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[0.126s] [ 5%] Building CXX object CMakeFiles/icp_localization.dir/src/RangeDataAccumulator.cpp.o
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[0.129s] [ 17%] Building CXX object CMakeFiles/icp_localization.dir/src/ICPlocalization.cpp.o
[0.136s] [ 23%] Building CXX object CMakeFiles/icp_localization.dir/src/helpers.cpp.o
[0.139s] [ 29%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuInterpolationBuffer.cpp.o
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[0.148s] [ 41%] Building CXX object CMakeFiles/icp_localization.dir/src/localizer_node.cpp.o
[0.184s] [ 47%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/FrameTracker.cpp.o
[16.141s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’:
[16.142s] /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]
[16.142s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_;
[16.142s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
[16.142s] /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’:
[16.142s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:59:29: warning: unused parameter ‘time’ [-Wunused-parameter]
[16.142s] 59 | const Time &time) const {
[16.142s] | ~~~~~~~~~~~~^~~~
[16.143s] /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’:
[16.143s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:63:64: warning: unused parameter ‘time’ [-Wunused-parameter]
[16.143s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const {
[16.143s] | ~~~~~~~~~~~~^~~~
[16.162s] /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’:
[16.162s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:151:22: warning: unused variable ‘kRadToDeg’ [-Wunused-variable]
[16.162s] 151 | const double kRadToDeg = 180.0 / M_PI;
[16.162s] | ^~~~~~~~~
[16.340s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[16.341s] /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]
[16.341s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[16.341s] | ^
[16.341s]
[16.341s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[16.341s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[16.341s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[16.341s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[16.341s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[16.341s] 115 | ConstPtr;
[16.341s] | ^~~~~~~~
[18.364s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[18.364s] /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]
[18.364s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[18.364s] | ^
[18.364s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[18.364s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[18.364s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[18.364s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[18.364s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[18.365s] 115 | ConstPtr;
[18.365s] | ^~~~~~~~
[19.073s] /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]
[19.074s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) {
[19.075s] | ^
[19.075s]
[19.076s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[19.077s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[19.077s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[19.078s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[19.079s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[19.080s] 115 | ConstPtr;
[19.080s] | ^~~~~~~~
[19.289s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’:
[19.289s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:374:18: warning: unused variable ‘timeMs’ [-Wunused-variable]
[19.290s] 374 | const double timeMs = nUs / 1000.0;
[19.291s] | ^~~~~~
[45.690s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o
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[107.076s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o
[110.482s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[110.483s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’:
[110.484s] /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 [-Wreorder]
[110.485s] 55 | Eigen::Quaterniond currentOrientation_;
[110.485s] | ^~~~~~~~~~~~~~~~~~~
[110.485s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning: ‘double icp_loco::ImuTracker::imuGravityTimeConstant_’ [-Wreorder]
[110.485s] 54 | double imuGravityTimeConstant_;
[110.485s] | ^~~~~~~~~~~~~~~~~~~~~~~
[110.486s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[110.486s] 19 | ImuTracker::ImuTracker()
[110.486s] | ^~~~~~~~~~
[110.486s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[110.486s] /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]
[110.486s] 54 | double imuGravityTimeConstant_;
[110.486s] | ^~~~~~~~~~~~~~~~~~~~~~~
[110.486s] /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]
[110.486s] 53 | Eigen::Vector3d currentGravityVector_;
[110.486s] | ^~~~~~~~~~~~~~~~~~~~~
[110.486s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[110.486s] 19 | ImuTracker::ImuTracker()
[110.487s] | ^~~~~~~~~~
[110.487s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[110.487s] /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]
[110.487s] 58 | Eigen::Vector3d integratedPosition_;
[110.487s] | ^~~~~~~~~~~~~~~~~~~
[110.487s] /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]
[110.487s] 57 | Eigen::Vector3d integratedLinearVelocity_;
[110.487s] | ^~~~~~~~~~~~~~~~~~~~~~~~~
[110.487s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[110.487s] 19 | ImuTracker::ImuTracker()
[110.487s] | ^~~~~~~~~~
[110.511s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’:
[110.511s] /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]
[110.511s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_);
[110.511s] | ^~~~~~~~~~~~~~~~
[110.511s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’:
[110.511s] /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]
[110.512s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
[110.512s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[110.524s] /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’:
[110.524s] /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]
[110.524s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) {
[110.524s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[110.541s] /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’:
[110.541s] /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]
[110.541s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
[110.541s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[119.160s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o
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[125.259s] [100%] Built target icp_localization
[125.269s] 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
[125.342s] 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
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[16.141s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp: In member function ‘bool icp_loco::FrameTracker::isReady() const’:
[16.142s] /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]
[16.142s] 42 | const bool isOdomBufferReady = odomToTrackingCamera_.size()>minNumOdomMeasurementsBeforeReady_ || !isUseOdometryForRangeSensorPosePrediction_;
[16.142s] | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
[16.142s] /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’:
[16.142s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:59:29: warning: unused parameter ‘time’ [-Wunused-parameter]
[16.142s] 59 | const Time &time) const {
[16.142s] | ~~~~~~~~~~~~^~~~
[16.143s] /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’:
[16.143s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:63:64: warning: unused parameter ‘time’ [-Wunused-parameter]
[16.143s] 63 | Rigid3d FrameTracker::getTransformImuToRangeSensor(const Time &time) const {
[16.143s] | ~~~~~~~~~~~~^~~~
[16.162s] /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’:
[16.162s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/FrameTracker.cpp:151:22: warning: unused variable ‘kRadToDeg’ [-Wunused-variable]
[16.162s] 151 | const double kRadToDeg = 180.0 / M_PI;
[16.162s] | ^~~~~~~~~
[16.340s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[16.341s] /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]
[16.341s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[16.341s] | ^
[16.341s]
[16.341s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[16.341s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[16.341s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[16.341s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[16.341s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[16.341s] 115 | ConstPtr;
[16.341s] | ^~~~~~~~
[18.364s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[18.364s] /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]
[18.364s] 51 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg);
[18.364s] | ^
[18.364s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[18.364s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[18.364s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[18.364s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/localizer_node.cpp:7:
[18.364s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[18.365s] 115 | ConstPtr;
[18.365s] | ^~~~~~~~
[19.073s] /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]
[19.074s] 71 | const geometry_msgs::msg::PoseWithCovarianceStamped::ConstPtr &msg) {
[19.075s] | ^
[19.075s]
[19.076s] In file included from /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/pose_with_covariance_stamped.hpp:7,
[19.077s] from /opt/ros/humble/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.hpp:49,
[19.077s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/ICPlocalization.hpp:24,
[19.078s] from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:7:
[19.079s] /opt/ros/humble/include/geometry_msgs/geometry_msgs/msg/detail/pose_with_covariance_stamped__struct.hpp:115:5: note: declared here
[19.080s] 115 | ConstPtr;
[19.080s] | ^~~~~~~~
[19.289s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp: In member function ‘void icp_loco::ICPlocalization::icpWorker()’:
[19.289s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/ICPlocalization.cpp:374:18: warning: unused variable ‘timeMs’ [-Wunused-variable]
[19.290s] 374 | const double timeMs = nUs / 1000.0;
[19.291s] | ^~~~~~
[45.690s] [ 52%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBuffer.cpp.o
[51.708s] [ 58%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TwistIntegrationBufferRos.cpp.o
[70.039s] [ 64%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/Twist.cpp.o
[76.010s] [ 70%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TransformInterpolationBuffer.cpp.o
[81.165s] [ 76%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/TfPublisher.cpp.o
[102.843s] [ 82%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/RigidTransform.cpp.o
[107.076s] [ 88%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuTracker.cpp.o
[110.482s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[110.483s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp: In constructor ‘icp_loco::ImuTracker::ImuTracker()’:
[110.484s] /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 [-Wreorder]
[110.485s] 55 | Eigen::Quaterniond currentOrientation_;
[110.485s] | ^~~~~~~~~~~~~~~~~~~
[110.485s] /home/firmament/codes/24navigation/src/icp_localization_ros2/include/icp_localization_ros2/transform/ImuTracker.hpp:54:10: warning: ‘double icp_loco::ImuTracker::imuGravityTimeConstant_’ [-Wreorder]
[110.485s] 54 | double imuGravityTimeConstant_;
[110.485s] | ^~~~~~~~~~~~~~~~~~~~~~~
[110.486s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[110.486s] 19 | ImuTracker::ImuTracker()
[110.486s] | ^~~~~~~~~~
[110.486s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[110.486s] /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]
[110.486s] 54 | double imuGravityTimeConstant_;
[110.486s] | ^~~~~~~~~~~~~~~~~~~~~~~
[110.486s] /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]
[110.486s] 53 | Eigen::Vector3d currentGravityVector_;
[110.486s] | ^~~~~~~~~~~~~~~~~~~~~
[110.486s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[110.486s] 19 | ImuTracker::ImuTracker()
[110.487s] | ^~~~~~~~~~
[110.487s] In file included from /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:8:
[110.487s] /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]
[110.487s] 58 | Eigen::Vector3d integratedPosition_;
[110.487s] | ^~~~~~~~~~~~~~~~~~~
[110.487s] /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]
[110.487s] 57 | Eigen::Vector3d integratedLinearVelocity_;
[110.487s] | ^~~~~~~~~~~~~~~~~~~~~~~~~
[110.487s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp:19:1: warning: when initialized here [-Wreorder]
[110.487s] 19 | ImuTracker::ImuTracker()
[110.487s] | ^~~~~~~~~~
[110.511s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘icp_loco::Rigid3d icp_loco::ImuTracker::getLatestOdometry() const’:
[110.511s] /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]
[110.511s] 110 | const auto rpyAccelerometer = toRPY(currentOrientation_);
[110.511s] | ^~~~~~~~~~~~~~~~
[110.511s] /home/firmament/codes/24navigation/src/icp_localization_ros2/src/transform/ImuTracker.cpp: In member function ‘void icp_loco::ImuTracker::removeGravityAccelerationFromBuffer() const’:
[110.511s] /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]
[110.512s] 150 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
[110.512s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[110.524s] /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’:
[110.524s] /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]
[110.524s] 171 | for (int i = 1; i < integrationBuffer_.size(); ++i) {
[110.524s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[110.541s] /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’:
[110.541s] /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]
[110.541s] 182 | for (int i = 0; i < integrationBuffer_.size(); ++i) {
[110.541s] | ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
[119.160s] [ 94%] Building CXX object CMakeFiles/icp_localization.dir/src/transform/ImuReading.cpp.o
[123.545s] [100%] Linking CXX executable icp_localization
[125.259s] [100%] Built target icp_localization
[125.269s] 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
[125.342s] 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
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[125.681s] -- Symlinking: /home/firmament/codes/24navigation/install/icp_localization_ros2/share/ament_index/resource_index/packages/icp_localization_ros2
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