[0.235s] 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 -DROS_EDITION=ROS2 -DHUMBLE_ROS=humble -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2 [0.288s] -- The C compiler identification is GNU 11.4.0 [0.350s] -- The CXX compiler identification is GNU 11.4.0 [0.357s] -- Detecting C compiler ABI info [0.426s] -- Detecting C compiler ABI info - done [0.435s] -- Check for working C compiler: /usr/bin/cc - skipped [0.435s] -- Detecting C compile features [0.436s] -- Detecting C compile features - done [0.444s] -- Detecting CXX compiler ABI info [0.526s] -- Detecting CXX compiler ABI info - done [0.536s] -- Check for working CXX compiler: /usr/bin/c++ - skipped [0.536s] -- Detecting CXX compile features [0.542s] -- Detecting CXX compile features - done [0.542s] -- Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake) [0.725s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter [1.021s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) [1.032s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) [1.052s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) [1.084s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c [1.134s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp [1.281s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) [1.285s] -- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) [1.473s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") [1.508s] -- Found FastRTPS: /opt/ros/humble/include [1.561s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default [1.573s] -- Looking for pthread.h [1.673s] -- Looking for pthread.h - found [1.673s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD [1.950s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success [1.951s] -- Found Threads: TRUE [2.727s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) [2.729s] -- Found Eigen3: TRUE (found version "3.4.0") [2.729s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target [3.370s] -- Checking for module 'eigen3' [3.470s] -- Found eigen3, version 3.4.0 [3.772s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") [3.772s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [3.851s] -- Checking for module 'flann' [3.939s] -- Found flann, version 1.9.1 [4.234s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so [4.234s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) [7.932s] -- Checking for module 'libusb-1.0' [8.037s] -- Found libusb-1.0, version 1.0.25 [8.324s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so [8.325s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [8.745s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [9.048s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [9.067s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [9.095s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [9.453s] -- Found Qhull version 8.0.2 [9.835s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [10.213s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so [10.216s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so [10.217s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so [10.218s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so [10.219s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so [10.233s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so [10.234s] -- Found PCL_2D: /usr/include/pcl-1.12 [10.234s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 [10.236s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so [10.237s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so [10.238s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so [10.239s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so [10.241s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so [10.242s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so [10.243s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so [10.244s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so [10.258s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so [10.260s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so [10.261s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so [10.262s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so [10.263s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 [10.263s] -- Found PCL_MODELER: /usr/include/pcl-1.12 [10.264s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 [10.265s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so [10.283s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so [10.833s] -- 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 [10.857s] -- 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 [11.050s] -- Found ament_lint_auto: 0.12.9 (/opt/ros/humble/share/ament_lint_auto/cmake) [11.079s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code [11.079s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include [11.079s] -- Configured cppcheck exclude dirs and/or files: [11.080s] -- Added test 'flake8' to check Python code syntax and style conventions [11.082s] -- Added test 'lint_cmake' to check CMake code style [11.083s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 [11.087s] -- Added test 'uncrustify' to check C / C++ code style [11.087s] -- Configured uncrustify additional arguments: [11.088s] -- Added test 'xmllint' to check XML markup files [11.091s] -- Configuring done [11.148s] -- Generating done [11.161s] CMake Warning: [11.161s] Manually-specified variables were not used by the project: [11.161s] [11.161s] HUMBLE_ROS [11.162s] ROS_EDITION [11.162s] [11.162s]  [11.163s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2 [11.229s] 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 -DROS_EDITION=ROS2 -DHUMBLE_ROS=humble -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2 [11.230s] 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 [12.216s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [12.216s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [12.570s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o [20.511s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [20.511s] /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;;] [20.511s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [20.511s] | ^ [20.511s] [20.512s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [20.512s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [20.512s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [20.512s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [20.512s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [20.512s] 115 | ConstPtr; [20.512s] | ^~~~~~~~ [21.246s] /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;;] [21.246s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { [21.246s] | ^ [21.246s] [21.246s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [21.246s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [21.246s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [21.247s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [21.247s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [21.247s] 115 | ConstPtr; [21.247s] | ^~~~~~~~ [21.310s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: [21.310s] /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;;] [21.310s] 374 | const double timeMs = nUs / 1000.0; [21.310s] | ^~~~~~ [38.269s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o [41.202s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [41.202s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’: [41.203s] /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;;] [41.203s] 55 | Eigen::Quaterniond currentOrientation_; [41.203s] | ^~~~~~~~~~~~~~~~~~~ [41.203s] /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;;] [41.203s] 54 | double imuGravityTimeConstant_; [41.203s] | ^~~~~~~~~~~~~~~~~~~~~~~ [41.203s] /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;;] [41.203s] 19 | ImuTracker::ImuTracker() [41.203s] | ^~~~~~~~~~ [41.203s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [41.203s] /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;;] [41.203s] 54 | double imuGravityTimeConstant_; [41.203s] | ^~~~~~~~~~~~~~~~~~~~~~~ [41.203s] /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;;] [41.203s] 53 | Eigen::Vector3d currentGravityVector_; [41.204s] | ^~~~~~~~~~~~~~~~~~~~~ [41.204s] /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;;] [41.204s] 19 | ImuTracker::ImuTracker() [41.204s] | ^~~~~~~~~~ [41.204s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [41.204s] /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;;] [41.204s] 58 | Eigen::Vector3d integratedPosition_; [41.204s] | ^~~~~~~~~~~~~~~~~~~ [41.204s] /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;;] [41.204s] 57 | Eigen::Vector3d integratedLinearVelocity_; [41.204s] | ^~~~~~~~~~~~~~~~~~~~~~~~~ [41.204s] /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;;] [41.204s] 19 | ImuTracker::ImuTracker() [41.204s] | ^~~~~~~~~~ [41.234s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’: [41.234s] /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;;] [41.234s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_); [41.234s] | ^~~~~~~~~~~~~~~~ [41.235s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’: [41.235s] /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;;] [41.235s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [41.235s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [41.249s] /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’: [41.249s] /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;;] [41.249s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) { [41.249s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [41.259s] /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’: [41.259s] /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;;] [41.259s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [41.260s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [47.929s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o [51.260s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o [65.005s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [68.194s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [71.042s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [74.236s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [83.377s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o [86.306s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [88.650s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: [88.650s] /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;;] [88.650s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; [88.650s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [88.650s] [88.650s] /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’: [88.651s] /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;;] [88.651s] 59 | const Time &time) const { [88.651s] | ~~~~~~~~~~~~^~~~ [88.651s] /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’: [88.651s] /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;;] [88.651s] 63 | id3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { [88.651s] | ~~~~~~~~~~~~^~~~ [88.651s] [88.653s] /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’: [88.653s] /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;;] [88.653s] 151 | const double kRadToDeg = 180.0 / M_PI; [88.653s] | ^~~~~~~~~ [89.506s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [93.299s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [93.299s] /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;;] [93.299s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [93.299s] | ^ [93.299s] [93.299s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [93.299s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [93.299s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [93.299s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [93.299s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [93.299s] 115 | ConstPtr; [93.299s] | ^~~~~~~~ [97.235s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [102.716s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [105.322s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [108.158s] [100%] Linking CXX executable icp_localization [109.033s] [100%] Built target icp_localization [109.042s] 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 [109.092s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/ros/humble /usr/bin/cmake --install /home/firmament/codes/24navigation/build/icp_localization_ros2 [109.099s] -- Install configuration: "" [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2 [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TransformInterpolationBuffer.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBuffer.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/RigidTransform.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/FrameTracker.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuInterpolationBuffer.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBufferRos.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuReading.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TfPublisher.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/math.hpp [109.099s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/Twist.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/helpers.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/typedefs.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/assert.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/output.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/math.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/time.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/Parameters.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/RangeDataAccumulator.hpp [109.100s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization [109.104s] -- Set runtime path of "/home/firmament/codes/24navigation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization" to "" [109.105s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/launch [109.105s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/launch/bringup.launch.py [109.105s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config [109.105s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_velodyne_puck.yaml [109.105s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/icp.yaml [109.105s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/plane_noisy.pcd [109.106s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/node_params.yaml [109.107s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_ouster_os1.yaml [109.107s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/package_run_dependencies/icp_localization_ros2 [109.107s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/parent_prefix_path/icp_localization_ros2 [109.107s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.sh [109.107s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.dsv [109.107s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.sh [109.107s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.dsv [109.107s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.bash [109.107s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.sh [109.108s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.zsh [109.108s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.dsv [109.108s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv [109.108s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2 [109.108s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake [109.108s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake [109.108s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake [109.108s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake [109.108s] -- Installing: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml [109.110s] 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