[0.021s] 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 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2 [0.092s] -- The C compiler identification is GNU 11.4.0 [0.189s] -- The CXX compiler identification is GNU 11.4.0 [0.205s] -- Detecting C compiler ABI info [0.347s] -- Detecting C compiler ABI info - done [0.362s] -- Check for working C compiler: /usr/bin/cc - skipped [0.363s] -- Detecting C compile features [0.365s] -- Detecting C compile features - done [0.372s] -- Detecting CXX compiler ABI info [0.521s] -- Detecting CXX compiler ABI info - done [0.532s] -- Check for working CXX compiler: /usr/bin/c++ - skipped [0.532s] -- Detecting CXX compile features [0.533s] -- Detecting CXX compile features - done [0.535s] -- Found ament_cmake_auto: 1.3.8 (/opt/ros/humble/share/ament_cmake_auto/cmake) [0.803s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter [0.894s] -- Override CMake install command with custom implementation using symlinks instead of copying resources [1.102s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) [1.109s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) [1.152s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) [1.214s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c [1.242s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp [1.356s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) [1.361s] -- Found rmw_fastrtps_cpp: 6.2.6 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) [1.551s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") [1.583s] -- Found FastRTPS: /opt/ros/humble/include [1.653s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default [1.664s] -- Looking for pthread.h [1.850s] -- Looking for pthread.h - found [1.850s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD [2.000s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success [2.002s] -- Found Threads: TRUE [2.923s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) [2.925s] -- Found Eigen3: TRUE (found version "3.4.0") [2.925s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target [3.447s] -- Checking for module 'eigen3' [3.480s] -- Found eigen3, version 3.4.0 [3.619s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") [3.619s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [3.667s] -- Checking for module 'flann' [3.723s] -- Found flann, version 1.9.1 [3.862s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so [3.862s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) [6.852s] -- Checking for module 'libusb-1.0' [6.973s] -- Found libusb-1.0, version 1.0.25 [7.167s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so [7.170s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [7.447s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [7.883s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [7.895s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [7.908s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [8.274s] -- Found Qhull version 8.0.2 [8.514s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [9.016s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so [9.019s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so [9.024s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so [9.032s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so [9.044s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so [9.059s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so [9.061s] -- Found PCL_2D: /usr/include/pcl-1.12 [9.063s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 [9.067s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so [9.070s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so [9.074s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so [9.077s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so [9.081s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so [9.085s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so [9.089s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so [9.092s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so [9.096s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so [9.099s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so [9.102s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so [9.105s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so [9.107s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 [9.108s] -- Found PCL_MODELER: /usr/include/pcl-1.12 [9.110s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 [9.113s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so [9.116s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so [9.596s] -- 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 [9.626s] -- 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 [9.999s] -- Found ament_lint_auto: 0.12.10 (/opt/ros/humble/share/ament_lint_auto/cmake) [10.090s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code [10.091s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include [10.091s] -- Configured cppcheck exclude dirs and/or files: [10.092s] -- Added test 'flake8' to check Python code syntax and style conventions [10.093s] -- Added test 'lint_cmake' to check CMake code style [10.094s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 [10.097s] -- Added test 'uncrustify' to check C / C++ code style [10.097s] -- Configured uncrustify additional arguments: [10.098s] -- Added test 'xmllint' to check XML markup files [10.104s] -- Configuring done [10.222s] -- Generating done [10.234s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2 [10.283s] 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 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2 [10.284s] 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 [12.947s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [12.947s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [12.947s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [12.947s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [12.947s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [12.947s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [12.947s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [12.947s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o [24.533s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [24.533s] /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;;] [24.533s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [24.533s] | ^ [24.533s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [24.533s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [24.533s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [24.536s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [24.537s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [24.537s] 115 | ConstPtr; [24.537s] | ^~~~~~~~ [27.151s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: [27.151s] /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;;] [27.151s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; [27.151s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [27.151s] /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’: [27.151s] /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;;] [27.151s] 59 | const Time &time) const { [27.151s] | ~~~~~~~~~~~~^~~~ [27.151s] /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’: [27.151s] /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;;] [27.151s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { [27.152s] | ~~~~~~~~~~~~^~~~ [27.156s] /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’: [27.156s] /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;;] [27.156s] 151 | const double kRadToDeg = 180.0 / M_PI; [27.156s] | ^~~~~~~~~ [37.689s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [37.690s] /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;;] [37.690s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [37.691s] | ^ [37.692s] [37.692s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [37.693s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [37.694s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [37.694s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [37.695s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [37.695s] 115 | ConstPtr; [37.696s] | ^~~~~~~~ [40.016s] /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;;] [40.016s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { [40.016s] | ^ [40.016s] [40.016s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [40.016s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [40.016s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [40.016s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [40.016s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [40.016s] 115 | ConstPtr; [40.016s] | ^~~~~~~~ [40.164s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: [40.164s] /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;;] [40.164s] 374 | const double timeMs = nUs / 1000.0; [40.164s] | ^~~~~~ [65.478s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [70.460s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [83.997s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [88.655s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [93.550s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o