[0.262s] Invoking command in '/home/sph/Desktop/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake /home/sph/Desktop/24navigation/src/icp_localization_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/sph/Desktop/24navigation/install/icp_localization_ros2 [0.346s] -- The C compiler identification is GNU 11.4.0 [0.437s] -- The CXX compiler identification is GNU 11.4.0 [0.447s] -- Detecting C compiler ABI info [0.535s] -- Detecting C compiler ABI info - done [0.548s] -- Check for working C compiler: /usr/bin/cc - skipped [0.548s] -- Detecting C compile features [0.549s] -- Detecting C compile features - done [0.554s] -- Detecting CXX compiler ABI info [0.657s] -- Detecting CXX compiler ABI info - done [0.667s] -- Check for working CXX compiler: /usr/bin/c++ - skipped [0.667s] -- Detecting CXX compile features [0.668s] -- Detecting CXX compile features - done [0.669s] -- Found ament_cmake_auto: 1.3.8 (/opt/ros/humble/share/ament_cmake_auto/cmake) [0.834s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter [0.929s] -- Override CMake install command with custom implementation using symlinks instead of copying resources [1.123s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) [1.127s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) [1.136s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) [1.152s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c [1.169s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp [1.239s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) [1.241s] -- Found rmw_fastrtps_cpp: 6.2.6 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) [1.342s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") [1.373s] -- Found FastRTPS: /opt/ros/humble/include [1.424s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default [1.438s] -- Looking for pthread.h [1.511s] -- Looking for pthread.h - found [1.511s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD [1.591s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success [1.593s] -- Found Threads: TRUE [2.371s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) [2.373s] -- Found Eigen3: TRUE (found version "3.4.0") [2.373s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target [2.762s] -- Checking for module 'eigen3' [2.778s] -- Found eigen3, version 3.4.0 [2.819s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") [2.819s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [2.872s] -- Checking for module 'flann' [2.888s] -- Found flann, version 1.9.1 [2.936s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so [2.936s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) [4.175s] -- Checking for module 'libusb-1.0' [4.197s] -- Found libusb-1.0, version 1.0.25 [4.249s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so [4.251s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [4.334s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [4.569s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [4.579s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [4.590s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [4.831s] -- Found Qhull version 8.0.2 [5.067s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [5.294s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so [5.295s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so [5.297s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so [5.298s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so [5.300s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so [5.301s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so [5.302s] -- Found PCL_2D: /usr/include/pcl-1.12 [5.303s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 [5.304s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so [5.306s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so [5.308s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so [5.309s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so [5.311s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so [5.312s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so [5.314s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so [5.316s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so [5.317s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so [5.319s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so [5.321s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so [5.322s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so [5.323s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 [5.324s] -- Found PCL_MODELER: /usr/include/pcl-1.12 [5.325s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 [5.326s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so [5.328s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so [5.656s] -- 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 [5.673s] -- 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 [5.886s] -- Found ament_lint_auto: 0.12.10 (/opt/ros/humble/share/ament_lint_auto/cmake) [5.929s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code [5.930s] -- Configured cppcheck include dirs: /home/sph/Desktop/24navigation/src/icp_localization_ros2/include [5.930s] -- Configured cppcheck exclude dirs and/or files: [5.932s] -- Added test 'flake8' to check Python code syntax and style conventions [5.934s] -- Added test 'lint_cmake' to check CMake code style [5.936s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 [5.944s] -- Added test 'uncrustify' to check C / C++ code style [5.944s] -- Configured uncrustify additional arguments: [5.946s] -- Added test 'xmllint' to check XML markup files [5.952s] -- Configuring done [6.021s] -- Generating done [6.027s] -- Build files have been written to: /home/sph/Desktop/24navigation/build/icp_localization_ros2 [6.056s] Invoked command in '/home/sph/Desktop/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake /home/sph/Desktop/24navigation/src/icp_localization_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/sph/Desktop/24navigation/install/icp_localization_ros2 [6.060s] Invoking command in '/home/sph/Desktop/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/sph/Desktop/24navigation/build/icp_localization_ros2 -- -j20 -l20 [6.134s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [6.134s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [6.134s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [6.136s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [6.136s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [6.139s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [6.141s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o [6.146s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [6.146s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o [6.146s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o [6.152s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o [6.155s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o [6.163s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [6.282s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [6.293s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [6.308s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [16.153s] In file included from /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [16.153s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’: [16.153s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:55:22: warning: ‘icp_loco::ImuTracker::currentOrientation_’ will be initialized after []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;] [16.153s] 55 | Eigen::Quaterniond currentOrientation_; [16.153s] | ^~~~~~~~~~~~~~~~~~~ [16.153s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning:  ‘double icp_loco::ImuTracker::imuGravityTimeConstant_’ []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;] [16.154s] 54 | double imuGravityTimeConstant_; [16.154s] | ^~~~~~~~~~~~~~~~~~~~~~~ [16.164s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning:  when initialized here []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;] [16.164s] 19 | ImuTracker::ImuTracker() [16.165s] | ^~~~~~~~~~ [16.165s] In file included from /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [16.165s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning: ‘icp_loco::ImuTracker::imuGravityTimeConstant_’ will be initialized after []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;] [16.165s] 54 | double imuGravityTimeConstant_; [16.165s] | ^~~~~~~~~~~~~~~~~~~~~~~ [16.165s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:53:19: warning:  ‘Eigen::Vector3d icp_loco::ImuTracker::currentGravityVector_’ []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;] [16.165s] 53 | Eigen::Vector3d currentGravityVector_; [16.165s] | ^~~~~~~~~~~~~~~~~~~~~ [16.165s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning:  when initialized here []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;] [16.166s] 19 | ImuTracker::ImuTracker() [16.166s] | ^~~~~~~~~~ [16.166s] In file included from /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [16.166s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:58:19: warning: ‘icp_loco::ImuTracker::integratedPosition_’ will be initialized after []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;] [16.166s] 58 | Eigen::Vector3d integratedPosition_; [16.166s] | ^~~~~~~~~~~~~~~~~~~ [16.166s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:57:19: warning:  ‘Eigen::Vector3d icp_loco::ImuTracker::integratedLinearVelocity_’ []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;] [16.166s] 57 | Eigen::Vector3d integratedLinearVelocity_; [16.166s] | ^~~~~~~~~~~~~~~~~~~~~~~~~ [16.166s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning:  when initialized here []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wreorder-Wreorder]8;;] [16.166s] 19 | ImuTracker::ImuTracker() [16.167s] | ^~~~~~~~~~ [16.251s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’: [16.252s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:110:14: warning: variable ‘rpyAccelerometer’ set but not used []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wunused-but-set-variable-Wunused-but-set-variable]8;;] [16.252s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_); [16.252s] | ^~~~~~~~~~~~~~~~ [16.254s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’: [16.254s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:150:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector::size_type’ {aka ‘long unsigned int’} []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wsign-compare-Wsign-compare]8;;] [16.255s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [16.255s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [16.276s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::integrateBufferInPlace(icp_loco::ImuTracker::Accessor, const Vector3d&) const’: [16.277s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:171:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector::size_type’ {aka ‘long unsigned int’} []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wsign-compare-Wsign-compare]8;;] [16.277s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) { [16.277s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [16.294s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::printBuffer(icp_loco::ImuTracker::Accessor) const’: [16.294s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:182:21: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector::size_type’ {aka ‘long unsigned int’} []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wsign-compare-Wsign-compare]8;;] [16.294s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [16.295s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [16.406s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: [16.406s] /home/sph/Desktop/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;;] [16.407s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; [16.407s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [16.407s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::FrameTracker::getTransformOdomSourceToRangeSensor(const Time&) const’: [16.407s] /home/sph/Desktop/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;;] [16.407s] 59 | const Time &time) const { [16.407s] | ~~~~~~~~~~~~^~~~ [16.407s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::FrameTracker::getTransformImuToRangeSensor(const Time&) const’: [16.407s] /home/sph/Desktop/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;;] [16.407s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { [16.408s] | ~~~~~~~~~~~~^~~~ [16.412s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::FrameTracker::computeFromImu(const Time&, const Time&) const’: [16.412s] /home/sph/Desktop/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;;] [16.412s] 151 | const double kRadToDeg = 180.0 / M_PI; [16.412s] | ^~~~~~~~~ [25.236s] In file included from /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [25.237s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_ >::ConstPtr’ is deprecated []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wdeprecated-declarations-Wdeprecated-declarations]8;;] [25.237s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [25.237s] | ^ [25.237s] [25.237s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [25.237s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [25.237s] from /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [25.237s] from /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [25.237s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [25.237s] 115 | ConstPtr; [25.237s] | ^~~~~~~~ [25.671s] In file included from /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [25.671s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_ >::ConstPtr’ is deprecated []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wdeprecated-declarations-Wdeprecated-declarations]8;;] [25.672s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [25.672s] | ^ [25.672s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [25.672s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [25.672s] from /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [25.672s] from /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [25.672s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [25.672s] 115 | ConstPtr; [25.672s] | ^~~~~~~~ [26.408s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:71:71: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_ >::ConstPtr’ is deprecated []8;;https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html#index-Wdeprecated-declarations-Wdeprecated-declarations]8;;] [26.408s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { [26.409s] | ^ [26.409s] [26.409s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [26.409s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [26.409s] from /home/sph/Desktop/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [26.409s] from /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [26.409s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [26.409s] 115 | ConstPtr; [26.409s] | ^~~~~~~~ [26.519s] /home/sph/Desktop/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: [26.519s] /home/sph/Desktop/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;;] [26.519s] 374 | const double timeMs = nUs / 1000.0; [26.519s] | ^~~~~~ [42.654s] [100%] Linking CXX executable icp_localization [44.043s] [100%] Built target icp_localization [44.094s] Invoked command in '/home/sph/Desktop/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --build /home/sph/Desktop/24navigation/build/icp_localization_ros2 -- -j20 -l20 [44.153s] Invoking command in '/home/sph/Desktop/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/sph/Desktop/24navigation/build/icp_localization_ros2 [44.160s] -- Install configuration: "" [44.161s] -- Execute custom install script [44.161s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp [44.169s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/Parameters.hpp [44.178s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/RangeDataAccumulator.hpp [44.186s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/assert.hpp [44.194s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/math.hpp [44.202s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/output.hpp [44.210s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/time.hpp [44.218s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/typedefs.hpp [44.226s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/helpers.hpp [44.233s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/FrameTracker.hpp [44.241s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuInterpolationBuffer.hpp [44.249s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuReading.hpp [44.257s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp [44.265s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/RigidTransform.hpp [44.273s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TfPublisher.hpp [44.281s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TransformInterpolationBuffer.hpp [44.289s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/Twist.hpp [44.298s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBuffer.hpp [44.305s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBufferRos.hpp [44.314s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/math.hpp [44.323s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization [44.331s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/launch/bringup.launch.py [44.340s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/icp.yaml [44.348s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_ouster_os1.yaml [44.356s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_velodyne_puck.yaml [44.365s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/node_params.yaml [44.373s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/plane_noisy.pcd [44.383s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/package_run_dependencies/icp_localization_ros2 [44.391s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/parent_prefix_path/icp_localization_ros2 [44.399s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.sh [44.407s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.dsv [44.414s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.sh [44.422s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.dsv [44.430s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.bash [44.438s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.sh [44.446s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.zsh [44.453s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.dsv [44.461s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv [44.469s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2 [44.477s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake [44.486s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake [44.494s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake [44.504s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake [44.512s] -- Symlinking: /home/sph/Desktop/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml [44.522s] Invoked command in '/home/sph/Desktop/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/sph/Desktop/24navigation/build/icp_localization_ros2