263 lines
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263 lines
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[0.236s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=${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
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[0.337s] -- The C compiler identification is GNU 11.4.0
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[0.418s] -- The CXX compiler identification is GNU 11.4.0
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[0.425s] -- Detecting C compiler ABI info
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[0.505s] -- Detecting C compiler ABI info - done
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[0.515s] -- Check for working C compiler: /usr/bin/cc - skipped
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[0.516s] -- Detecting C compile features
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[0.516s] -- Detecting C compile features - done
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[0.519s] -- Detecting CXX compiler ABI info
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[0.616s] -- Detecting CXX compiler ABI info - done
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[0.622s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
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[0.622s] -- Detecting CXX compile features
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|||
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[0.623s] -- Detecting CXX compile features - done
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|||
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[0.625s] -- Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake)
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[0.808s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter
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[0.882s] -- Override CMake install command with custom implementation using symlinks instead of copying resources
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[1.167s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
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[1.178s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
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[1.198s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
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[1.226s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
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[1.274s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
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[1.400s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
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[1.403s] -- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
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[1.513s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")
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[1.545s] -- Found FastRTPS: /opt/ros/humble/include
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[1.596s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
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[1.606s] -- Looking for pthread.h
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[1.746s] -- Looking for pthread.h - found
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[1.747s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
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[2.067s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
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[2.068s] -- Found Threads: TRUE
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[3.397s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake)
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[3.399s] -- Found Eigen3: TRUE (found version "3.4.0")
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[3.399s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
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[4.238s] -- Checking for module 'eigen3'
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[4.356s] -- Found eigen3, version 3.4.0
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[4.614s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1")
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[4.614s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
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[4.672s] -- Checking for module 'flann'
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[4.709s] -- Found flann, version 1.9.1
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[4.821s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so
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[4.821s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
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[7.632s] -- Checking for module 'libusb-1.0'
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[7.705s] -- Found libusb-1.0, version 1.0.25
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[7.870s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so
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[7.870s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
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[8.105s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
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[8.577s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
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[8.616s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
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[8.644s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb)
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[9.133s] -- Found Qhull version 8.0.2
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[9.543s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
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[9.988s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
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[10.002s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
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[10.004s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
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[10.005s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
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[10.006s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
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[10.007s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
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[10.007s] -- Found PCL_2D: /usr/include/pcl-1.12
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[10.008s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12
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[10.009s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
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[10.010s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
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[10.011s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so
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[10.012s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
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[10.038s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
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[10.040s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
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[10.041s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
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[10.043s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
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[10.044s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
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[10.045s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
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[10.046s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so
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[10.047s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so
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[10.048s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12
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[10.049s] -- Found PCL_MODELER: /usr/include/pcl-1.12
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|||
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[10.049s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12
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[10.075s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
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[10.077s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
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[10.818s] -- 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
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[10.840s] -- 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
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[11.042s] -- Found ament_lint_auto: 0.12.9 (/opt/ros/humble/share/ament_lint_auto/cmake)
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[11.076s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code
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[11.076s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include
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[11.076s] -- Configured cppcheck exclude dirs and/or files:
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|||
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[11.077s] -- Added test 'flake8' to check Python code syntax and style conventions
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[11.079s] -- Added test 'lint_cmake' to check CMake code style
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[11.087s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
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[11.091s] -- Added test 'uncrustify' to check C / C++ code style
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[11.101s] -- Configured uncrustify additional arguments:
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[11.102s] -- Added test 'xmllint' to check XML markup files
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[11.106s] -- Configuring done
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[11.228s] -- Generating done
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[11.231s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2
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[11.306s] Invoked command in '/home/firmament/codes/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=${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
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[11.307s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/firmament/codes/24navigation/build/icp_localization_ros2 -- -j8 -l8
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[12.184s] [ 5%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o[0m
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[12.184s] [ 11%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o[0m
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[12.184s] [ 17%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o[0m
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[12.184s] [ 23%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o[0m
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[12.184s] [ 29%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o[0m
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[12.184s] [ 35%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o[0m
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[12.184s] [ 41%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o[0m
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[23.192s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:[m[K In member function ‘[01m[Kbool icp_loco::FrameTracker::isReady() const[m[K’:
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[23.192s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:42:68:[m[K [01;35m[Kwarning: [m[Kcomparison of integer expressions of different signedness: ‘[01m[Ksize_t[m[K’ {aka ‘[01m[Klong unsigned int[m[K’} and ‘[01m[Kconst int[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wsign-compare-Wsign-compare]8;;[m[K]
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[23.192s] 42 | const bool isOdomBufferReady = [01;35m[KodomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_[m[K || !isUseOdometryForRangeSensorPosePrediction_;
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[23.192s] | [01;35m[K~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~[m[K
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[23.192s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:[m[K In member function ‘[01m[Kicp_loco::Rigid3d icp_loco::FrameTracker::getTransformOdomSourceToRangeSensor(const Time&) const[m[K’:
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[23.192s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:59:29:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktime[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
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[23.192s] 59 | [01;35m[Kconst Time &time[m[K) const {
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[23.192s] | [01;35m[K~~~~~~~~~~~~^~~~[m[K
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[23.193s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:[m[K In member function ‘[01m[Kicp_loco::Rigid3d icp_loco::FrameTracker::getTransformImuToRangeSensor(const Time&) const[m[K’:
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[23.193s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:63:64:[m[K [01;35m[Kwarning: [m[Kunused parameter ‘[01m[Ktime[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-parameter-Wunused-parameter]8;;[m[K]
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[23.193s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor([01;35m[Kconst Time &time[m[K) const {
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[23.193s] | [01;35m[K~~~~~~~~~~~~^~~~[m[K
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[23.206s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:[m[K In member function ‘[01m[Kicp_loco::Rigid3d icp_loco::FrameTracker::computeFromImu(const Time&, const Time&) const[m[K’:
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[23.207s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:151:22:[m[K [01;35m[Kwarning: [m[Kunused variable ‘[01m[KkRadToDeg[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-variable-Wunused-variable]8;;[m[K]
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[23.207s] 151 | const double [01;35m[KkRadToDeg[m[K = 180.0 / M_PI;
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[23.207s] | [01;35m[K^~~~~~~~~[m[K
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[27.212s] In file included from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7[m[K:
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[27.212s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73:[m[K [01;35m[Kwarning: [m[K‘[01m[Kgeometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr[m[K’ is deprecated [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wdeprecated-declarations-Wdeprecated-declarations]8;;[m[K]
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[27.212s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg[01;35m[K)[m[K;
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[27.212s] | [01;35m[K^[m[K
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[27.212s]
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[27.212s] In file included from [01m[K/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7[m[K,
|
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[27.212s] from [01m[K/opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49[m[K,
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[27.212s] from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24[m[K,
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[27.212s] from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7[m[K:
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[27.212s] [01m[K/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5:[m[K [01;36m[Knote: [m[Kdeclared here
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[27.212s] 115 | [01;36m[KConstPtr[m[K;
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[27.212s] | [01;36m[K^~~~~~~~[m[K
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[27.560s] In file included from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7[m[K:
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[27.560s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73:[m[K [01;35m[Kwarning: [m[K‘[01m[Kgeometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr[m[K’ is deprecated [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wdeprecated-declarations-Wdeprecated-declarations]8;;[m[K]
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[27.560s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg[01;35m[K)[m[K;
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[27.560s] | [01;35m[K^[m[K
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[27.560s] In file included from [01m[K/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7[m[K,
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[27.560s] from [01m[K/opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49[m[K,
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[27.560s] from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24[m[K,
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[27.560s] from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7[m[K:
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[27.560s] [01m[K/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5:[m[K [01;36m[Knote: [m[Kdeclared here
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[27.560s] 115 | [01;36m[KConstPtr[m[K;
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[27.560s] | [01;36m[K^~~~~~~~[m[K
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[28.171s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:71:71:[m[K [01;35m[Kwarning: [m[K‘[01m[Kgeometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr[m[K’ is deprecated [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wdeprecated-declarations-Wdeprecated-declarations]8;;[m[K]
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[28.171s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg[01;35m[K)[m[K {
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[28.171s] | [01;35m[K^[m[K
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[28.171s]
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[28.172s] [01m[K/opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5:[m[K [01;36m[Knote: [m[Kdeclared here
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[28.172s] 115 | [01;36m[KConstPtr[m[K;
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[28.245s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:[m[K In member function ‘[01m[Kvoid icp_loco::ICPlocalization::icpWorker()[m[K’:
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[28.246s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:374:18:[m[K [01;35m[Kwarning: [m[Kunused variable ‘[01m[KtimeMs[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-variable-Wunused-variable]8;;[m[K]
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[85.278s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:[m[K In constructor ‘[01m[Kicp_loco::ImuTracker::ImuTracker()[m[K’:
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[85.278s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:55:22:[m[K [01;35m[Kwarning: [m[K‘[01m[Kicp_loco::ImuTracker::currentOrientation_[m[K’ will be initialized after [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
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[85.278s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10:[m[K [01;35m[Kwarning: [m[K‘[01m[Kicp_loco::ImuTracker::imuGravityTimeConstant_[m[K’ will be initialized after [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
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[85.279s] 19 | [01;35m[KImuTracker[m[K::ImuTracker()
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[85.279s] | [01;35m[K^~~~~~~~~~[m[K
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[85.279s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:58:19:[m[K [01;35m[Kwarning: [m[K‘[01m[Kicp_loco::ImuTracker::integratedPosition_[m[K’ will be initialized after [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
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[85.298s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:110:14:[m[K [01;35m[Kwarning: [m[Kvariable ‘[01m[KrpyAccelerometer[m[K’ set but not used [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-but-set-variable-Wunused-but-set-variable]8;;[m[K]
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[97.178s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
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[97.184s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake
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[97.191s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake
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[97.198s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml
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[97.206s] Invoked command in '/home/firmament/codes/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/firmament/codes/24navigation/build/icp_localization_ros2
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