weixin_39581318
2020-12-08 20:54 阅读 27

catkin_make error for zed wrapper

Zed sdk: 2.4.1 Ubuntu: 18.04 nvcc --version: nvcc: NVIDIA (R) Cuda compiler driver Copyright (c) 2005-2017 NVIDIA Corporation Built on Fri_Nov__3_21:07:56_CDT_2017 Cuda compilation tools, release 9.1, V9.1.85

I am getting following error when I run catkin_make in root folder:

Base path: /home/ghost/ghost2 Source space: /home/ghost/ghost2/src Build space: /home/ghost/ghost2/build Devel space: /home/ghost/ghost2/devel Install space: /home/ghost/ghost2/install

Running command: "make cmake_check_build_system" in "/home/ghost/ghost2/build"

Running command: "make -j4 -l4" in "/home/ghost/ghost2/build"

[ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target _beginner_tutorials_generate_messages_check_deps_AddTwoInts [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target _beginner_tutorials_generate_messages_check_deps_Num [ 0%] Built target std_msgs_generate_messages_eus [ 2%] Built target tf_listener [ 5%] Built target zed_depth_sub [ 7%] Built target tf_broadcaster [ 10%] Built target zed_tracking_sub [ 13%] Built target zed_video_sub [ 13%] Built target _zed_wrapper_generate_messages_check_deps_stop_remote_stream [ 13%] Built target _zed_wrapper_generate_messages_check_deps_start_svo_recording [ 13%] Built target _zed_wrapper_generate_messages_check_deps_stop_svo_recording [ 13%] Built target _zed_wrapper_generate_messages_check_deps_toggle_led [ 13%] Built target _zed_wrapper_generate_messages_check_deps_reset_odometry [ 13%] Built target _zed_wrapper_generate_messages_check_deps_reset_tracking [ 14%] Built target _zed_wrapper_generate_messages_check_deps_set_led_status [ 14%] Built target zed_wrapper_gencfg [ 14%] Built target _zed_wrapper_generate_messages_check_deps_set_pose [ 17%] Built target beginner_tutorials_generate_messages_cpp [ 19%] Built target beginner_tutorials_generate_messages_nodejs [ 22%] Built target beginner_tutorials_generate_messages_lisp [ 22%] Built target _zed_wrapper_generate_messages_check_deps_start_remote_stream [ 27%] Built target beginner_tutorials_generate_messages_py [ 31%] Built target beginner_tutorials_generate_messages_eus [ 43%] Built target zed_wrapper_generate_messages_lisp [ 55%] Built target zed_wrapper_generate_messages_nodejs [ 68%] Built target zed_wrapper_generate_messages_py [ 80%] Built target zed_wrapper_generate_messages_cpp [ 93%] Built target zed_wrapper_generate_messages_eus [ 93%] Built target beginner_tutorials_generate_messages [ 93%] Built target zed_wrapper_generate_messages [ 94%] Building CXX object zed-ros-wrapper/zed_wrapper/CMakeFiles/ZEDWrapper.dir/src/nodelet/src/zed_wrapper_nodelet.cpp.o /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp: In member function ‘void zed_wrapper::ZEDWrapperNodelet::start_tracking()’: /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:1181:21: error: ‘struct sl::TrackingParameters’ has no member named ‘enable_imu_fusion’ trackParams.enable_imu_fusion = mImuFusion; ^~~~~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp: In member function ‘void zed_wrapper::ZEDWrapperNodelet::publishOdom(tf2::Transform, sl::Pose&, ros::Time)’: /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:1224:70: error: ‘struct sl::Pose’ has no member named ‘pose_covariance’; did you mean ‘pose_confidence’? odom.pose.covariance[i] = static_cast(slPose.pose_covariance[i]); ^~~~~~~~~~~~~~~ pose_confidence /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp: In member function ‘void zed_wrapper::ZEDWrapperNodelet::publishPose(ros::Time)’: /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:1298:87: error: ‘struct sl::Pose’ has no member named ‘pose_covariance’; did you mean ‘pose_confidence’? poseCov.pose.covariance[i] = static_cast(mLastZedPose.pose_covariance[i]); ^~~~~~~~~~~~~~~ pose_confidence /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp: In member function ‘bool zed_wrapper::ZEDWrapperNodelet::on_start_svo_recording(zed_wrapper::start_svo_recording::Request&, zed_wrapper::start_svo_recording::Response&)’: /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2852:24: error: ‘ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION’ is not a member of ‘sl’ if (err == sl::ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION) { ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2852:24: note: suggested alternative: ‘ERROR_CODE_SVO_RECORDING_ERROR’ if (err == sl::ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION) { ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ERROR_CODE_SVO_RECORDING_ERROR /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2880:32: error: ‘ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION’ is not a member of ‘sl’ if (err == sl::ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION) { ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2880:32: note: suggested alternative: ‘ERROR_CODE_SVO_RECORDING_ERROR’ if (err == sl::ERROR_CODE_SVO_UNSUPPORTED_COMPRESSION) { ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ERROR_CODE_SVO_RECORDING_ERROR /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp: At global scope: /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2887:9: error: expected unqualified-id before ‘if’ if (err != sl::SUCCESS) { ^~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2894:9: error: ‘mSvoComprMode’ does not name a type; did you mean ‘cudaComputeMode’? mSvoComprMode = compression; ^~~~~~~~~~~~~ cudaComputeMode /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2895:9: error: ‘mRecording’ does not name a type mRecording = true; ^~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2896:9: error: ‘res’ does not name a type res.info = "Recording started ("; ^~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2897:9: error: ‘res’ does not name a type res.info += sl::toString(compression).c_str(); ^~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2898:9: error: ‘res’ does not name a type res.info += ")"; ^~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2899:9: error: ‘res’ does not name a type res.result = true; ^~~ In file included from /opt/ros/melodic/include/ros/ros.h:40:0, from /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/include/zed_wrapper_nodelet.hpp:32, from /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:21: /opt/ros/melodic/include/ros/console.h:401:3: error: expected unqualified-id before ‘do’ do \ ^ /opt/ros/melodic/include/ros/console.h:579:43: note: in expansion of macro ‘ROS_LOG_STREAM_COND’ #define ROS_LOG_STREAM(level, name, args) ROS_LOG_STREAM_COND(true, level, name, args) ^~~~~~~~~~~~~~~~~~~ /opt/ros/melodic/include/rosconsole/macros_generated.h:111:31: note: in expansion of macro ‘ROS_LOG_STREAM’ #define ROS_INFO_STREAM(args) ROS_LOG_STREAM(::ros::console::levels::Info, ROSCONSOLE_DEFAULT_NAME, args) ^~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2901:9: note: in expansion of macro ‘ROS_INFO_STREAM’ ROS_INFO_STREAM("SVO recording STARTED: " << req.svo_filename << " (" << sl::toString(compression).c_str() << ")"); ^ /opt/ros/melodic/include/ros/console.h:408:5: error: expected unqualified-id before ‘while’ } while(false) ^ /opt/ros/melodic/include/ros/console.h:579:43: note: in expansion of macro ‘ROS_LOG_STREAM_COND’ #define ROS_LOG_STREAM(level, name, args) ROS_LOG_STREAM_COND(true, level, name, args) ^~~~~~~~~~~~~~~~~~~ /opt/ros/melodic/include/rosconsole/macros_generated.h:111:31: note: in expansion of macro ‘ROS_LOG_STREAM’ #define ROS_INFO_STREAM(args) ROS_LOG_STREAM(::ros::console::levels::Info, ROSCONSOLE_DEFAULT_NAME, args) ^~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2901:9: note: in expansion of macro ‘ROS_INFO_STREAM’ ROS_INFO_STREAM("SVO recording STARTED: " << req.svo_filename << " (" << sl::toString(compression).c_str() << ")"); ^ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2903:9: error: expected unqualified-id before ‘return’ return true; ^~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2906:10: error: ‘ZEDWrapperNodelet’ has not been declared bool ZEDWrapperNodelet::on_stop_svo_recording(zed_wrapper::stop_svo_recording::Request& req, ^~~~~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp: In function ‘bool on_stop_svo_recording(zed_wrapper::stop_svo_recording::Request&, zed_wrapper::stop_svo_recording::Response&)’: /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2908:42: error: ‘mRecMutex’ was not declared in this scope std::lock_guard<:mutex> lock(mRecMutex); ^~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2910:14: error: ‘mRecording’ was not declared in this scope if (!mRecording) { ^~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2916:9: error: ‘mZed’ was not declared in this scope mZed.disableRecording(); ^~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2917:9: error: ‘mRecording’ was not declared in this scope mRecording = false; ^~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp: At global scope: /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2926:10: error: ‘ZEDWrapperNodelet’ has not been declared bool ZEDWrapperNodelet::on_start_remote_stream(zed_wrapper::start_remote_stream::Request& req, ^~~~~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:2995:10: error: ‘ZEDWrapperNodelet’ has not been declared bool ZEDWrapperNodelet::on_stop_remote_stream(zed_wrapper::stop_remote_stream::Request& req, ^~~~~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:3012:10: error: ‘ZEDWrapperNodelet’ has not been declared bool ZEDWrapperNodelet::on_set_led_status(zed_wrapper::set_led_status::Request& req, ^~~~~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:3030:10: error: ‘ZEDWrapperNodelet’ has not been declared bool ZEDWrapperNodelet::on_toggle_led(zed_wrapper::toggle_led::Request& req, ^~~~~~~~~~~~~~~~~ /home/ghost/ghost2/src/zed-ros-wrapper/zed_wrapper/src/nodelet/src/zed_wrapper_nodelet.cpp:3049:1: error: expected declaration before ‘}’ token } // namespace ^ zed-ros-wrapper/zed_wrapper/CMakeFiles/ZEDWrapper.dir/build.make:86: recipe for target 'zed-ros-wrapper/zed_wrapper/CMakeFiles/ZEDWrapper.dir/src/nodelet/src/zed_wrapper_nodelet.cpp.o' failed make[2]: [zed-ros-wrapper/zed_wrapper/CMakeFiles/ZEDWrapper.dir/src/nodelet/src/zed_wrapper_nodelet.cpp.o] Error 1 CMakeFiles/Makefile2:4570: recipe for target 'zed-ros-wrapper/zed_wrapper/CMakeFiles/ZEDWrapper.dir/all' failed make[1]: [zed-ros-wrapper/zed_wrapper/CMakeFiles/ZEDWrapper.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed Please help resolve the issue</:mutex>

该提问来源于开源项目:stereolabs/zed-ros-wrapper

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4条回答 默认 最新

  • weixin_39616477 weixin_39616477 2020-12-08 20:54

    Hi -60 The ZED SDK v2.4.1 that you are using is very old and the compatibility with the latest version of the ROS wrapper is not guaranteed. Please update to latest SDK v2.8.3, you will also get a lot of improvements and new features.

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  • weixin_39581318 weixin_39581318 2020-12-08 20:54

    My cuda version is 9.1 which zed sdk v2.8.3 does not support. Is there any other way I can resolve the issue?

    EDIT: I uninstalled cuda 9.1 and reinstalled cuda 9.0. Then installed zed sdk 2.8.3 for cuda 9.0. But catkin_make now gives a different error. ZED SDK: 2.8.3(for cuda9)

    $ catkin_make Base path: /home/ghost/ghost2 Source space: /home/ghost/ghost2/src Build space: /home/ghost/ghost2/build Devel space: /home/ghost/ghost2/devel Install space: /home/ghost/ghost2/install

    Running command: "make cmake_check_build_system" in "/home/ghost/ghost2/build"

    Running command: "make -j4 -l4" in "/home/ghost/ghost2/build"

    [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target _beginner_tutorials_generate_messages_check_deps_Num [ 0%] Built target _beginner_tutorials_generate_messages_check_deps_AddTwoInts [ 0%] Built target std_msgs_generate_messages_eus [ 2%] Built target tf_broadcaster [ 7%] Built target zed_depth_sub [ 7%] Built target tf_listener [ 10%] Built target zed_tracking_sub [ 13%] Built target zed_video_sub [ 13%] Built target _zed_wrapper_generate_messages_check_deps_start_svo_recording [ 13%] Built target _zed_wrapper_generate_messages_check_deps_stop_remote_stream [ 13%] Built target _zed_wrapper_generate_messages_check_deps_stop_svo_recording [ 13%] Built target _zed_wrapper_generate_messages_check_deps_toggle_led [ 13%] Built target _zed_wrapper_generate_messages_check_deps_reset_odometry [ 13%] Built target _zed_wrapper_generate_messages_check_deps_reset_tracking [ 13%] Built target _zed_wrapper_generate_messages_check_deps_set_led_status [ 14%] Built target zed_wrapper_gencfg [ 14%] Built target _zed_wrapper_generate_messages_check_deps_set_pose [ 17%] Built target beginner_tutorials_generate_messages_cpp [ 19%] Built target beginner_tutorials_generate_messages_lisp [ 21%] Built target _zed_wrapper_generate_messages_check_deps_start_remote_stream [ 22%] Built target beginner_tutorials_generate_messages_nodejs [ 27%] Built target beginner_tutorials_generate_messages_py [ 31%] Built target beginner_tutorials_generate_messages_eus [ 43%] Built target zed_wrapper_generate_messages_lisp [ 55%] Built target zed_wrapper_generate_messages_nodejs [ 67%] Built target zed_wrapper_generate_messages_cpp [ 80%] Built target zed_wrapper_generate_messages_py [ 93%] Built target zed_wrapper_generate_messages_eus [ 93%] Built target beginner_tutorials_generate_messages [ 93%] Built target zed_wrapper_generate_messages make[2]: No rule to make target '/usr/local/cuda-9.1/lib64/libnppial.so', needed by '/home/ghost/ghost2/devel/lib/libZEDWrapper.so'. Stop. CMakeFiles/Makefile2:4570: recipe for target 'zed-ros-wrapper/zed_wrapper/CMakeFiles/ZEDWrapper.dir/all' failed make[1]: [zed-ros-wrapper/zed_wrapper/CMakeFiles/ZEDWrapper.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... Makefile:140: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j4 -l4" failed

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  • weixin_39616477 weixin_39616477 2020-12-08 20:54

    If you change CUDA version you must delete the cache before trying to re-compile. Try removing the folders devel and build in your catkin workspace and then run catkin_make again

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  • weixin_39581318 weixin_39581318 2020-12-08 20:54

    Thanks it is working now~

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