[0.177s] 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 -DROS_EDITION=ROS2 -DHUMBLE_ROS=humble -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2 [0.228s] -- The C compiler identification is GNU 11.4.0 [0.287s] -- The CXX compiler identification is GNU 11.4.0 [0.295s] -- Detecting C compiler ABI info [0.361s] -- Detecting C compiler ABI info - done [0.370s] -- Check for working C compiler: /usr/bin/cc - skipped [0.370s] -- Detecting C compile features [0.371s] -- Detecting C compile features - done [0.374s] -- Detecting CXX compiler ABI info [0.458s] -- Detecting CXX compiler ABI info - done [0.466s] -- Check for working CXX compiler: /usr/bin/c++ - skipped [0.467s] -- Detecting CXX compile features [0.467s] -- Detecting CXX compile features - done [0.469s] -- Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake) [0.654s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter [0.878s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) [0.884s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) [0.900s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) [0.945s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c [1.013s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp [1.112s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) [1.115s] -- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) [1.367s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") [1.400s] -- Found FastRTPS: /opt/ros/humble/include [1.457s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default [1.469s] -- Looking for pthread.h [1.546s] -- Looking for pthread.h - found [1.547s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD [1.625s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success [1.627s] -- Found Threads: TRUE [2.659s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) [2.661s] -- Found Eigen3: TRUE (found version "3.4.0") [2.661s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target [3.306s] -- Checking for module 'eigen3' [3.401s] -- Found eigen3, version 3.4.0 [3.562s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") [3.562s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [3.618s] -- Checking for module 'flann' [3.710s] -- Found flann, version 1.9.1 [3.951s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so [3.951s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) [7.451s] -- Checking for module 'libusb-1.0' [7.517s] -- Found libusb-1.0, version 1.0.25 [7.649s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so [7.651s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [8.005s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [8.416s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [8.441s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [8.450s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [8.696s] -- Found Qhull version 8.0.2 [8.969s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [9.307s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so [9.317s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so [9.317s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so [9.317s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so [9.321s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so [9.323s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so [9.326s] -- Found PCL_2D: /usr/include/pcl-1.12 [9.327s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 [9.330s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so [9.337s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so [9.339s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so [9.341s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so [9.348s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so [9.350s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so [9.357s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so [9.360s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so [9.362s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so [9.364s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so [9.366s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so [9.369s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so [9.371s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 [9.372s] -- Found PCL_MODELER: /usr/include/pcl-1.12 [9.372s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 [9.374s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so [9.376s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so [9.888s] -- 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 [9.910s] -- 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 [10.149s] -- Found ament_lint_auto: 0.12.9 (/opt/ros/humble/share/ament_lint_auto/cmake) [10.192s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code [10.192s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include [10.192s] -- Configured cppcheck exclude dirs and/or files: [10.193s] -- Added test 'flake8' to check Python code syntax and style conventions [10.199s] -- Added test 'lint_cmake' to check CMake code style [10.200s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 [10.211s] -- Added test 'uncrustify' to check C / C++ code style [10.211s] -- Configured uncrustify additional arguments: [10.212s] -- Added test 'xmllint' to check XML markup files [10.214s] -- Configuring done [10.304s] -- Generating done [10.313s] CMake Warning: [10.313s] Manually-specified variables were not used by the project: [10.313s] [10.313s] HUMBLE_ROS [10.313s] ROS_EDITION [10.313s] [10.313s]  [10.315s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2 [10.377s] 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 -DROS_EDITION=ROS2 -DHUMBLE_ROS=humble -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2 [10.377s] 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 [10.898s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [10.898s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [10.899s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [23.741s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [23.741s] /home/firmament/codes/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;;] [23.741s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [23.741s] | ^ [23.741s] [23.741s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [23.742s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [23.742s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [23.742s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [23.742s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [23.742s] 115 | ConstPtr; [23.742s] | ^~~~~~~~ [24.693s] /home/firmament/codes/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;;] [24.693s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { [24.694s] | ^ [24.694s] [24.694s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [24.694s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [24.694s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [24.694s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [24.694s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [24.694s] 115 | ConstPtr; [24.694s] | ^~~~~~~~ [24.759s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: [24.759s] /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;;] [24.759s] 374 | const double timeMs = nUs / 1000.0; [24.759s] | ^~~~~~ [43.945s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o [47.591s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [47.591s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’: [47.591s] /home/firmament/codes/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;;] [47.591s] 55 | Eigen::Quaterniond currentOrientation_; [47.591s] | ^~~~~~~~~~~~~~~~~~~ [47.591s] /home/firmament/codes/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;;] [47.591s] 54 | double imuGravityTimeConstant_; [47.591s] | ^~~~~~~~~~~~~~~~~~~~~~~ [47.591s] /home/firmament/codes/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;;] [47.592s] 19 | ImuTracker::ImuTracker() [47.592s] | ^~~~~~~~~~ [47.592s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [47.592s] /home/firmament/codes/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;;] [47.592s] 54 | double imuGravityTimeConstant_; [47.592s] | ^~~~~~~~~~~~~~~~~~~~~~~ [47.592s] /home/firmament/codes/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;;] [47.592s] 53 | Eigen::Vector3d currentGravityVector_; [47.592s] | ^~~~~~~~~~~~~~~~~~~~~ [47.592s] /home/firmament/codes/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;;] [47.592s] 19 | ImuTracker::ImuTracker() [47.592s] | ^~~~~~~~~~ [47.592s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [47.592s] /home/firmament/codes/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;;] [47.593s] 58 | Eigen::Vector3d integratedPosition_; [47.593s] | ^~~~~~~~~~~~~~~~~~~ [47.593s] /home/firmament/codes/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;;] [47.593s] 57 | Eigen::Vector3d integratedLinearVelocity_; [47.593s] | ^~~~~~~~~~~~~~~~~~~~~~~~~ [47.593s] /home/firmament/codes/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;;] [47.593s] 19 | ImuTracker::ImuTracker() [47.593s] | ^~~~~~~~~~ [47.615s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’: [47.615s] /home/firmament/codes/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;;] [47.615s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_); [47.615s] | ^~~~~~~~~~~~~~~~ [47.615s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’: [47.616s] /home/firmament/codes/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;;] [47.616s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [47.616s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [47.625s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::integrateBufferInPlace(icp_loco::ImuTracker::Accessor, const Vector3d&) const’: [47.625s] /home/firmament/codes/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;;] [47.625s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) { [47.625s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [47.633s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::printBuffer(icp_loco::ImuTracker::Accessor) const’: [47.633s] /home/firmament/codes/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;;] [47.633s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [47.633s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [54.553s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o [58.467s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o [74.587s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [77.840s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [80.902s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [84.197s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [94.142s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o [97.515s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o [100.913s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [103.720s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: [103.720s] /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;;] [103.720s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; [103.720s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [103.720s] [103.720s] /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’: [103.720s] /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;;] [103.720s] 59 | const Time &time) const { [103.720s] | ~~~~~~~~~~~~^~~~ [103.720s] /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’: [103.720s] /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;;] [103.720s] 63 | id3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { [103.721s] | ~~~~~~~~~~~~^~~~ [103.721s] [103.724s] /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’: [103.724s] /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;;] [103.724s] 151 | const double kRadToDeg = 180.0 / M_PI; [103.724s] | ^~~~~~~~~ [104.742s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [109.156s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [109.156s] /home/firmament/codes/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;;] [109.156s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [109.156s] | ^ [109.157s] [109.157s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [109.157s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [109.157s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [109.157s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [109.157s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [109.157s] 115 | ConstPtr; [109.157s] | ^~~~~~~~ [113.511s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [119.402s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [122.085s] [100%] Linking CXX executable icp_localization [123.039s] [100%] Built target icp_localization [123.048s] Invoked command in '/home/firmament/codes/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/firmament/codes/24navigation/build/icp_localization_ros2 -- -j8 -l8 [123.087s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/firmament/codes/24navigation/build/icp_localization_ros2 [123.093s] -- Install configuration: "" [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2 [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TransformInterpolationBuffer.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBuffer.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/RigidTransform.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/FrameTracker.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuInterpolationBuffer.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBufferRos.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuReading.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TfPublisher.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/math.hpp [123.093s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/Twist.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/helpers.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/typedefs.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/assert.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/output.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/math.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/time.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/Parameters.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/RangeDataAccumulator.hpp [123.094s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization [123.099s] -- Set runtime path of "/home/firmament/codes/24navigation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization" to "" [123.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/launch [123.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/launch/bringup.launch.py [123.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config [123.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_velodyne_puck.yaml [123.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/icp.yaml [123.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/plane_noisy.pcd [123.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/node_params.yaml [123.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_ouster_os1.yaml [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/package_run_dependencies/icp_localization_ros2 [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/parent_prefix_path/icp_localization_ros2 [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.sh [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.dsv [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.sh [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.dsv [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.bash [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.sh [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.zsh [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.dsv [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2 [123.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake [123.101s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake [123.101s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake [123.101s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake [123.101s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml [123.102s] Invoked command in '/home/firmament/codes/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/firmament/codes/24navigation/build/icp_localization_ros2