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[0.275s] 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
[0.347s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o
[8.948s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[8.948s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
[8.948s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[8.948s] | ^
[8.948s]
[8.948s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[8.948s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[8.948s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[8.948s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[8.948s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[8.949s] 115 | ConstPtr;
[8.949s] | ^~~~~~~~
[9.534s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:71:71: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
[9.535s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) {
[9.535s] | ^
[9.535s]
[9.536s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[9.536s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[9.536s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[9.536s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[9.537s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[9.537s] 115 | ConstPtr;
[9.537s] | ^~~~~~~~
[9.581s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’:
[9.581s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:374:18: warning: unused variable ‘timeMs’ [-Wunused-variable]
[9.581s] 374 | const double timeMs = nUs / 1000.0;
[9.581s] | ^~~~~~
[22.376s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o
[23.389s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o
[23.734s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o
[24.749s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o
[25.764s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o
[28.000s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’:
[28.001s] /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’ [-Wsign-compare]
[28.001s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_;
[28.001s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
[28.001s] /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’:
[28.002s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:59:29: warning: unused parameter ‘time’ [-Wunused-parameter]
[28.002s] 59 | const Time &time) const {
[28.002s] | ~~~~~~~~~~~~^~~~
[28.003s] /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’:
[28.003s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:63:64: warning: unused parameter ‘time’ [-Wunused-parameter]
[28.003s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const {
[28.003s] | ~~~~~~~~~~~~^~~~
[28.006s] /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’:
[28.006s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:151:22: warning: unused variable ‘kRadToDeg’ [-Wunused-variable]
[28.006s] 151 | const double kRadToDeg = 180.0 / M_PI;
[28.006s] | ^~~~~~~~~
[31.553s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[31.553s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
[31.553s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[31.553s] | ^
[31.553s]
[31.553s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[31.553s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[31.554s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[31.554s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[31.554s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[31.554s] 115 | ConstPtr;
[31.554s] | ^~~~~~~~
[31.839s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o
[31.839s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o
[32.853s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o
[33.868s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/common/time.cpp.o
[34.900s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o
[35.948s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o
[36.237s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o
[37.828s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[37.828s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’:
[37.829s] /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 [-Wreorder]
[37.830s] 55 | Eigen::Quaterniond currentOrientation_;
[37.830s] | ^~~~~~~~~~~~~~~~~~~
[37.831s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning: ‘double icp_loco::ImuTracker::imuGravityTimeConstant_’ [-Wreorder]
[37.831s] 54 | double imuGravityTimeConstant_;
[37.832s] | ^~~~~~~~~~~~~~~~~~~~~~~
[37.832s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[37.833s] 19 | ImuTracker::ImuTracker()
[37.833s] | ^~~~~~~~~~
[37.833s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[37.834s] /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 [-Wreorder]
[37.834s] 54 | double imuGravityTimeConstant_;
[37.835s] | ^~~~~~~~~~~~~~~~~~~~~~~
[37.835s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:53:19: warning: ‘Eigen::Vector3d icp_loco::ImuTracker::currentGravityVector_’ [-Wreorder]
[37.836s] 53 | Eigen::Vector3d currentGravityVector_;
[37.836s] | ^~~~~~~~~~~~~~~~~~~~~
[37.837s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[37.837s] 19 | ImuTracker::ImuTracker()
[37.838s] | ^~~~~~~~~~
[37.838s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[37.839s] /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 [-Wreorder]
[37.839s] 58 | Eigen::Vector3d integratedPosition_;
[37.840s] | ^~~~~~~~~~~~~~~~~~~
[37.840s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:57:19: warning: ‘Eigen::Vector3d icp_loco::ImuTracker::integratedLinearVelocity_’ [-Wreorder]
[37.841s] 57 | Eigen::Vector3d integratedLinearVelocity_;
[37.841s] | ^~~~~~~~~~~~~~~~~~~~~~~~~
[37.842s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[37.842s] 19 | ImuTracker::ImuTracker()
[37.843s] | ^~~~~~~~~~
[37.880s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’:
[37.881s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:110:14: warning: variable ‘rpyAccelerometer’ set but not used [-Wunused-but-set-variable]
[37.882s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_);
[37.883s] | ^~~~~~~~~~~~~~~~
[37.887s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’:
[37.888s] /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<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
[37.889s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
[37.889s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[37.909s] /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’:
[37.910s] /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<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
[37.911s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) {
[37.911s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[37.929s] /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’:
[37.929s] /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<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
[37.930s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
[37.930s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[42.151s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o
[42.348s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o
[47.200s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o
[57.896s] [100%] Linking CXX executable icp_localization
[59.200s] [100%] Built target icp_localization
[59.210s] 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
[59.254s] 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
[59.261s] -- Install configuration: ""
[59.261s] -- Execute custom install script
[59.262s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp
[59.270s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/Parameters.hpp
[59.277s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/RangeDataAccumulator.hpp
[59.286s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/assert.hpp
[59.293s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/math.hpp
[59.303s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/output.hpp
[59.310s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/time.hpp
[59.318s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/typedefs.hpp
[59.326s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/helpers.hpp
[59.335s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/FrameTracker.hpp
[59.343s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuInterpolationBuffer.hpp
[59.350s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuReading.hpp
[59.357s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp
[59.365s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/RigidTransform.hpp
[59.374s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TfPublisher.hpp
[59.382s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TransformInterpolationBuffer.hpp
[59.389s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/Twist.hpp
[59.397s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBuffer.hpp
[59.405s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TwistIntegrationBufferRos.hpp
[59.412s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/math.hpp
[59.424s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization
[59.432s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/launch/bringup.launch.py
[59.440s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/icp.yaml
[59.450s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_ouster_os1.yaml
[59.457s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_velodyne_puck.yaml
[59.465s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/node_params.yaml
[59.473s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/plane_noisy.pcd
[59.481s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/package_run_dependencies/icp_localization_ros2
[59.489s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/parent_prefix_path/icp_localization_ros2
[59.497s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.sh
[59.504s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.dsv
[59.513s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.sh
[59.521s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.dsv
[59.528s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.bash
[59.536s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.sh
[59.544s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.zsh
[59.552s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.dsv
[59.560s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv
[59.568s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2
[59.577s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
[59.586s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
[59.595s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake
[59.603s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config-version.cmake
[59.610s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.xml
[59.620s] 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
[0.347s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o
[8.948s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[8.948s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
[8.948s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[8.948s] | ^
[8.948s]
[8.948s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[8.948s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[8.948s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[8.948s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[8.948s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[8.949s] 115 | ConstPtr;
[8.949s] | ^~~~~~~~
[9.534s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:71:71: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
[9.535s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) {
[9.535s] | ^
[9.535s]
[9.536s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[9.536s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[9.536s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[9.536s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[9.537s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[9.537s] 115 | ConstPtr;
[9.537s] | ^~~~~~~~
[9.581s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’:
[9.581s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:374:18: warning: unused variable ‘timeMs’ [-Wunused-variable]
[9.581s] 374 | const double timeMs = nUs / 1000.0;
[9.581s] | ^~~~~~
[22.376s] [ 11%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o
[23.389s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o
[23.734s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o
[24.749s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o
[25.764s] [ 35%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o
[28.000s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’:
[28.001s] /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’ [-Wsign-compare]
[28.001s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_;
[28.001s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
[28.001s] /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’:
[28.002s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:59:29: warning: unused parameter ‘time’ [-Wunused-parameter]
[28.002s] 59 | const Time &time) const {
[28.002s] | ~~~~~~~~~~~~^~~~
[28.003s] /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’:
[28.003s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:63:64: warning: unused parameter ‘time’ [-Wunused-parameter]
[28.003s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const {
[28.003s] | ~~~~~~~~~~~~^~~~
[28.006s] /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’:
[28.006s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:151:22: warning: unused variable ‘kRadToDeg’ [-Wunused-variable]
[28.006s] 151 | const double kRadToDeg = 180.0 / M_PI;
[28.006s] | ^~~~~~~~~
[31.553s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[31.553s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:51:73: warning: ‘geometry_msgs::msg::PoseWithCovarianceStamped_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
[31.553s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[31.553s] | ^
[31.553s]
[31.553s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[31.553s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[31.554s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[31.554s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[31.554s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[31.554s] 115 | ConstPtr;
[31.554s] | ^~~~~~~~
[31.839s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o
[31.839s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o
[32.853s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o
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[34.900s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/common/math.cpp.o
[35.948s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o
[36.237s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o
[37.828s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[37.828s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’:
[37.829s] /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 [-Wreorder]
[37.830s] 55 | Eigen::Quaterniond currentOrientation_;
[37.830s] | ^~~~~~~~~~~~~~~~~~~
[37.831s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning: ‘double icp_loco::ImuTracker::imuGravityTimeConstant_’ [-Wreorder]
[37.831s] 54 | double imuGravityTimeConstant_;
[37.832s] | ^~~~~~~~~~~~~~~~~~~~~~~
[37.832s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[37.833s] 19 | ImuTracker::ImuTracker()
[37.833s] | ^~~~~~~~~~
[37.833s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[37.834s] /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 [-Wreorder]
[37.834s] 54 | double imuGravityTimeConstant_;
[37.835s] | ^~~~~~~~~~~~~~~~~~~~~~~
[37.835s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:53:19: warning: ‘Eigen::Vector3d icp_loco::ImuTracker::currentGravityVector_’ [-Wreorder]
[37.836s] 53 | Eigen::Vector3d currentGravityVector_;
[37.836s] | ^~~~~~~~~~~~~~~~~~~~~
[37.837s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[37.837s] 19 | ImuTracker::ImuTracker()
[37.838s] | ^~~~~~~~~~
[37.838s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[37.839s] /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 [-Wreorder]
[37.839s] 58 | Eigen::Vector3d integratedPosition_;
[37.840s] | ^~~~~~~~~~~~~~~~~~~
[37.840s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:57:19: warning: ‘Eigen::Vector3d icp_loco::ImuTracker::integratedLinearVelocity_’ [-Wreorder]
[37.841s] 57 | Eigen::Vector3d integratedLinearVelocity_;
[37.841s] | ^~~~~~~~~~~~~~~~~~~~~~~~~
[37.842s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[37.842s] 19 | ImuTracker::ImuTracker()
[37.843s] | ^~~~~~~~~~
[37.880s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’:
[37.881s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:110:14: warning: variable ‘rpyAccelerometer’ set but not used [-Wunused-but-set-variable]
[37.882s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_);
[37.883s] | ^~~~~~~~~~~~~~~~
[37.887s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’:
[37.888s] /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<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
[37.889s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
[37.889s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[37.909s] /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’:
[37.910s] /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<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
[37.911s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) {
[37.911s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[37.929s] /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’:
[37.929s] /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<icp_loco::TimestampedImuReading>::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
[37.930s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
[37.930s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[42.151s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o
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[47.200s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o
[57.896s] [100%] Linking CXX executable icp_localization
[59.200s] [100%] Built target icp_localization
[59.210s] 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
[59.254s] 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
[59.261s] -- Install configuration: ""
[59.261s] -- Execute custom install script
[59.262s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp
[59.270s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/Parameters.hpp
[59.277s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/RangeDataAccumulator.hpp
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[59.293s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/math.hpp
[59.303s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/output.hpp
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[59.318s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/common/typedefs.hpp
[59.326s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/helpers.hpp
[59.335s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/FrameTracker.hpp
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[59.350s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuReading.hpp
[59.357s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp
[59.365s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/RigidTransform.hpp
[59.374s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TfPublisher.hpp
[59.382s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/TransformInterpolationBuffer.hpp
[59.389s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/include/icp_localization_ros2/transform/Twist.hpp
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[59.424s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization
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[59.440s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/icp.yaml
[59.450s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_ouster_os1.yaml
[59.457s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/input_filters_velodyne_puck.yaml
[59.465s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/node_params.yaml
[59.473s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/config/plane_noisy.pcd
[59.481s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/package_run_dependencies/icp_localization_ros2
[59.489s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/parent_prefix_path/icp_localization_ros2
[59.497s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.sh
[59.504s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/ament_prefix_path.dsv
[59.513s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.sh
[59.521s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/environment/path.dsv
[59.528s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.bash
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[59.552s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/local_setup.dsv
[59.560s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/package.dsv
[59.568s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2
[59.577s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_dependencies-extras.cmake
[59.586s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/ament_cmake_export_include_directories-extras.cmake
[59.595s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/icp_localization_ros2/cmake/icp_localization_ros2Config.cmake
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