-- The C compiler identification is GNU 11.4.0 -- The CXX compiler identification is GNU 11.4.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/cc - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- Found ament_cmake_auto: 1.3.8 (/opt/ros/humble/share/ament_cmake_auto/cmake) -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter -- Override CMake install command with custom implementation using symlinks instead of copying resources -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) -- Found rmw_fastrtps_cpp: 6.2.6 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") -- Found FastRTPS: /opt/ros/humble/include -- Using RMW implementation 'rmw_fastrtps_cpp' as default -- Looking for pthread.h -- Looking for pthread.h - found -- Performing Test CMAKE_HAVE_LIBC_PTHREAD -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success -- Found Threads: TRUE -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) -- Found Eigen3: TRUE (found version "3.4.0") -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target -- Checking for module 'eigen3' -- Found eigen3, version 3.4.0 -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) -- Checking for module 'flann' -- Found flann, version 1.9.1 -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) -- Checking for module 'libusb-1.0' -- Found libusb-1.0, version 1.0.25 -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) -- Found Qhull version 8.0.2 -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so -- Found PCL_2D: /usr/include/pcl-1.12 -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 -- Found PCL_MODELER: /usr/include/pcl-1.12 -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so -- 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 -- 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 -- Found ament_lint_auto: 0.12.10 (/opt/ros/humble/share/ament_lint_auto/cmake) -- Added test 'cppcheck' to perform static code analysis on C / C++ code -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include -- Configured cppcheck exclude dirs and/or files: -- Added test 'flake8' to check Python code syntax and style conventions -- Added test 'lint_cmake' to check CMake code style -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 -- Added test 'uncrustify' to check C / C++ code style -- Configured uncrustify additional arguments: -- Added test 'xmllint' to check XML markup files -- Configuring done -- Generating done -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2 [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: /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;;] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); | ^ In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here 115 | ConstPtr; | ^~~~~~~~ /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: /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;;] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /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’: /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;;] 59 | const Time &time) const { | ~~~~~~~~~~~~^~~~ /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’: /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;;] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { | ~~~~~~~~~~~~^~~~ /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’: /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;;] 151 | const double kRadToDeg = 180.0 / M_PI; | ^~~~~~~~~ In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: /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;;] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); | ^ In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here 115 | ConstPtr; | ^~~~~~~~ /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;;] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { | ^ In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here 115 | ConstPtr; | ^~~~~~~~ /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: /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;;] 374 | const double timeMs = nUs / 1000.0; | ^~~~~~ [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o