[0.020s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/firmament/codes/24navigation/src/icp_localization_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2 [0.125s] -- The C compiler identification is GNU 11.4.0 [0.240s] -- The CXX compiler identification is GNU 11.4.0 [0.251s] -- Detecting C compiler ABI info [0.365s] -- Detecting C compiler ABI info - done [0.378s] -- Check for working C compiler: /usr/bin/cc - skipped [0.378s] -- Detecting C compile features [0.378s] -- Detecting C compile features - done [0.391s] -- Detecting CXX compiler ABI info [0.577s] -- Detecting CXX compiler ABI info - done [0.587s] -- Check for working CXX compiler: /usr/bin/c++ - skipped [0.588s] -- Detecting CXX compile features [0.589s] -- Detecting CXX compile features - done [0.591s] -- Found ament_cmake_auto: 1.3.8 (/opt/ros/humble/share/ament_cmake_auto/cmake) [0.909s] -- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter [1.062s] -- Override CMake install command with custom implementation using symlinks instead of copying resources [1.368s] -- Found rosidl_generator_c: 3.1.5 (/opt/ros/humble/share/rosidl_generator_c/cmake) [1.374s] -- Found rosidl_adapter: 3.1.5 (/opt/ros/humble/share/rosidl_adapter/cmake) [1.402s] -- Found rosidl_generator_cpp: 3.1.5 (/opt/ros/humble/share/rosidl_generator_cpp/cmake) [1.424s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c [1.467s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp [1.586s] -- Found rmw_implementation_cmake: 6.1.1 (/opt/ros/humble/share/rmw_implementation_cmake/cmake) [1.591s] -- Found rmw_fastrtps_cpp: 6.2.6 (/opt/ros/humble/share/rmw_fastrtps_cpp/cmake) [1.781s] -- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2") [1.836s] -- Found FastRTPS: /opt/ros/humble/include [1.903s] -- Using RMW implementation 'rmw_fastrtps_cpp' as default [1.915s] -- Looking for pthread.h [2.058s] -- Looking for pthread.h - found [2.058s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD [2.182s] -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success [2.183s] -- Found Threads: TRUE [3.015s] -- Found eigen3_cmake_module: 0.1.1 (/opt/ros/humble/share/eigen3_cmake_module/cmake) [3.017s] -- Found Eigen3: TRUE (found version "3.4.0") [3.017s] -- Ensuring Eigen3 include directory is part of orocos-kdl CMake target [3.618s] -- Checking for module 'eigen3' [3.710s] -- Found eigen3, version 3.4.0 [3.836s] -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") [3.836s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [3.905s] -- Checking for module 'flann' [3.955s] -- Found flann, version 1.9.1 [4.109s] -- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so [4.109s] -- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so) [8.255s] -- Checking for module 'libusb-1.0' [8.314s] -- Found libusb-1.0, version 1.0.25 [8.589s] -- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so [8.596s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [8.964s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [9.554s] -- Eigen found (include: /usr/include/eigen3, version: 3.4.0) [9.576s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [9.615s] -- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/x86_64-linux-gnu/libOpenNI2.so;libusb::libusb) [10.039s] -- Found Qhull version 8.0.2 [10.546s] -- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb) [10.940s] -- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so [10.942s] -- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so [10.943s] -- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so [10.944s] -- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so [10.946s] -- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so [10.947s] -- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so [10.952s] -- Found PCL_2D: /usr/include/pcl-1.12 [10.952s] -- Found PCL_GEOMETRY: /usr/include/pcl-1.12 [10.955s] -- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so [10.966s] -- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so [10.972s] -- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so [10.977s] -- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so [10.981s] -- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so [10.982s] -- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so [10.984s] -- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so [10.985s] -- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so [10.986s] -- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so [10.987s] -- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so [10.989s] -- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so [10.991s] -- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so [10.991s] -- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.12 [10.992s] -- Found PCL_MODELER: /usr/include/pcl-1.12 [10.992s] -- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.12 [10.993s] -- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so [10.994s] -- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so [11.476s] -- 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 [11.494s] -- 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 [11.621s] -- Found ament_lint_auto: 0.12.10 (/opt/ros/humble/share/ament_lint_auto/cmake) [11.663s] -- Added test 'cppcheck' to perform static code analysis on C / C++ code [11.664s] -- Configured cppcheck include dirs: /home/firmament/codes/24navigation/src/icp_localization_ros2/include [11.664s] -- Configured cppcheck exclude dirs and/or files: [11.665s] -- Added test 'flake8' to check Python code syntax and style conventions [11.669s] -- Added test 'lint_cmake' to check CMake code style [11.678s] -- Added test 'pep257' to check Python code against some of the docstring style conventions in PEP 257 [11.682s] -- Added test 'uncrustify' to check C / C++ code style [11.682s] -- Configured uncrustify additional arguments: [11.685s] -- Added test 'xmllint' to check XML markup files [11.688s] -- Configuring done [11.741s] -- Generating done [11.741s] -- Build files have been written to: /home/firmament/codes/24navigation/build/icp_localization_ros2 [11.805s] Invoked command in '/home/firmament/codes/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake /home/firmament/codes/24navigation/src/icp_localization_ros2 -DAMENT_CMAKE_SYMLINK_INSTALL=1 -DCMAKE_INSTALL_PREFIX=/home/firmament/codes/24navigation/install/icp_localization_ros2 [11.806s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/firmament/codes/24navigation/build/icp_localization_ros2 -- -j8 -l8 [18.894s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o [18.895s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o [18.895s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o [18.895s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o [18.895s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o [18.895s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o [18.895s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o [18.895s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o [30.465s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’: [30.465s] /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;;] [30.465s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_; [30.465s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [30.466s] /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’: [30.466s] /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;;] [30.466s] 59 | const Time &time) const { [30.466s] | ~~~~~~~~~~~~^~~~ [30.466s] /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’: [30.466s] /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;;] [30.466s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const { [30.466s] | ~~~~~~~~~~~~^~~~ [30.470s] /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’: [30.470s] /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;;] [30.470s] 151 | const double kRadToDeg = 180.0 / M_PI; [30.470s] | ^~~~~~~~~ [39.785s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [39.785s] /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;;] [39.785s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [39.785s] | ^ [39.786s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [39.786s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [39.786s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [39.786s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7: [39.787s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [39.787s] 115 | ConstPtr; [39.787s] | ^~~~~~~~ [41.974s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [41.974s] /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;;] [41.974s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg); [41.974s] | ^ [41.975s] [41.975s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [41.975s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [41.975s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [41.975s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [41.975s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [41.975s] 115 | ConstPtr; [41.975s] | ^~~~~~~~ [43.394s] /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;;] [43.394s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) { [43.394s] | ^ [43.394s] [43.394s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7, [43.394s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49, [43.394s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24, [43.394s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7: [43.394s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here [43.395s] 115 | ConstPtr; [43.395s] | ^~~~~~~~ [43.589s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’: [43.589s] /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;;] [43.589s] 374 | const double timeMs = nUs / 1000.0; [43.589s] | ^~~~~~ [72.330s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o [79.753s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o [100.106s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o [106.313s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o [111.951s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o [134.544s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o [138.896s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o [142.129s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [142.129s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’: [142.129s] /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;;] [142.130s] 55 | Eigen::Quaterniond currentOrientation_; [142.130s] | ^~~~~~~~~~~~~~~~~~~ [142.130s] /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;;] [142.130s] 54 | double imuGravityTimeConstant_; [142.130s] | ^~~~~~~~~~~~~~~~~~~~~~~ [142.130s] /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;;] [142.130s] 19 | ImuTracker::ImuTracker() [142.130s] | ^~~~~~~~~~ [142.130s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [142.130s] /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;;] [142.130s] 54 | double imuGravityTimeConstant_; [142.130s] | ^~~~~~~~~~~~~~~~~~~~~~~ [142.130s] /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;;] [142.130s] 53 | Eigen::Vector3d currentGravityVector_; [142.131s] | ^~~~~~~~~~~~~~~~~~~~~ [142.131s] /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;;] [142.131s] 19 | ImuTracker::ImuTracker() [142.131s] | ^~~~~~~~~~ [142.131s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8: [142.131s] /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;;] [142.131s] 58 | Eigen::Vector3d integratedPosition_; [142.131s] | ^~~~~~~~~~~~~~~~~~~ [142.131s] /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;;] [142.131s] 57 | Eigen::Vector3d integratedLinearVelocity_; [142.131s] | ^~~~~~~~~~~~~~~~~~~~~~~~~ [142.131s] /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;;] [142.131s] 19 | ImuTracker::ImuTracker() [142.131s] | ^~~~~~~~~~ [142.159s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’: [142.159s] /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;;] [142.159s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_); [142.159s] | ^~~~~~~~~~~~~~~~ [142.159s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’: [142.159s] /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;;] [142.160s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [142.160s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [142.170s] /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’: [142.170s] /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;;] [142.170s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) { [142.170s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [142.178s] /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’: [142.178s] /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;;] [142.178s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) { [142.178s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~ [151.833s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o [156.523s] [100%] Linking CXX executable icp_localization [158.084s] [100%] Built target icp_localization [158.094s] Invoked command in '/home/firmament/codes/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --build /home/firmament/codes/24navigation/build/icp_localization_ros2 -- -j8 -l8 [158.146s] Invoking command in '/home/firmament/codes/24navigation/build/icp_localization_ros2': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/firmament/codes/24navigation/build/icp_localization_ros2 [158.152s] -- Install configuration: "" [158.152s] -- Execute custom install script [158.153s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp [158.161s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/Parameters.hpp [158.168s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/RangeDataAccumulator.hpp [158.176s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/assert.hpp [158.184s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/math.hpp [158.192s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/output.hpp [158.200s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/time.hpp [158.209s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/typedefs.hpp [158.223s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/helpers.hpp [158.230s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/FrameTracker.hpp [158.238s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuInterpolationBuffer.hpp [158.246s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuReading.hpp [158.253s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp [158.260s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/RigidTransform.hpp [158.268s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TfPublisher.hpp [158.275s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TransformInterpolationBuffer.hpp [158.283s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/Twist.hpp [158.292s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBuffer.hpp [158.300s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBufferRos.hpp [158.308s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/math.hpp [158.322s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization [158.330s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/launch/bringup.launch.py [158.338s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/icp.yaml [158.346s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_ouster_os1.yaml [158.354s] -- Symlinking: 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/home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.dsv [158.412s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.sh [158.420s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.dsv [158.430s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.bash [158.449s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.sh [158.459s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.zsh [158.473s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.dsv [158.489s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv [158.501s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2 [158.509s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake [158.517s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake [158.527s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake [158.549s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake [158.558s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml [158.576s] Invoked command in '/home/firmament/codes/24navigation/build/icp_localization_ros2' returned '0': CMAKE_PREFIX_PATH=/opt/ros/humble /usr/bin/cmake --install /home/firmament/codes/24navigation/build/icp_localization_ros2