pthreads

---

-- Info :
-- Version : 0.18.3
-- CMAKE_INSTALL_PREFIX = /usr/local
-- CMAKE_BUILD_TYPE = Release
-- CMAKE_INSTALL_LIBDIR = lib
-- BUILD_APP = ON
-- BUILD_TOOLS = ON
-- BUILD_EXAMPLES = ON
-- BUILD_SHARED_LIBS = ON
-- CMAKE_CXX_FLAGS = -fmessage-length=0 -fopenmp -std=c++11
-- FLANN_KDTREE_MEM_OPT = OFF
-- PCL_DEFINITIONS = -DEIGEN_USE_NEW_STDVECTOR;-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET;-DFLANN_STATIC;-Dqh_QHpointer
-- Optional dependencies ('*' affects some default parameters) :
-- *With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
-- With external SQLite3 = YES (License: Public Domain)
-- With Freenect = YES (License: Apache v2 and/or GPLv2)
-- With OpenNI2 = YES (License: Apache v2)
-- With Freenect2 = NO (libfreenect2 not found)
-- With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
-- With dc1394 = YES (License: LGPL)
-- With FlyCapture2/Triclops = NO (Point Grey SDK not found)
-- With TORO = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
-- *With g2o = NO (WITH_G2O=OFF)
-- *With GTSAM = YES (License: BSD)
-- With VERTIGO = YES (License: GPLv3)
-- With cvsba = NO (cvsba not found)
-- *With libpointmatcher = NO (libpointmatcher not found)
-- With loam_velodyne = NO (loam_velodyne not found)
-- With ZED = NO (ZED sdk not found)
-- With RealSense = NO (librealsense not found)
-- With RealSense2 = NO (librealsense2 not found)
-- With OCTOMAP = YES (License: BSD)
-- With CPUTSDF = NO (CPUTSDF not found)
-- With OpenChisel = NO (open_chisel not found)
-- With libfovis = NO (libfovis not found)
-- With libviso2 = NO (libviso2 not found)
-- With dvo_core = NO (dvo_core not found)
-- With okvis = NO (okvis not found)
-- With msckf_vio = NO (WITH_MSCKF_VIO=OFF)
-- With ORB_SLAM2 = NO (ORB_SLAM2 not found, make sure environment variable ORB_SLAM2_ROOT_DIR is set)
-- With Qt5 = YES (License: Open Source or Commercial)

---

-- Configuring done
-- Generating done
-- Build files have been written to: /home/nvd/rtabmap/build

********make VERBOSE=1 output:
/usr/bin/cmake -H/home/nvd/rtabmap -B/home/nvd/rtabmap/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/nvd/rtabmap/build/CMakeFiles /home/nvd/rtabmap/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory '/home/nvd/rtabmap/build'
make -f utilite/src/CMakeFiles/rtabmap_utilite.dir/build.make utilite/src/CMakeFiles/rtabmap_utilite.dir/depend
make[2]: Entering directory '/home/nvd/rtabmap/build'
cd /home/nvd/rtabmap/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/nvd/rtabmap /home/nvd/rtabmap/utilite/src /home/nvd/rtabmap/build /home/nvd/rtabmap/build/utilite/src /home/nvd/rtabmap/build/utilite/src/CMakeFiles/rtabmap_utilite.dir/DependInfo.cmake --color=
make[2]: Leaving directory '/home/nvd/rtabmap/build'
make -f utilite/src/CMakeFiles/rtabmap_utilite.dir/build.make utilite/src/CMakeFiles/rtabmap_utilite.dir/build
make[2]: Entering directory '/home/nvd/rtabmap/build'
make[2]: Nothing to be done for 'utilite/src/CMakeFiles/rtabmap_utilite.dir/build'.
make[2]: Leaving directory '/home/nvd/rtabmap/build'
[ 6%] Built target rtabmap_utilite
make -f utilite/resource_generator/CMakeFiles/res_tool.dir/build.make utilite/resource_generator/CMakeFiles/res_tool.dir/depend
make[2]: Entering directory '/home/nvd/rtabmap/build'
cd /home/nvd/rtabmap/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/nvd/rtabmap /home/nvd/rtabmap/utilite/resource_generator /home/nvd/rtabmap/build /home/nvd/rtabmap/build/utilite/resource_generator /home/nvd/rtabmap/build/utilite/resource_generator/CMakeFiles/res_tool.dir/DependInfo.cmake --color=
make[2]: Leaving directory '/home/nvd/rtabmap/build'
make -f utilite/resource_generator/CMakeFiles/res_tool.dir/build.make utilite/resource_generator/CMakeFiles/res_tool.dir/build
make[2]: Entering directory '/home/nvd/rtabmap/build'
make[2]: Nothing to be done for 'utilite/resource_generator/CMakeFiles/res_tool.dir/build'.
make[2]: Leaving directory '/home/nvd/rtabmap/build'
[ 6%] Built target res_tool
make -f corelib/src/CMakeFiles/rtabmap_core.dir/build.make corelib/src/CMakeFiles/rtabmap_core.dir/depend
make[2]: Entering directory '/home/nvd/rtabmap/build'
cd /home/nvd/rtabmap/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/nvd/rtabmap /home/nvd/rtabmap/corelib/src /home/nvd/rtabmap/build /home/nvd/rtabmap/build/corelib/src /home/nvd/rtabmap/build/corelib/src/CMakeFiles/rtabmap_core.dir/DependInfo.cmake --color=
make[2]: Leaving directory '/home/nvd/rtabmap/build'
make -f corelib/src/CMakeFiles/rtabmap_core.dir/build.make corelib/src/CMakeFiles/rtabmap_core.dir/build
make[2]: Entering directory '/home/nvd/rtabmap/build'
[ 6%] Linking CXX shared library ../../../bin/librtabmap_core.so
cd /home/nvd/rtabmap/build/corelib/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/rtabmap_core.dir/link.txt --verbose=1
/usr/bin/c++ -fPIC -fmessage-length=0 -fopenmp -std=c++11 -O3 -DNDEBUG -shared -Wl,-soname,librtabmap_core.so.0.18 -o ../../../bin/librtabmap_core.so.0.18.3 CMakeFiles/rtabmap_core.dir/Rtabmap.cpp.o CMakeFiles/rtabmap_core.dir/RtabmapThread.cpp.o CMakeFiles/rtabmap_core.dir/Statistics.cpp.o CMakeFiles/rtabmap_core.dir/Memory.cpp.o CMakeFiles/rtabmap_core.dir/DBDriver.cpp.o CMakeFiles/rtabmap_core.dir/DBDriverSqlite3.cpp.o CMakeFiles/rtabmap_core.dir/DBReader.cpp.o CMakeFiles/rtabmap_core.dir/Recovery.cpp.o CMakeFiles/rtabmap_core.dir/Camera.cpp.o CMakeFiles/rtabmap_core.dir/CameraThread.cpp.o CMakeFiles/rtabmap_core.dir/CameraModel.cpp.o CMakeFiles/rtabmap_core.dir/camera/CameraFreenect.cpp.o CMakeFiles/rtabmap_core.dir/camera/CameraFreenect2.cpp.o CMakeFiles/rtabmap_core.dir/camera/CameraImages.cpp.o CMakeFiles/rtabmap_core.dir/camera/CameraK4W2.cpp.o CMakeFiles/rtabmap_core.dir/camera/CameraOpenni.cpp.o CMakeFiles/rtabmap_core.dir/camera/CameraOpenNI2.cpp.o 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-lOpenNI -ljpeg -lpng -ltiff /usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5.so /usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5_hl.so -ljsoncpp -lexpat -lgl2ps -lsqlite3 -lpcl_io -Wl,-Bstatic -lflann_cpp_s -Wl,-Bdynamic -lpcl_kdtree -lpcl_search -lqhull -lpcl_surface -lpcl_filters -lpcl_features -lpcl_registration -lpcl_sample_consensus -lpcl_segmentation -lpcl_visualization -lsqlite3 -lfreenect -lfreenect_sync -lpthread -ldc1394 /opt/ros/kinetic/lib/liboctomap.so /opt/ros/kinetic/lib/liboctomath.so /usr/lib/x86_64-linux-gnu/libvtkxdmf2-6.2.so.6.2.0 -lxml2 /usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5.so /usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5_hl.so /usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5.so /usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5_hl.so -lsz -ldl -lm -lsz -ldl -lm /usr/lib/openmpi/lib/libmpi.so /usr/lib/x86_64-linux-gnu/libvtkIOLSDyna-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkViewsQt-6.2.so.6.2.0 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/usr/lib/x86_64-linux-gnu/libvtkInteractionStyle-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkRenderingAnnotation-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkImagingColor-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkRenderingVolume-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkFiltersImaging-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkChartsCore-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkInfovisCore-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkRenderingContext2D-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkRenderingLabel-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkIOSQL-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkWrappingPython27Core-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkPythonInterpreter-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkIOXML-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkIOXMLParser-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkIOGeometry-6.2.so.6.2.0 -lpython2.7 /usr/lib/x86_64-linux-gnu/libvtkImagingGeneral-6.2.so.6.2.0 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/usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkDICOMParser-6.2.so.6.2.0 /usr/lib/x86_64-linux-gnu/libvtkmetaio-6.2.so.6.2.0 -lz /usr/lib/x86_64-linux-gnu/libboost_serialization.so /usr/lib/x86_64-linux-gnu/libboost_filesystem.so /usr/lib/x86_64-linux-gnu/libboost_thread.so /usr/lib/x86_64-linux-gnu/libboost_atomic.so -lpthread /usr/lib/x86_64-linux-gnu/libboost_date_time.so /usr/lib/x86_64-linux-gnu/libboost_regex.so -lBoost::timer /usr/lib/x86_64-linux-gnu/libboost_chrono.so /usr/lib/x86_64-linux-gnu/libboost_system.so -ltbb -ltbbmalloc /usr/local/lib/libmetis.so -lm -Wl,-rpath,/home/nvd/rtabmap/bin:/opt/ros/kinetic/lib/x86_64-linux-gnu:/usr/lib/x86_64-linux-gnu/hdf5/serial/lib:/opt/ros/kinetic/lib:/usr/local/lib:/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib:/usr/lib/openmpi/lib
/usr/bin/ld: cannot find -lBoost::timer
collect2: error: ld returned 1 exit status
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:2869: recipe for target '../bin/librtabmap_core.so.0.18.3' failed
make[2]: *** [../bin/librtabmap_core.so.0.18.3] Error 1
make[2]: Leaving directory '/home/nvd/rtabmap/build'
CMakeFiles/Makefile2:287: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make[1]: Leaving directory '/home/nvd/rtabmap/build'
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

[matlabbe]

-lBoost::timer may come from the installed /usr/local/lib/cmake/GTSAM/GTSAM-exports-release.cmake file. Try to modify this file to replace -lBoost::timer by its full path (e.g.,
/usr/lib/x86_64-linux-gnu/libboost_timer.so) like the other boost libraries. See this post.

cheers,
Mathieu

[emptonaut]

Just wanted to jump in and say the substitution of Boost::timer to /usr/lib/x86_64-linux-gnu/libboost_timer.so solved this problem for me, but in the file /usr/local/lib/cmake/GTSAM/GTSAM-exports.cmake on line 72.

INTERFACE_LINK_LIBRARIES "Boost::serialization;Boost::system;Boost::filesystem;Boost::thread;Boost::date_time;Boost::regex;Boost::timer;Boost::chrono;tbb;tbbmalloc;metis" 

to

INTERFACE_LINK_LIBRARIES "Boost::serialization;Boost::system;Boost::filesystem;Boost::thread;Boost::date_time;Boost::regex;/usr/lib/x86_64-linux-gnu/libboost_timer.so;Boost::chrono;tbb;tbbmalloc;metis" 

[zengletian1491]

Just wanted to jump in and say the substitution of Boost::timer to /usr/lib/x86_64-linux-gnu/libboost_timer.so solved this problem for me, but in the file /usr/local/lib/cmake/GTSAM/GTSAM-exports.cmake on line 72.

INTERFACE_LINK_LIBRARIES "Boost::serialization;Boost::system;Boost::filesystem;Boost::thread;Boost::date_time;Boost::regex;Boost::timer;Boost::chrono;tbb;tbbmalloc;metis" 

to

INTERFACE_LINK_LIBRARIES "Boost::serialization;Boost::system;Boost::filesystem;Boost::thread;Boost::date_time;Boost::regex;/usr/lib/x86_64-linux-gnu/libboost_timer.so;Boost::chrono;tbb;tbbmalloc;metis" 

The substitution of Boost::timer to /usr/lib/x86_64-linux-gnu/libboost_timer.so solved this problem for me, but in the file
/usr/local/lib/cmake/GTSAM/GTSAM-exports-release.cmake on line 41

[TINY-KE]

Add " find_package(Boost REQUIRED COMPONENTS timer) " into the CmakeLists.txt.
I solve this problem by this way.

[arjunskumar]

@TINY-KE Thanks, this worked