Build from source following README.nd in rtabmap_ros
rtabmap make error
Error 1
make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libpng.so', needed by '../bin/rtabmap-extractObject'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libpng.so', needed by '../bin/librtabmap_core.so.0.19.1'. Stop.
CMakeFiles/Makefile2:1586: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
^Ctools/ExtractObject/CMakeFiles/extractObject.dir/build.make:62: recipe for target 'tools/ExtractObject/CMakeFiles/extractObject.dir/main.cpp.o' failed
make[2]: *** [tools/ExtractObject/CMakeFiles/extractObject.dir/main.cpp.o] Interrupt
CMakeFiles/Makefile2:1970: recipe for target 'tools/ExtractObject/CMakeFiles/extractObject.dir/all' failed
make[1]: *** [tools/ExtractObject/CMakeFiles/extractObject.dir/all] Interrupt
Makefile:160: recipe for target 'all' failed
make: *** [all] Interrupt
Solution 1
locate libpng.so
stat /usr/lib/x86_64-linux-gnu/libpng.so
Of course the file exist.
Output:
File: 'libpng.so' -> 'libpng12.so'
Size: 11 Blocks: 0 IO Block: 4096 symbolic link
Device: 816h/2070d Inode: 6296757 Links: 1
Access: (0777/lrwxrwxrwx) Uid: ( 0/ root) Gid: ( 0/ root)
Access: 2019-04-04 10:09:50.543715873 +0800
Modify: 2019-04-04 10:09:50.539715795 +0800
Change: 2019-04-04 10:09:50.539715795 +0800
Birth: -
Copy another libpng.so file from my laptop. Problem fixed.
Error 2
make -j4
[ 4%] Built target rtabmap_utilite
[ 5%] Built target res_tool
[ 5%] Built target imagesJoiner
[ 6%] Built target extractObject
[ 42%] Built target rtabmap_core
[ 42%] Linking CXX executable ../../../bin/rtabmap-stereoEval
[ 42%] Linking CXX executable ../../../bin/rtabmap-console
[ 43%] Linking CXX executable ../../../bin/rtabmap-camera
[ 82%] Built target rtabmap_gui
[ 82%] Linking CXX executable ../../../bin/rtabmap-kitti_dataset
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_pinv'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_post'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_calloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_malloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_nfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_spfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_etree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_symperm'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_schol'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_cumsum'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_sfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_amd'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_free'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_counts'
collect2: error: ld returned 1 exit status
tools/ConsoleApp/CMakeFiles/consoleApp.dir/build.make:741: recipe for target '../bin/rtabmap-console' failed
make[2]: *** [../bin/rtabmap-console] Error 1
CMakeFiles/Makefile2:1860: recipe for target 'tools/ConsoleApp/CMakeFiles/consoleApp.dir/all' failed
make[1]: *** [tools/ConsoleApp/CMakeFiles/consoleApp.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_pinv'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_calloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_etree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_symperm'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_schol'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_cumsum'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_amd'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_free'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_post'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_malloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_nfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_spfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_sfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_counts'
collect2: error: ld returned 1 exit status
tools/Camera/CMakeFiles/camera.dir/build.make:741: recipe for target '../bin/rtabmap-camera' failed
make[2]: *** [../bin/rtabmap-camera] Error 1
CMakeFiles/Makefile2:2026: recipe for target 'tools/Camera/CMakeFiles/camera.dir/all' failed
make[1]: *** [tools/Camera/CMakeFiles/camera.dir/all] Error 2
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_pinv'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_post'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_calloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_malloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_nfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_spfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_etree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_symperm'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_schol'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_cumsum'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_sfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_amd'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_free'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_counts'
collect2: error: ld returned 1 exit status
tools/KittiDataset/CMakeFiles/kitti_dataset.dir/build.make:741: recipe for target '../bin/rtabmap-kitti_dataset' failed
make[2]: *** [../bin/rtabmap-kitti_dataset] Error 1
CMakeFiles/Makefile2:2138: recipe for target 'tools/KittiDataset/CMakeFiles/kitti_dataset.dir/all' failed
make[1]: *** [tools/KittiDataset/CMakeFiles/kitti_dataset.dir/all] Error 2
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_pinv'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_calloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_etree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_symperm'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_schol'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_sparse const*, bool)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_cumsum'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_amd'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_sparse const*, cs_symbolic const*, int*, double*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_free'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_post'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_malloc'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_nfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_spfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_sparse const*, double*, cs_symbolic const*, double*, int*)'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_sfree'
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `cs_counts'
collect2: error: ld returned 1 exit status
tools/StereoEval/CMakeFiles/stereoEval.dir/build.make:741: recipe for target '../bin/rtabmap-stereoEval' failed
make[2]: *** [../bin/rtabmap-stereoEval] Error 1
CMakeFiles/Makefile2:2082: recipe for target 'tools/StereoEval/CMakeFiles/stereoEval.dir/all' failed
make[1]: *** [tools/StereoEval/CMakeFiles/stereoEval.dir/all] Error 2
Makefile:160: recipe for target 'all' failed
make: *** [all] Error 2
Solution 2
Clear the cache
$ cd rtabmap/build
$ rm CMakeCache.txt
$ cmake -DCMAKE_INSTALL_PREFIX=~/catkin_ws/devel ..
Then remove directory EXTERNAL in /usr/local/include
$ sudo rm -rf /usr/local/include/EXTERNAL
- Referrence: (error while build #162)[https://github.com/introlab/rtabmap/issues/162]
Error 3
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
collect2: error: ld returned 1 exit status
tools/ConsoleApp/CMakeFiles/consoleApp.dir/build.make:741: recipe for target '../bin/rtabmap-console' failed
make[2]: *** [../bin/rtabmap-console] Error 1
CMakeFiles/Makefile2:1910: recipe for target 'tools/ConsoleApp/CMakeFiles/consoleApp.dir/all' failed
make[1]: *** [tools/ConsoleApp/CMakeFiles/consoleApp.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
collect2: error: ld returned 1 exit status
tools/Camera/CMakeFiles/camera.dir/build.make:741: recipe for target '../bin/rtabmap-camera' failed
make[2]: *** [../bin/rtabmap-camera] Error 1
CMakeFiles/Makefile2:2096: recipe for target 'tools/Camera/CMakeFiles/camera.dir/all' failed
make[1]: *** [tools/Camera/CMakeFiles/camera.dir/all] Error 2
../../../bin/librtabmap_core.so.0.19.1: undefined reference to `loam::MultiScanMapper::getRingForAngle(float const&)'
collect2: error: ld returned 1 exit status
tools/StereoEval/CMakeFiles/stereoEval.dir/build.make:741: recipe for target '../bin/rtabmap-stereoEval' failed
make[2]: *** [../bin/rtabmap-stereoEval] Error 1
CMakeFiles/Makefile2:2162: recipe for target 'tools/StereoEval/CMakeFiles/stereoEval.dir/all' failed
make[1]: *** [tools/StereoEval/CMakeFiles/stereoEval.dir/all] Error 2
[ 80%] Built target rtabmap_gui
Makefile:149: recipe for target 'all' failed
make: *** [all] Error 2
Solution 3
** reinstall the new version of loam_velodyne **
$ cd ~/catkin_ws/src/
$ git clone https://github.com/laboshinl/loam_velodyne.git
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ~/catkin_ws/devel/setup.bash
- Referrence: (Installation problem for last version of RTAB-Map with loam_velodyne (not in ROS) in Ubuntu 16.04:loam::MultiScanMapper::getRingForAngle(float const&)Undefined references #321)[https://github.com/introlab/rtabmap/issues/321]
catkin_make error
Error 4
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/MsgConversion.cpp: In function ‘void rtabmap_ros::nodeDataToROS(const rtabmap::Signature&, rtabmap_ros::NodeData&)’:
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/MsgConversion.cpp:939:71: error: ‘const class rtabmap::LaserScan’ has no member named ‘maxRange’
msg.laserScanMaxRange = signature.sensorData().laserScanCompressed().maxRange();
^
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:486: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/MsgConversion.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/MsgConversion.cpp.o] Error 1
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Solution 4
$ gedit /home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/MsgConversion.cpp
modifiy ** maxRange ** to ** rangeMax **.
- Why I can solve this?*
- Look for “maxRange” in the directory “~/catkin_ws/devel/include/rtabmap-0.19/rtabmap/core”
grep -rn * -ie maxRange
LaserScan.h:61: int maxRange = 0,
LaserScan.h:66: float maxRange,
LaserScan.h:76: float maxRange,
LaserScan.h:82: float maxRange,
OctoMap.h:214: void setMaxRange(float value) {rangeMax_ = value;}
util3d_mapping.h:52: float scanMaxRange = 0.0f), "Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
util3d_mapping.h:61: float scanMaxRange = 0.0f), "Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.");
util3d_mapping.h:71: float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
util3d_mapping.h:90: float scanMaxRange = 0.0f), "Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
util3d_mapping.h:100: float scanMaxRange = 0.0f), "Use interface with cv::Mat scans.");
util3d_mapping.h:110: float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
and in "~/catkin_ws/src/rtabmap_ros-kinetic-devel"
msg/NodeData.msg:40:float32 laserScanMaxRange
src/MsgConversion.cpp:880: msg.laserScanMaxRange,
src/MsgConversion.cpp:892: msg.laserScanMaxRange,
src/MsgConversion.cpp:939: msg.laserScanMaxRange = signature.sensorData().laserScanCompressed().maxRange();
Obviously, there is nothing related to maxRange. So We can see another same file MsgConversion.cpp in branch * "master" *. Search for * " signature.sensorData().laserScanCompressed() " *, and we can see it's rangeMax() but not maxRange()
Error 5
/home/william/catkin_ws/src/rtabmap_ros/src/MapsManager.cpp: In member function ‘std::map<int, rtabmap::Transform> MapsManager::updateMapCaches(const std::map<int, rtabmap::Transform>&, const rtabmap::Memory*, bool, bool, const std::map<int, rtabmap::Signature>&)’:
/home/william/catkin_ws/src/rtabmap_ros/src/MapsManager.cpp:713:17: error: void value not ignored as it ought to be
gridUpdated_ = occupancyGrid_->update(filteredPoses);
^
/home/william/catkin_ws/src/rtabmap_ros/src/MapsManager.cpp:721:20: error: void value not ignored as it ought to be
octomapUpdated_ = octomap_->update(filteredPoses);
^
rtabmap_ros/CMakeFiles/rtabmap_ros.dir/build.make:86: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o' failed
make[2]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/MapsManager.cpp.o] Error 1
CMakeFiles/Makefile2:7883: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp: In member function ‘void rtabmap_ros::CoreWrapper::publishStats(const ros::Time&)’:
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2604:10: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
stats.getSignatures(),
^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2630:36: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
if(stats.poses().size() && stats.getSignatures().size())
^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2639:60: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
for(std::map<int, Signature>::const_iterator iter=stats.getSignatures().begin();
^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2640:17: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
iter!=stats.getSignatures().end();
^
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:558: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/CoreWrapper.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/CoreWrapper.cpp.o] Error 1
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp: In member function ‘void rtabmap_ros::CoreWrapper::publishStats(const ros::Time&)’:
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2604:10: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
stats.getSignatures(),
^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2630:36: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
if(stats.poses().size() && stats.getSignatures().size())
^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2639:60: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
for(std::map<int, Signature>::const_iterator iter=stats.getSignatures().begin();
^
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/CoreWrapper.cpp:2640:17: error: ‘const class rtabmap::Statistics’ has no member named ‘getSignatures’
iter!=stats.getSignatures().end();
^
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:558: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/CoreWrapper.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/CoreWrapper.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
^CTraceback (most recent call last):
File "/opt/ros/kinetic/bin/catkin_make", line 296, in <module>
sys.exit(main())
File "/opt/ros/kinetic/bin/catkin_make", line 240, in main
run_command(cmd, make_path)
File "/opt/ros/kinetic/lib/python2.7/dist-packages/catkin/builder.py", line 239, in run_command
make[2]: *** wait: No child processes. Stop.
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Interrupt
proc.wait()
File "/usr/lib/python2.7/subprocess.py", line 1392, in wait
pid, sts = _eintr_retry_call(os.waitpid, self.pid, 0)
File "/usr/lib/python2.7/subprocess.py", line 476, in _eintr_retry_call
return func(*args)
Solution 5 * ( in a weird way ) *
** Replace the source file from another one which had been built completely successful.**
Error 6
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbd_sync'. Stop.
CMakeFiles/Makefile2:6324: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/icp_odometry'. Stop.
CMakeFiles/Makefile2:6361: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all] Error 2
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbdicp_odometry'. Stop.
CMakeFiles/Makefile2:6398: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all] Error 2
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/stereo_odometry'. Stop.
CMakeFiles/Makefile2:6435: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make VERBOS=1 -j4 -l4" failed
Scanning dependencies of target rtabmap_rgbd_sync
Scanning dependencies of target rtabmap_icp_odometry
[ 15%] Built target _rtabmap_ros_generate_messages_check_deps_Link
Scanning dependencies of target rtabmap_rgbdicp_odometry
Scanning dependencies of target rtabmap_stereo_odometry
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbd_sync'. Stop.
make[2]: *** Waiting for unfinished jobs....
[ 15%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/src/RGBDSyncNode.cpp.o
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/rgbdicp_odometry'. Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/icp_odometry'. Stop.
make[2]: *** Waiting for unfinished jobs....
[ 16%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/src/ICPOdometryNode.cpp.o
[ 17%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/src/RGBDICPOdometryNode.cpp.o
make[2]: *** No rule to make target '/usr/local/lib/libpcl_kdtree.so', needed by '/home/william/catkin_ws/devel/lib/rtabmap_ros/stereo_odometry'. Stop.
make[2]: *** Waiting for unfinished jobs....
[ 17%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/src/StereoOdometryNode.cpp.o
CMakeFiles/Makefile2:6324: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbd_sync.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:6361: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_icp_odometry.dir/all] Error 2
CMakeFiles/Makefile2:6398: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_rgbdicp_odometry.dir/all] Error 2
CMakeFiles/Makefile2:6435: recipe for target 'rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all' failed
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_stereo_odometry.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Solution 6
Copy the whole lib files in the directory of * pcl * to * /usr/local/lib * .
Error 7
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/OdometryROS.cpp:40:38: fatal error: rtabmap/core/OdometryF2M.h: No such file or directory
compilation terminated.
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:462: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o] Error 1
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed
/home/william/catkin_ws/src/rtabmap_ros-kinetic-devel/src/OdometryROS.cpp:41:38: fatal error: rtabmap/core/OdometryF2F.h: No such file or directory
compilation terminated.
rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/build.make:462: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o' failed
make[2]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o] Error 1
CMakeFiles/Makefile2:7795: recipe for target 'rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all' failed
make[1]: *** [rtabmap_ros-kinetic-devel/CMakeFiles/rtabmap_ros.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed
Solution 7
$ cd /home/william/catkin_ws/devel/include/rtabmap-0.19/rtabmap/core/
$ sudo cp /home/william/Documents/program_files/rtabmap/corelib/include/rtabmap/core/odometry/OdometryF2M.h OdometryF2M.h
$ sudo cp /home/william/Documents/program_files/rtabmap/corelib/include/rtabmap/core/odometry/OdometryF2F.h OdometryF2F.h
Error 8
[ 32%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o
/home/william/rtabmap/corelib/src/odometry/OdometryVINS.cpp:39:33: fatal error: estimator/estimator.h: No such file or directory
compilation terminated.
corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1795: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o' failed
make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:2386: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed
make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
Makefile:160: recipe for target 'all' failed
make: *** [all] Error 2
Solution 8
来源：oschina
链接：https://my.oschina.net/u/4404979/blog/3586313