266 lines
33 KiB
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266 lines
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[0.234s] 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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[0.294s] -- The C compiler identification is GNU 11.4.0
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[0.353s] -- The CXX compiler identification is GNU 11.4.0
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[0.361s] -- Detecting C compiler ABI info
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[0.429s] -- Detecting C compiler ABI info - done
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[0.436s] -- Check for working C compiler: /usr/bin/cc - skipped
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[0.437s] -- Detecting C compile features
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[0.437s] -- Detecting C compile features - done
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[0.440s] -- Detecting CXX compiler ABI info
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[0.524s] -- Detecting CXX compiler ABI info - done
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[0.534s] -- Check for working CXX compiler: /usr/bin/c++ - skipped
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[0.535s] -- Detecting CXX compile features
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[0.535s] -- Detecting CXX compile features - done
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[0.538s] -- Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake)
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[0.721s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter
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[0.790s] -- Override CMake install command with custom implementation using symlinks instead of copying resources
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[1.031s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake)
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[1.047s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake)
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[1.067s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake)
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[1.099s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
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[1.135s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
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[1.222s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake)
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[1.225s] -- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake)
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[1.398s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")
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[1.430s] -- Found FastRTPS: /opt/ros/humble/include
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[1.485s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default
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[1.493s] -- Looking for pthread.h
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[1.581s] -- Looking for pthread.h - found
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[1.581s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
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[1.746s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
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[1.747s] -- Found Threads: TRUE
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[2.804s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake)
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[2.805s] -- Found Eigen3: TRUE (found version "3.4.0")
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[2.806s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target
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[3.327s] -- Checking for module 'eigen3'
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[3.381s] -- Found eigen3, version 3.4.0
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[3.612s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1")
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[3.613s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
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[3.693s] -- Checking for module 'flann'
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[3.777s] -- Found flann, version 1.9.1
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[4.061s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so
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[4.061s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
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[7.968s] -- Checking for module 'libusb-1.0'
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[8.038s] -- Found libusb-1.0, version 1.0.25
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[8.246s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so
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[8.248s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
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[8.453s] -- 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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[8.845s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
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[8.860s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
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[8.875s] -- 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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[9.177s] -- Found Qhull version 8.0.2
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[9.421s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
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[9.728s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
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[9.729s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
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[9.730s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
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[9.732s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
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[9.752s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
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[9.753s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
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[9.753s] -- Found PCL_2D: /usr/include/pcl-1.12
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[9.753s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12
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[9.753s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
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[9.753s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
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[9.753s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so
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[9.753s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
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[9.753s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
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[9.753s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
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[9.753s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
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[9.753s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
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[9.753s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
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[9.753s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
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[9.753s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so
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[9.753s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so
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|||
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[9.753s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12
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|||
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[9.753s] -- Found PCL_MODELER: /usr/include/pcl-1.12
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|||
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[9.753s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12
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[9.757s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
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[9.759s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
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[10.096s] -- 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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[10.106s] -- 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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[10.257s] -- Found ament_lint_auto: 0.12.9 (/opt/ros/humble/share/ament_lint_auto/cmake)
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[10.281s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code
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[10.282s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include
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[10.282s] -- Configured cppcheck exclude dirs and/or files:
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[10.283s] -- Added test 'flake8' to check Python code syntax and style conventions
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[10.285s] -- Added test 'lint_cmake' to check CMake code style
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[10.286s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257
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[10.291s] -- Added test 'uncrustify' to check C / C++ code style
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[10.291s] -- Configured uncrustify additional arguments:
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[10.292s] -- Added test 'xmllint' to check XML markup files
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[10.296s] -- Configuring done
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[10.342s] -- Generating done
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[10.346s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2
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[10.383s] 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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[10.383s] 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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[10.834s] [ 5%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o[0m
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[17.563s] In file included from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7[m[K:
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[17.563s] [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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[17.563s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg[01;35m[K)[m[K;
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[17.563s] | [01;35m[K^[m[K
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[17.563s]
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[17.563s] 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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[17.563s] from [01m[K/opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49[m[K,
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[17.564s] from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24[m[K,
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[17.564s] from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7[m[K:
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[17.564s] [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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[17.564s] 115 | [01;36m[KConstPtr[m[K;
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[17.564s] | [01;36m[K^~~~~~~~[m[K
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[18.296s] [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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[18.296s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg[01;35m[K)[m[K {
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[18.296s] | [01;35m[K^[m[K
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[18.296s]
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[18.296s] 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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[18.296s] from [01m[K/opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49[m[K,
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[18.296s] from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24[m[K,
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[18.296s] from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7[m[K:
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[18.296s] [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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[18.296s] 115 | [01;36m[KConstPtr[m[K;
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[18.297s] | [01;36m[K^~~~~~~~[m[K
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[18.359s] [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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[18.359s] [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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[18.359s] 374 | const double [01;35m[KtimeMs[m[K = nUs / 1000.0;
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[18.359s] | [01;35m[K^~~~~~[m[K
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[33.726s] [ 11%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o[0m
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[37.631s] [ 17%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o[0m
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[41.837s] [ 23%] [32mBuilding CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o[0m
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[44.484s] In file included from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8[m[K:
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[44.484s] [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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[44.484s] [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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[44.484s] 55 | Eigen::Quaterniond [01;35m[KcurrentOrientation_[m[K;
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[44.484s] | [01;35m[K^~~~~~~~~~~~~~~~~~~[m[K
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[44.484s] [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[Kdouble icp_loco::ImuTracker::imuGravityTimeConstant_[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
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[44.484s] 54 | double [01;35m[KimuGravityTimeConstant_[m[K;
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[44.484s] | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~[m[K
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[44.484s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1:[m[K [01;35m[Kwarning: [m[K when initialized here [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
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[44.484s] 19 | [01;35m[KImuTracker[m[K::ImuTracker()
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[44.485s] | [01;35m[K^~~~~~~~~~[m[K
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[44.485s] In file included from [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8[m[K:
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[44.485s] [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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[44.485s] 54 | double [01;35m[KimuGravityTimeConstant_[m[K;
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[44.485s] | [01;35m[K^~~~~~~~~~~~~~~~~~~~~~~[m[K
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[44.485s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:53:19:[m[K [01;35m[Kwarning: [m[K ‘[01m[KEigen::Vector3d icp_loco::ImuTracker::currentGravityVector_[m[K’ [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
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[44.485s] 53 | Eigen::Vector3d [01;35m[KcurrentGravityVector_[m[K;
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[44.485s] | [01;35m[K^~~~~~~~~~~~~~~~~~~~~[m[K
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[44.485s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1:[m[K [01;35m[Kwarning: [m[K when initialized here [[01;35m[K]8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;[m[K]
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[44.485s] 19 | [01;35m[KImuTracker[m[K::ImuTracker()
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[44.485s] [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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[44.485s] 58 | Eigen::Vector3d [01;35m[KintegratedPosition_[m[K;
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[44.486s] 57 | Eigen::Vector3d [01;35m[KintegratedLinearVelocity_[m[K;
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[44.486s] 19 | [01;35m[KImuTracker[m[K::ImuTracker()
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[44.506s] [01m[K/home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:[m[K In member function ‘[01m[Kicp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const[m[K’:
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[44.506s] [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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[44.506s] 110 | const auto [01;35m[KrpyAccelerometer[m[K = toRPY(currentOrientation_);
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[88.083s] 59 | [01;35m[Kconst Time &time[m[K) const {
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[88.084s] [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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[88.084s] 63 | id3d FrameTracker::getTransformImuToRangeSensor([01;35m[Kconst Time &time[m[K) const {
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[119.587s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
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[119.594s] -- 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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[119.600s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake
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[119.607s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake
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[119.613s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml
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[119.621s] 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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