24navigation/log/build_2024-03-23_01-09-05/icp_localization_ros2/streams.log

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2024-03-24 21:24:39 +08:00
[0.021s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/firmament/codes/24navigation/src/icp_localization_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2
[0.092s] -- The C compiler identification is GNU 11.4.0
[0.189s] -- The CXX compiler identification is GNU 11.4.0
[0.205s] -- Detecting C compiler ABI info
[0.347s] -- Detecting C compiler ABI info - done
[0.362s] -- Check for working C compiler: /usr/bin/cc - skipped
[0.363s] -- Detecting C compile features
[0.365s] -- Detecting C compile features - done
[0.372s] -- Detecting CXX compiler ABI info
[0.521s] -- Detecting CXX compiler ABI info - done
[0.532s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
[0.532s] -- Detecting CXX compile features
[0.533s] -- Detecting CXX compile features - done
[0.535s] -- Found ament_cmake_auto: 1.3.8 (/opt/ros/humble/share/ament_cmake_auto/cmake)
[0.803s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter
[0.894s] -- Override CMake install command with custom implementation using symlinks instead of copying resources
[1.102s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
[1.109s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
[1.152s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
[1.214s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
[1.242s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
[1.356s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
[1.361s] -- Found rmw_fastrtps_cpp: 6.2.6 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
[1.551s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")
[1.583s] -- Found FastRTPS: /opt/ros/humble/include
[1.653s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
[1.664s] -- Looking for pthread.h
[1.850s] -- Looking for pthread.h - found
[1.850s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
[2.000s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
[2.002s] -- Found Threads: TRUE
[2.923s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake)
[2.925s] -- Found Eigen3: TRUE (found version "3.4.0")
[2.925s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
[3.447s] -- Checking for module 'eigen3'
[3.480s] -- Found eigen3, version 3.4.0
[3.619s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1")
[3.619s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
[3.667s] -- Checking for module 'flann'
[3.723s] -- Found flann, version 1.9.1
[3.862s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so
[3.862s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
[6.852s] -- Checking for module 'libusb-1.0'
[6.973s] -- Found libusb-1.0, version 1.0.25
[7.167s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so
[7.170s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
[7.447s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
[7.883s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
[7.895s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
[7.908s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
[8.274s] -- Found Qhull version 8.0.2
[8.514s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
[9.016s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
[9.019s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
[9.024s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
[9.032s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
[9.044s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
[9.059s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
[9.061s] -- Found PCL_2D: /usr/include/pcl-1.12
[9.063s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12
[9.067s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
[9.070s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
[9.074s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so
[9.077s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
[9.081s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
[9.085s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
[9.089s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
[9.092s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
[9.096s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
[9.099s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
[9.102s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so
[9.105s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so
[9.107s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12
[9.108s] -- Found PCL_MODELER: /usr/include/pcl-1.12
[9.110s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12
[9.113s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
[9.116s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
[9.596s] -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found version "1.74.0") found components: thread filesystem system program_options date_time
[9.626s] -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found version "1.74.0") found components: thread filesystem system program_options date_time chrono
[9.999s] -- Found ament_lint_auto: 0.12.10 (/opt/ros/humble/share/ament_lint_auto/cmake)
[10.090s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code
[10.091s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include
[10.091s] -- Configured cppcheck exclude dirs and/or files:
[10.092s] -- Added test 'flake8' to check Python code syntax and style conventions
[10.093s] -- Added test 'lint_cmake' to check CMake code style
[10.094s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
[10.097s] -- Added test 'uncrustify' to check C / C++ code style
[10.097s] -- Configured uncrustify additional arguments:
[10.098s] -- Added test 'xmllint' to check XML markup files
[10.104s] -- Configuring done
[10.222s] -- Generating done
[10.234s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2
[10.283s] Invoked command in '/home/firmament/codes/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/firmament/codes/24navigation/src/icp_localization_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2
[10.284s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/firmament/codes/24navigation/build/icp_localization_ros2 -- -j8 -l8
[12.947s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o
[12.947s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o
[12.947s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o
[12.947s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o
[12.947s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o
[12.947s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o
[12.947s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o
[12.947s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o
[24.533s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[24.533s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr is deprecated []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wdeprecated-declarations-Wdeprecated-declarations]8;;]
[24.533s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[24.533s] | ^
[24.533s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[24.533s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[24.533s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[24.536s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[24.537s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[24.537s] 115 | ConstPtr;
[24.537s] | ^~~~~~~~
[27.151s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function bool icp_loco::FrameTracker::isReady() const:
[27.151s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:42:68: warning: comparison of integer expressions of different signedness: size_t {aka long unsigned int} and const int []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wsign-compare-Wsign-compare]8;;]
[27.151s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_;
[27.151s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
[27.151s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function icp_loco::Rigid3d icp_loco::FrameTracker::getTransformOdomSourceToRangeSensor(const Time&) const:
[27.151s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:59:29: warning: unused parameter time []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;]
[27.151s] 59 | const Time &time) const {
[27.151s] | ~~~~~~~~~~~~^~~~
[27.151s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function icp_loco::Rigid3d icp_loco::FrameTracker::getTransformImuToRangeSensor(const Time&) const:
[27.151s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:63:64: warning: unused parameter time []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;]
[27.151s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const {
[27.152s] | ~~~~~~~~~~~~^~~~
[27.156s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function icp_loco::Rigid3d icp_loco::FrameTracker::computeFromImu(const Time&, const Time&) const:
[27.156s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:151:22: warning: unused variable kRadToDeg []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-variable-Wunused-variable]8;;]
[27.156s] 151 | const double kRadToDeg = 180.0 / M_PI;
[27.156s] | ^~~~~~~~~
[37.689s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[37.690s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr is deprecated []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wdeprecated-declarations-Wdeprecated-declarations]8;;]
[37.690s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[37.691s] | ^
[37.692s]
[37.692s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[37.693s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[37.694s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[37.694s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[37.695s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[37.695s] 115 | ConstPtr;
[37.696s] | ^~~~~~~~
[40.016s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:71:71: warning: geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr is deprecated []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wdeprecated-declarations-Wdeprecated-declarations]8;;]
[40.016s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) {
[40.016s] | ^
[40.016s]
[40.016s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[40.016s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[40.016s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[40.016s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[40.016s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[40.016s] 115 | ConstPtr;
[40.016s] | ^~~~~~~~
[40.164s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function void icp_loco::ICPlocalization::icpWorker():
[40.164s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:374:18: warning: unused variable timeMs []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-variable-Wunused-variable]8;;]
[40.164s] 374 | const double timeMs = nUs / 1000.0;
[40.164s] | ^~~~~~
[65.478s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o
[70.460s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o
[83.997s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o
[88.655s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o
[93.550s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o