[0.236s] 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 [0.337s] -- The C compiler identification is GNU 11.4.0 [0.418s] -- The CXX compiler identification is GNU 11.4.0 [0.425s] -- Detecting C compiler ABI info [0.505s] -- Detecting C compiler ABI info - done [0.515s] -- Check for working C compiler: /usr/bin/cc - skipped [0.516s] -- Detecting C compile features [0.516s] -- Detecting C compile features - done [0.519s] -- Detecting CXX compiler ABI info [0.616s] -- Detecting CXX compiler ABI info - done [0.622s] -- Check for working CXX compiler: /usr/bin/c++ - skipped [0.622s] -- Detecting CXX compile features [0.623s] -- Detecting CXX compile features - done [0.625s] -- Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake) [0.808s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter [0.882s] -- Override CMake install command with custom implementation using symlinks instead of copying resources [1.167s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) [1.178s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) [1.198s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) [1.226s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c [1.274s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp [1.400s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) [1.403s] -- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) [1.513s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") [1.545s] -- Found FastRTPS: /opt/ros/humble/include [1.596s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default [1.606s] -- Looking for pthread.h [1.746s] -- Looking for pthread.h - found [1.747s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD [2.067s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success [2.068s] -- Found Threads: TRUE [3.397s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) [3.399s] -- Found Eigen3: TRUE (found version "3.4.0") [3.399s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target [4.238s] -- Checking for module 'eigen3' [4.356s] -- Found eigen3, version 3.4.0 [4.614s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") [4.614s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [4.672s] -- Checking for module 'flann' [4.709s] -- Found flann, version 1.9.1 [4.821s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so [4.821s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) [7.632s] -- Checking for module 'libusb-1.0' [7.705s] -- Found libusb-1.0, version 1.0.25 [7.870s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so [7.870s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [8.105s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [8.577s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [8.616s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [8.644s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [9.133s] -- Found Qhull version 8.0.2 [9.543s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [9.988s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so [10.002s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so [10.004s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so [10.005s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so [10.006s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so [10.007s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so [10.007s] -- Found PCL_2D: /usr/include/pcl-1.12 [10.008s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 [10.009s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so [10.010s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so [10.011s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so [10.012s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so [10.038s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so [10.040s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so [10.041s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so [10.043s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so [10.044s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so [10.045s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so [10.046s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so [10.047s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so [10.048s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 [10.049s] -- Found PCL_MODELER: /usr/include/pcl-1.12 [10.049s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 [10.075s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so [10.077s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so [10.818s] -- 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 [10.840s] -- 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 [11.042s] -- Found ament_lint_auto: 0.12.9 (/opt/ros/humble/share/ament_lint_auto/cmake) [11.076s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code [11.076s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include [11.076s] -- Configured cppcheck exclude dirs and/or files: [11.077s] -- Added test 'flake8' to check Python code syntax and style conventions [11.079s] -- Added test 'lint_cmake' to check CMake code style [11.087s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 [11.091s] -- Added test 'uncrustify' to check C / C++ code style [11.101s] -- Configured uncrustify additional arguments: [11.102s] -- Added test 'xmllint' to check XML markup files [11.106s] -- Configuring done [11.228s] -- Generating done [11.231s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2 [11.306s] 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 [11.307s] 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 [12.184s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [12.184s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [12.184s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [12.184s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [12.184s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [12.184s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [12.184s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [23.192s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: [23.192s] /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;;] [23.192s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; [23.192s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [23.192s] /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’: [23.192s] /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;;] [23.192s] 59 | const Time &time) const { [23.192s] | ~~~~~~~~~~~~^~~~ [23.193s] /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’: [23.193s] /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;;] [23.193s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { [23.193s] | ~~~~~~~~~~~~^~~~ [23.206s] /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’: [23.207s] /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;;] [23.207s] 151 | const double kRadToDeg = 180.0 / M_PI; [23.207s] | ^~~~~~~~~ [27.212s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [27.212s] /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;;] [27.212s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [27.212s] | ^ [27.212s] [27.212s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [27.212s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [27.212s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [27.212s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [27.212s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [27.212s] 115 | ConstPtr; [27.212s] | ^~~~~~~~ [27.560s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [27.560s] /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;;] [27.560s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [27.560s] | ^ [27.560s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [27.560s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [27.560s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [27.560s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [27.560s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [27.560s] 115 | ConstPtr; [27.560s] | ^~~~~~~~ [28.171s] /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;;] [28.171s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { [28.171s] | ^ [28.171s] [28.171s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [28.171s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [28.171s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [28.172s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [28.172s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [28.172s] 115 | ConstPtr; [28.172s] | ^~~~~~~~ [28.245s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: [28.246s] /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;;] [28.246s] 374 | const double timeMs = nUs / 1000.0; [28.246s] | ^~~~~~ [46.745s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [49.967s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [53.517s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [64.065s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [67.182s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o [79.683s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o [82.822s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o [85.278s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [85.278s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’: [85.278s] /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;;] [85.278s] 55 | Eigen::Quaterniond currentOrientation_; [85.278s] | ^~~~~~~~~~~~~~~~~~~ [85.278s] /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;;] [85.278s] 54 | double imuGravityTimeConstant_; [85.278s] | ^~~~~~~~~~~~~~~~~~~~~~~ [85.278s] /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;;] [85.278s] 19 | ImuTracker::ImuTracker() [85.278s] | ^~~~~~~~~~ [85.278s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [85.278s] /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;;] [85.279s] 54 | double imuGravityTimeConstant_; [85.279s] | ^~~~~~~~~~~~~~~~~~~~~~~ [85.279s] /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;;] [85.279s] 53 | Eigen::Vector3d currentGravityVector_; [85.279s] | ^~~~~~~~~~~~~~~~~~~~~ [85.279s] /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;;] [85.279s] 19 | ImuTracker::ImuTracker() [85.279s] | ^~~~~~~~~~ [85.279s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [85.279s] /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;;] [85.279s] 58 | Eigen::Vector3d integratedPosition_; [85.279s] | ^~~~~~~~~~~~~~~~~~~ [85.279s] /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;;] [85.279s] 57 | Eigen::Vector3d integratedLinearVelocity_; [85.279s] | ^~~~~~~~~~~~~~~~~~~~~~~~~ [85.280s] /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;;] [85.280s] 19 | ImuTracker::ImuTracker() [85.280s] | ^~~~~~~~~~ [85.298s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’: [85.298s] /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;;] [85.298s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_); [85.298s] | ^~~~~~~~~~~~~~~~ [85.298s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’: [85.298s] /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;;] [85.298s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [85.299s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [85.307s] /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’: [85.307s] /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;;] [85.307s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) { [85.307s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [85.313s] /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’: [85.313s] /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;;] [85.313s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [85.313s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [90.214s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o [93.134s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o [95.914s] [100%] Linking CXX executable icp_localization [96.848s] [100%] Built target icp_localization [96.857s] 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 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/home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv [97.165s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2 [97.171s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake [97.178s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake [97.184s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake [97.191s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake [97.198s] -- Symlinking: 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