[0.234s] 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 [0.293s] -- The C compiler identification is GNU 11.4.0 [0.351s] -- The CXX compiler identification is GNU 11.4.0 [0.359s] -- Detecting C compiler ABI info [0.430s] -- Detecting C compiler ABI info - done [0.446s] -- Check for working C compiler: /usr/bin/cc - skipped [0.446s] -- Detecting C compile features [0.446s] -- Detecting C compile features - done [0.447s] -- Detecting CXX compiler ABI info [0.527s] -- Detecting CXX compiler ABI info - done [0.538s] -- Check for working CXX compiler: /usr/bin/c++ - skipped [0.538s] -- Detecting CXX compile features [0.538s] -- Detecting CXX compile features - done [0.540s] -- Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake) [0.723s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter [0.793s] -- Override CMake install command with custom implementation using symlinks instead of copying resources [0.953s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) [0.959s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) [0.970s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) [0.986s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c [1.011s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp [1.096s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) [1.099s] -- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) [1.268s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") [1.304s] -- Found FastRTPS: /opt/ros/humble/include [1.367s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default [1.378s] -- Looking for pthread.h [1.474s] -- Looking for pthread.h - found [1.474s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD [1.550s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success [1.551s] -- Found Threads: TRUE [2.973s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) [2.978s] -- Found Eigen3: TRUE (found version "3.4.0") [2.979s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target [4.090s] -- Checking for module 'eigen3' [4.219s] -- Found eigen3, version 3.4.0 [4.494s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") [4.494s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [4.568s] -- Checking for module 'flann' [4.653s] -- Found flann, version 1.9.1 [4.972s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so [4.973s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) [8.929s] -- Checking for module 'libusb-1.0' [8.959s] -- Found libusb-1.0, version 1.0.25 [9.217s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so [9.219s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [9.547s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [9.856s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [9.872s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [9.896s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [10.244s] -- Found Qhull version 8.0.2 [10.482s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [10.834s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so [10.835s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so [10.836s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so [10.837s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so [10.838s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so [10.839s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so [10.840s] -- Found PCL_2D: /usr/include/pcl-1.12 [10.840s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 [10.841s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so [10.843s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so [10.844s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so [10.845s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so [10.846s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so [10.847s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so [10.848s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so [10.849s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so [10.850s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so [10.851s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so [10.853s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so [10.854s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so [10.855s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 [10.855s] -- Found PCL_MODELER: /usr/include/pcl-1.12 [10.855s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 [10.857s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so [10.858s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so [11.170s] -- 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 [11.179s] -- 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 [11.292s] -- Found ament_lint_auto: 0.12.9 (/opt/ros/humble/share/ament_lint_auto/cmake) [11.316s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code [11.316s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include [11.316s] -- Configured cppcheck exclude dirs and/or files: [11.317s] -- Added test 'flake8' to check Python code syntax and style conventions [11.319s] -- Added test 'lint_cmake' to check CMake code style [11.320s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 [11.325s] -- Added test 'uncrustify' to check C / C++ code style [11.325s] -- Configured uncrustify additional arguments: [11.326s] -- Added test 'xmllint' to check XML markup files [11.329s] -- Configuring done [11.369s] -- Generating done [11.372s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2 [11.398s] 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 [11.400s] 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 [11.471s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [17.958s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [17.959s] /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;;] [17.959s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [17.959s] | ^ [17.959s] [17.959s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [17.959s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [17.959s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [17.959s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [17.959s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [17.960s] 115 | ConstPtr; [17.960s] | ^~~~~~~~ [18.712s] /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;;] [18.712s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { [18.712s] | ^ [18.712s] [18.712s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [18.712s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [18.712s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [18.712s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [18.712s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [18.712s] 115 | ConstPtr; [18.712s] | ^~~~~~~~ [18.774s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: [18.775s] /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;;] [18.775s] 374 | const double timeMs = nUs / 1000.0; [18.775s] | ^~~~~~ [32.927s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o [38.177s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o [43.330s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o [45.975s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [45.975s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’: [45.975s] /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;;] [45.975s] 55 | Eigen::Quaterniond currentOrientation_; [45.975s] | ^~~~~~~~~~~~~~~~~~~ [45.975s] /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;;] [45.976s] 54 | double imuGravityTimeConstant_; [45.976s] | ^~~~~~~~~~~~~~~~~~~~~~~ [45.976s] /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;;] [45.976s] 19 | ImuTracker::ImuTracker() [45.976s] | ^~~~~~~~~~ [45.976s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [45.976s] /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;;] [45.976s] 54 | double imuGravityTimeConstant_; [45.976s] | ^~~~~~~~~~~~~~~~~~~~~~~ [45.976s] /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;;] [45.976s] 53 | Eigen::Vector3d currentGravityVector_; [45.976s] | ^~~~~~~~~~~~~~~~~~~~~ [45.976s] /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;;] [45.976s] 19 | ImuTracker::ImuTracker() [45.976s] | ^~~~~~~~~~ [45.976s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [45.977s] /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;;] [45.977s] 58 | Eigen::Vector3d integratedPosition_; [45.977s] | ^~~~~~~~~~~~~~~~~~~ [45.977s] /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;;] [45.977s] 57 | Eigen::Vector3d integratedLinearVelocity_; [45.977s] | ^~~~~~~~~~~~~~~~~~~~~~~~~ [45.977s] /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;;] [45.977s] 19 | ImuTracker::ImuTracker() [45.977s] | ^~~~~~~~~~ [45.996s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’: [45.996s] /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;;] [45.996s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_); [45.996s] | ^~~~~~~~~~~~~~~~ [45.997s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’: [45.997s] /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;;] [45.997s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [45.997s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [46.006s] /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’: [46.006s] /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;;] [46.006s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) { [46.006s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [46.013s] /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’: [46.013s] /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;;] [46.013s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [46.013s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [51.773s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o [55.105s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o [68.291s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [71.275s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [74.129s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [77.338s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [86.810s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [89.115s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: [89.115s] /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;;] [89.115s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; [89.115s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [89.115s] [89.115s] /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’: [89.115s] /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;;] [89.115s] 59 | const Time &time) const { [89.115s] | ~~~~~~~~~~~~^~~~ [89.115s] /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’: [89.115s] /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;;] [89.115s] 63 | id3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { [89.115s] | ~~~~~~~~~~~~^~~~ [89.115s] [89.118s] /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’: [89.118s] /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;;] [89.118s] 151 | const double kRadToDeg = 180.0 / M_PI; [89.118s] | ^~~~~~~~~ [89.974s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [93.803s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [93.803s] /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;;] [93.803s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [93.803s] | ^ [93.803s] [93.803s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [93.803s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [93.803s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [93.803s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [93.803s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [93.804s] 115 | ConstPtr; [93.804s] | ^~~~~~~~ [97.794s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [103.562s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [106.247s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [109.185s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [119.671s] [100%] Linking CXX executable icp_localization [120.566s] [100%] Built target icp_localization [120.575s] 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 [120.627s] Invoking command in 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/home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuReading.hpp [120.713s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp [120.721s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/RigidTransform.hpp [120.728s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TfPublisher.hpp [120.735s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TransformInterpolationBuffer.hpp [120.741s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/Twist.hpp [120.748s] -- Symlinking: 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/home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.sh [120.837s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.dsv [120.844s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.sh [120.850s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.dsv [120.856s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.bash [120.863s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.sh [120.869s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.zsh [120.876s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.dsv [120.882s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv [120.889s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2 [120.896s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake [120.901s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake [120.908s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake [120.915s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake [120.921s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml [120.928s] 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