[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 [0.294s] -- The C compiler identification is GNU 11.4.0 [0.353s] -- The CXX compiler identification is GNU 11.4.0 [0.361s] -- Detecting C compiler ABI info [0.429s] -- Detecting C compiler ABI info - done [0.436s] -- Check for working C compiler: /usr/bin/cc - skipped [0.437s] -- Detecting C compile features [0.437s] -- Detecting C compile features - done [0.440s] -- Detecting CXX compiler ABI info [0.524s] -- Detecting CXX compiler ABI info - done [0.534s] -- Check for working CXX compiler: /usr/bin/c++ - skipped [0.535s] -- Detecting CXX compile features [0.535s] -- Detecting CXX compile features - done [0.538s] -- Found ament_cmake_auto: 1.3.6 (/opt/ros/humble/share/ament_cmake_auto/cmake) [0.721s] -- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter [0.790s] -- Override CMake install command with custom implementation using symlinks instead of copying resources [1.031s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) [1.047s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) [1.067s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) [1.099s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c [1.135s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp [1.222s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) [1.225s] -- Found rmw_fastrtps_cpp: 6.2.5 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) [1.398s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") [1.430s] -- Found FastRTPS: /opt/ros/humble/include [1.485s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default [1.493s] -- Looking for pthread.h [1.581s] -- Looking for pthread.h - found [1.581s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD [1.746s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success [1.747s] -- Found Threads: TRUE [2.804s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) [2.805s] -- Found Eigen3: TRUE (found version "3.4.0") [2.806s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target [3.327s] -- Checking for module 'eigen3' [3.381s] -- Found eigen3, version 3.4.0 [3.612s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") [3.613s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [3.693s] -- Checking for module 'flann' [3.777s] -- Found flann, version 1.9.1 [4.061s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so [4.061s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) [7.968s] -- Checking for module 'libusb-1.0' [8.038s] -- Found libusb-1.0, version 1.0.25 [8.246s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so [8.248s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [8.453s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [8.845s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [8.860s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [8.875s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [9.177s] -- Found Qhull version 8.0.2 [9.421s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [9.728s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so [9.729s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so [9.730s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so [9.732s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so [9.752s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so [9.753s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so [9.753s] -- Found PCL_2D: /usr/include/pcl-1.12 [9.753s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 [9.753s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so [9.753s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so [9.753s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so [9.753s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so [9.753s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so [9.753s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so [9.753s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so [9.753s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so [9.753s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so [9.753s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so [9.753s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so [9.753s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so [9.753s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 [9.753s] -- Found PCL_MODELER: /usr/include/pcl-1.12 [9.753s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 [9.757s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so [9.759s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so [10.096s] -- 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 [10.106s] -- 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 [10.257s] -- Found ament_lint_auto: 0.12.9 (/opt/ros/humble/share/ament_lint_auto/cmake) [10.281s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code [10.282s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include [10.282s] -- Configured cppcheck exclude dirs and/or files: [10.283s] -- Added test 'flake8' to check Python code syntax and style conventions [10.285s] -- Added test 'lint_cmake' to check CMake code style [10.286s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 [10.291s] -- Added test 'uncrustify' to check C / C++ code style [10.291s] -- Configured uncrustify additional arguments: [10.292s] -- Added test 'xmllint' to check XML markup files [10.296s] -- Configuring done [10.342s] -- Generating done [10.346s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2 [10.383s] 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 [10.383s] 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 [10.834s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [17.563s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [17.563s] /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;;] [17.563s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [17.563s] | ^ [17.563s] [17.563s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [17.563s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [17.564s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [17.564s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [17.564s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [17.564s] 115 | ConstPtr; [17.564s] | ^~~~~~~~ [18.296s] /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;;] [18.296s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { [18.296s] | ^ [18.296s] [18.296s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [18.296s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [18.296s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [18.296s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [18.296s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [18.296s] 115 | ConstPtr; [18.297s] | ^~~~~~~~ [18.359s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: [18.359s] /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;;] [18.359s] 374 | const double timeMs = nUs / 1000.0; [18.359s] | ^~~~~~ [33.726s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o [37.631s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o [41.837s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o [44.484s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [44.484s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’: [44.484s] /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;;] [44.484s] 55 | Eigen::Quaterniond currentOrientation_; [44.484s] | ^~~~~~~~~~~~~~~~~~~ [44.484s] /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;;] [44.484s] 54 | double imuGravityTimeConstant_; [44.484s] | ^~~~~~~~~~~~~~~~~~~~~~~ [44.484s] /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;;] [44.484s] 19 | ImuTracker::ImuTracker() [44.485s] | ^~~~~~~~~~ [44.485s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [44.485s] /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;;] [44.485s] 54 | double imuGravityTimeConstant_; [44.485s] | ^~~~~~~~~~~~~~~~~~~~~~~ [44.485s] /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;;] [44.485s] 53 | Eigen::Vector3d currentGravityVector_; [44.485s] | ^~~~~~~~~~~~~~~~~~~~~ [44.485s] /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;;] [44.485s] 19 | ImuTracker::ImuTracker() [44.485s] | ^~~~~~~~~~ [44.485s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [44.485s] /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;;] [44.485s] 58 | Eigen::Vector3d integratedPosition_; [44.486s] | ^~~~~~~~~~~~~~~~~~~ [44.486s] /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;;] [44.486s] 57 | Eigen::Vector3d integratedLinearVelocity_; [44.486s] | ^~~~~~~~~~~~~~~~~~~~~~~~~ [44.486s] /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;;] [44.486s] 19 | ImuTracker::ImuTracker() [44.486s] | ^~~~~~~~~~ [44.506s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’: [44.506s] /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;;] [44.506s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_); [44.506s] | ^~~~~~~~~~~~~~~~ [44.506s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’: [44.507s] /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;;] [44.507s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [44.507s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [44.516s] /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’: [44.517s] /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;;] [44.517s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) { [44.517s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [44.524s] /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’: [44.524s] /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;;] [44.524s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [44.524s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [50.294s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o [53.782s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o [67.142s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [70.080s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [72.964s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [76.209s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [85.766s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [88.083s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: [88.083s] /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;;] [88.083s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; [88.083s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [88.083s] [88.083s] /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’: [88.083s] /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;;] [88.083s] 59 | const Time &time) const { [88.084s] | ~~~~~~~~~~~~^~~~ [88.084s] /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’: [88.084s] /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;;] [88.084s] 63 | id3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { [88.084s] | ~~~~~~~~~~~~^~~~ [88.084s] [88.086s] /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’: [88.086s] /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;;] [88.086s] 151 | const double kRadToDeg = 180.0 / M_PI; [88.086s] | ^~~~~~~~~ [88.944s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [92.786s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [92.787s] /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;;] [92.787s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [92.787s] | ^ [92.787s] [92.787s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [92.787s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [92.787s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [92.787s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [92.787s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [92.787s] 115 | ConstPtr; [92.787s] | ^~~~~~~~ [96.717s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [102.038s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [104.698s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [107.609s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [118.354s] [100%] Linking CXX executable icp_localization [119.262s] [100%] Built target icp_localization [119.270s] 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 [119.321s] 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 [119.327s] -- Install configuration: "" [119.327s] -- Execute custom install script [119.327s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp [119.334s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/Parameters.hpp [119.341s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/RangeDataAccumulator.hpp [119.347s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/assert.hpp [119.353s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/math.hpp [119.360s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/output.hpp [119.366s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/time.hpp [119.373s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/typedefs.hpp [119.380s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/helpers.hpp [119.386s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/FrameTracker.hpp [119.393s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuInterpolationBuffer.hpp [119.399s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuReading.hpp [119.406s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp [119.413s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/RigidTransform.hpp [119.419s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TfPublisher.hpp [119.426s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TransformInterpolationBuffer.hpp [119.432s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/Twist.hpp [119.439s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBuffer.hpp [119.446s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBufferRos.hpp [119.452s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/math.hpp [119.460s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization [119.466s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/launch/bringup.launch.py [119.473s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/icp.yaml [119.480s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_ouster_os1.yaml [119.487s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_velodyne_puck.yaml [119.493s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/node_params.yaml [119.500s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/plane_noisy.pcd [119.506s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/package_run_dependencies/icp_localization_ros2 [119.513s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/parent_prefix_path/icp_localization_ros2 [119.520s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.sh [119.527s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.dsv [119.533s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.sh [119.540s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.dsv [119.547s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.bash [119.554s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.sh [119.560s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.zsh [119.567s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.dsv [119.573s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv [119.581s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2 [119.587s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake [119.594s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake [119.600s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake [119.607s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake [119.613s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml [119.621s] 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