[0.238s] 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 [0.299s] -- The C compiler identification is GNU 11.4.0 [0.363s] -- The CXX compiler identification is GNU 11.4.0 [0.370s] -- Detecting C compiler ABI info [0.443s] -- Detecting C compiler ABI info - done [0.452s] -- Check for working C compiler: /usr/bin/cc - skipped [0.452s] -- Detecting C compile features [0.453s] -- Detecting C compile features - done [0.456s] -- Detecting CXX compiler ABI info [0.547s] -- Detecting CXX compiler ABI info - done [0.557s] -- Check for working CXX compiler: /usr/bin/c++ - skipped [0.557s] -- Detecting CXX compile features [0.557s] -- Detecting CXX compile features - done [0.559s] -- Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake) [0.744s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter [0.819s] -- Override CMake install command with custom implementation using symlinks instead of copying resources [1.075s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) [1.087s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) [1.108s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) [1.146s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c [1.190s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp [1.369s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) [1.372s] -- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) [1.484s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") [1.520s] -- Found FastRTPS: /opt/ros/humble/include [1.578s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default [1.589s] -- Looking for pthread.h [1.768s] -- Looking for pthread.h - found [1.768s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD [2.117s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success [2.120s] -- Found Threads: TRUE [3.869s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) [3.871s] -- Found Eigen3: TRUE (found version "3.4.0") [3.871s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target [4.915s] -- Checking for module 'eigen3' [5.006s] -- Found eigen3, version 3.4.0 [5.282s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") [5.282s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [5.363s] -- Checking for module 'flann' [5.500s] -- Found flann, version 1.9.1 [5.801s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so [5.801s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) [10.179s] -- Checking for module 'libusb-1.0' [10.277s] -- Found libusb-1.0, version 1.0.25 [10.607s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so [10.608s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [11.114s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [11.486s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [11.494s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [11.512s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [11.837s] -- Found Qhull version 8.0.2 [12.163s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [12.588s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so [12.589s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so [12.592s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so [12.594s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so [12.596s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so [12.597s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so [12.598s] -- Found PCL_2D: /usr/include/pcl-1.12 [12.599s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 [12.600s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so [12.601s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so [12.603s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so [12.605s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so [12.606s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so [12.607s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so [12.609s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so [12.610s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so [12.611s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so [12.612s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so [12.614s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so [12.615s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so [12.616s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 [12.617s] -- Found PCL_MODELER: /usr/include/pcl-1.12 [12.617s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 [12.619s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so [12.621s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so [13.096s] -- 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 [13.106s] -- 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 [13.254s] -- Found ament_lint_auto: 0.12.9 (/opt/ros/humble/share/ament_lint_auto/cmake) [13.297s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code [13.297s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include [13.297s] -- Configured cppcheck exclude dirs and/or files: [13.299s] -- Added test 'flake8' to check Python code syntax and style conventions [13.301s] -- Added test 'lint_cmake' to check CMake code style [13.303s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 [13.307s] -- Added test 'uncrustify' to check C / C++ code style [13.308s] -- Configured uncrustify additional arguments: [13.311s] -- Added test 'xmllint' to check XML markup files [13.314s] -- Configuring done [13.370s] -- Generating done [13.374s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2 [13.529s] 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 [13.537s] 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 [15.195s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [15.195s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [23.957s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [23.957s] /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;;] [23.957s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [23.957s] | ^ [23.957s] [23.957s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [23.957s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [23.958s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [23.958s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [23.958s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [23.958s] 115 | ConstPtr; [23.958s] | ^~~~~~~~ [24.759s] /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;;] [24.759s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { [24.760s] | ^ [24.760s] [24.760s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [24.760s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [24.760s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [24.760s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [24.760s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [24.760s] 115 | ConstPtr; [24.760s] | ^~~~~~~~ [24.818s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: [24.818s] /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;;] [24.818s] 374 | const double timeMs = nUs / 1000.0; [24.818s] | ^~~~~~ [41.671s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o [45.914s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o [50.362s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [50.362s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’: [50.362s] /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;;] [50.362s] 55 | Eigen::Quaterniond currentOrientation_; [50.362s] | ^~~~~~~~~~~~~~~~~~~ [50.362s] /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;;] [50.362s] 54 | double imuGravityTimeConstant_; [50.362s] | ^~~~~~~~~~~~~~~~~~~~~~~ [50.362s] /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;;] [50.363s] 19 | ImuTracker::ImuTracker() [50.363s] | ^~~~~~~~~~ [50.363s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [50.363s] /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;;] [50.363s] 54 | double imuGravityTimeConstant_; [50.363s] | ^~~~~~~~~~~~~~~~~~~~~~~ [50.363s] /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;;] [50.363s] 53 | Eigen::Vector3d currentGravityVector_; [50.363s] | ^~~~~~~~~~~~~~~~~~~~~ [50.363s] /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;;] [50.363s] 19 | ImuTracker::ImuTracker() [50.363s] | ^~~~~~~~~~ [50.363s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [50.363s] /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;;] [50.363s] 58 | Eigen::Vector3d integratedPosition_; [50.363s] | ^~~~~~~~~~~~~~~~~~~ [50.363s] /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;;] [50.364s] 57 | Eigen::Vector3d integratedLinearVelocity_; [50.364s] | ^~~~~~~~~~~~~~~~~~~~~~~~~ [50.364s] /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;;] [50.364s] 19 | ImuTracker::ImuTracker() [50.364s] | ^~~~~~~~~~ [50.398s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’: [50.398s] /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;;] [50.398s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_); [50.398s] | ^~~~~~~~~~~~~~~~ [50.399s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’: [50.399s] /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;;] [50.399s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [50.399s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [50.414s] /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’: [50.414s] /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;;] [50.415s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) { [50.415s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [50.426s] /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’: [50.427s] /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;;] [50.427s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [50.427s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [56.427s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o [59.775s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o [72.926s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [75.729s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [78.453s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [81.478s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [90.530s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o [93.342s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [95.648s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: [95.648s] /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;;] [95.648s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; [95.648s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [95.648s] [95.648s] /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’: [95.648s] /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;;] [95.648s] 59 | const Time &time) const { [95.648s] | ~~~~~~~~~~~~^~~~ [95.648s] /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’: [95.648s] /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;;] [95.648s] 63 | id3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { [95.648s] | ~~~~~~~~~~~~^~~~ [95.648s] [95.650s] /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’: [95.650s] /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;;] [95.650s] 151 | const double kRadToDeg = 180.0 / M_PI; [95.650s] | ^~~~~~~~~ [96.486s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [100.293s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [100.293s] /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;;] [100.293s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [100.293s] | ^ [100.293s] [100.293s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [100.293s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [100.294s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [100.294s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [100.294s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [100.294s] 115 | ConstPtr; [100.294s] | ^~~~~~~~ [104.203s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [109.684s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [112.298s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [115.207s] [100%] Linking CXX executable icp_localization [116.160s] [100%] Built target icp_localization [116.169s] 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 --build /home/firmament/codes/24navigation/build/icp_localization_ros2 -- -j8 -l8 [116.221s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install 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Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/time.hpp [116.275s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/typedefs.hpp [116.284s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/helpers.hpp [116.291s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/FrameTracker.hpp [116.297s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuInterpolationBuffer.hpp [116.303s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuReading.hpp [116.310s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp [116.317s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/RigidTransform.hpp [116.323s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TfPublisher.hpp [116.330s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TransformInterpolationBuffer.hpp [116.337s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/Twist.hpp [116.344s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBuffer.hpp [116.351s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBufferRos.hpp [116.358s] -- Symlinking: 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Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/plane_noisy.pcd [116.413s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/package_run_dependencies/icp_localization_ros2 [116.420s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/parent_prefix_path/icp_localization_ros2 [116.427s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.sh [116.434s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.dsv [116.441s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.sh [116.448s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.dsv [116.455s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.bash [116.462s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.sh [116.469s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.zsh [116.475s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.dsv [116.482s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv [116.489s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2 [116.496s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake [116.503s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake [116.510s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake [116.517s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake [116.524s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml [116.532s] 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