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Dec 6th, 2016
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  1. cartographer_ros/docker$ docker build -t ros:cartographer .
  2. Sending build context to Docker daemon 3.072 kB
  3. Step 1 : FROM ros:kinetic
  4. ---> 02f5c437b325
  5. Step 2 : RUN apt-get update && apt-get install -y ninja-build python-catkin-tools python-rosdep python-wstool
  6. ---> Using cache
  7. ---> 803ca77eaeb6
  8. Step 3 : ENV CATKIN_WS /root/catkin_ws
  9. ---> Using cache
  10. ---> 2b242e7b7894
  11. Step 4 : RUN mkdir -p $CATKIN_WS/src
  12. ---> Using cache
  13. ---> 22c60e31c6f4
  14. Step 5 : WORKDIR $CATKIN_WS
  15. ---> Using cache
  16. ---> 604240bfcd8b
  17. Step 6 : RUN wstool init src && wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall && wstool update -t src
  18. ---> Using cache
  19. ---> cbf8e8ba68a8
  20. Step 7 : RUN rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && rm -rf /var/lib/apt/lists/*
  21. ---> Using cache
  22. ---> 57bc5d798de0
  23. Step 8 : RUN mv /bin/sh /bin/sh-old && ln -s /bin/bash /bin/sh
  24. ---> Using cache
  25. ---> e9ace6810e1b
  26. Step 9 : WORKDIR $CATKIN_WS
  27. ---> Using cache
  28. ---> 18bcef7dae30
  29. Step 10 : ENV TERM xterm
  30. ---> Using cache
  31. ---> ed78e4411956
  32. Step 11 : ENV PYTHONIOENCODING UTF-8
  33. ---> Using cache
  34. ---> e22c7f70cdac
  35. Step 12 : RUN catkin config --extend /opt/ros/$ROS_DISTRO --install && catkin build
  36. ---> Running in f03352fe9ba4
  37. ----------------------------------------------------
  38. Profile: default
  39. Extending: [explicit] /opt/ros/kinetic
  40. Workspace: /root/catkin_ws
  41. ----------------------------------------------------
  42. Source Space: [exists] /root/catkin_ws/src
  43. Log Space: [missing] /root/catkin_ws/logs
  44. Build Space: [missing] /root/catkin_ws/build
  45. Devel Space: [missing] /root/catkin_ws/devel
  46. Install Space: [missing] /root/catkin_ws/install
  47. DESTDIR: [unused] None
  48. ----------------------------------------------------
  49. Devel Space Layout: linked
  50. Install Space Layout: merged
  51. ----------------------------------------------------
  52. Additional CMake Args: None
  53. Additional Make Args: None
  54. Additional catkin Make Args: None
  55. Internal Make Job Server: True
  56. Cache Job Environments: False
  57. ----------------------------------------------------
  58. Whitelisted Packages: None
  59. Blacklisted Packages: None
  60. ----------------------------------------------------
  61. Workspace configuration appears valid.
  62.  
  63. Initialized new catkin workspace in `/root/catkin_ws`
  64. ----------------------------------------------------
  65. ----------------------------------------------------
  66. Profile: default
  67. Extending: [explicit] /opt/ros/kinetic
  68. Workspace: /root/catkin_ws
  69. ----------------------------------------------------
  70. Source Space: [exists] /root/catkin_ws/src
  71. Log Space: [missing] /root/catkin_ws/logs
  72. Build Space: [exists] /root/catkin_ws/build
  73. Devel Space: [exists] /root/catkin_ws/devel
  74. Install Space: [missing] /root/catkin_ws/install
  75. DESTDIR: [unused] None
  76. ----------------------------------------------------
  77. Devel Space Layout: linked
  78. Install Space Layout: merged
  79. ----------------------------------------------------
  80. Additional CMake Args: None
  81. Additional Make Args: None
  82. Additional catkin Make Args: None
  83. Internal Make Job Server: True
  84. Cache Job Environments: False
  85. ----------------------------------------------------
  86. Whitelisted Packages: None
  87. Blacklisted Packages: None
  88. ----------------------------------------------------
  89. Workspace configuration appears valid.
  90.  
  91. NOTE: Forcing CMake to run for each package.
  92. ----------------------------------------------------
  93. [build] Found '5' packages in 0.0 seconds.
  94. Starting >>> catkin_tools_prebuild
  95. Finished <<< catkin_tools_prebuild [ 2.0 seconds ]
  96. Starting >>> ceres-solver
  97. _______________________________________________________________________________
  98. Warnings << ceres-solver:cmake /root/catkin_ws/logs/ceres-solver/build.cmake.000.log
  99. -- Found Eigen version 3.2.92: /usr/include/eigen3
  100.  
  101. ===============================================================
  102. Disabling the use of Eigen as a sparse linear algebra library.
  103. This does not affect the covariance estimation algorithm
  104. which can still use the EIGEN_SPARSE_QR algorithm.
  105. ===============================================================
  106.  
  107. -- Found LAPACK library: /usr/lib/liblapack.so;/usr/lib/libf77blas.so;/usr/lib/libatlas.so
  108. -- Found BLAS library: /usr/lib/libf77blas.so;/usr/lib/libatlas.so
  109. -- Found SuiteSparse 4.4.6, building with SuiteSparse.
  110. -- Failed to find CXSparse - Could not find CXSparse include directory, set CXSPARSE_INCLUDE_DIR to directory containing cs.h
  111. -- Did not find CXSparse, Building without CXSparse.
  112. -- Found Google Flags header in: /usr/include, in namespace: google
  113. -- Found Google Log (glog). Assuming glog was built with gflags support as gflags was found. This will make gflags a public dependency of Ceres.
  114. -- Building with OpenMP.
  115. -- Found tr1/unordered_map/set in std::tr1 namespace.
  116. -- Found shared_ptr in std::tr1 namespace using <tr1/memory> header.
  117. -- Building Ceres as a static library.
  118. -- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.
  119. -- Build the examples.
  120. cd /root/catkin_ws/build/ceres-solver; catkin build --get-env ceres-solver | catkin env -si /usr/bin/cmake /root/catkin_ws/src/ceres-solver --no-warn-unused-cli -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install; cd -
  121. ...............................................................................
  122. Finished <<< ceres-solver [ 46.2 seconds ]
  123. Starting >>> cartographer
  124. _______________________________________________________________________________
  125. Warnings << cartographer:cmake /root/catkin_ws/logs/cartographer/build.cmake.000.log
  126. CMake Warning (dev) at CMakeLists.txt:79 (get_property):
  127. Policy CMP0026 is not set: Disallow use of the LOCATION target property.
  128. Run "cmake --help-policy CMP0026" for policy details. Use the cmake_policy
  129. command to set the policy and suppress this warning.
  130.  
  131. The LOCATION property should not be read from target "cartographer". Use
  132. the target name directly with add_custom_command, or use the generator
  133. expression $<TARGET_FILE>, as appropriate.
  134.  
  135. This warning is for project developers. Use -Wno-dev to suppress it.
  136.  
  137. cd /root/catkin_ws/build/cartographer; catkin build --get-env cartographer | catkin env -si /usr/bin/cmake /root/catkin_ws/src/cartographer --no-warn-unused-cli -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install; cd -
  138. ...............................................................................
  139. _______________________________________________________________________________
  140. Warnings << cartographer:make /root/catkin_ws/logs/cartographer/build.make.000.log
  141. WARNING: html_static_path entry u'/root/catkin_ws/src/cartographer/docs/source/_static' does not exist
  142. cd /root/catkin_ws/build/cartographer; catkin build --get-env cartographer | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
  143. ...............................................................................
  144. Finished <<< cartographer [ 1 minute and 22.7 seconds ]
  145. Starting >>> cartographer_ros_msgs
  146. Finished <<< cartographer_ros_msgs [ 3.5 seconds ]
  147. Starting >>> cartographer_ros
  148. Starting >>> cartographer_rviz
  149. _______________________________________________________________________________
  150. Warnings << cartographer_ros:cmake /root/catkin_ws/logs/cartographer_ros/build.cmake.000.log
  151. ** WARNING ** io features related to openni2 will be disabled
  152. ** WARNING ** io features related to pcap will be disabled
  153. ** WARNING ** io features related to png will be disabled
  154. ** WARNING ** io features related to libusb-1.0 will be disabled
  155. CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  156. catkin_package() DEPENDS on 'Eigen3' but neither 'Eigen3_INCLUDE_DIRS' nor
  157. 'Eigen3_LIBRARIES' is defined.
  158. Call Stack (most recent call first):
  159. /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  160. CMakeLists.txt:57 (catkin_package)
  161.  
  162.  
  163. cd /root/catkin_ws/build/cartographer_ros; catkin build --get-env cartographer_ros | catkin env -si /usr/bin/cmake /root/catkin_ws/src/cartographer_ros/cartographer_ros --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/catkin_ws/devel/.private/cartographer_ros -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install; cd -
  164. ...............................................................................
  165. Finished <<< cartographer_rviz [ 28.0 seconds ]
  166. _______________________________________________________________________________
  167. Errors << cartographer_ros:make /root/catkin_ws/logs/cartographer_ros/build.make.000.log
  168. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  169. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  170. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  171. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  172. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  173. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  174. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  175. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  176. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  177. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  178. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  179. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  180. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  181. <command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
  182. /root/catkin_ws/install/lib/libcartographer.a(optimization_problem.cc.o): In function `ceres::AutoDiffLocalParameterization<cartographer::mapping_3d::sparse_pose_graph::(anonymous namespace)::ConstantYawQuaternionPlus, 4, 2>::~AutoDiffLocalParameterization()':
  183. optimization_problem.cc:(.text+0x5b): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  184. /root/catkin_ws/install/lib/libcartographer.a(optimization_problem.cc.o): In function `cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::Solve(std::vector<cartographer::mapping::SparsePoseGraph::Constraint, std::allocator<cartographer::mapping::SparsePoseGraph::Constraint> > const&, cartographer::transform::Rigid3<double> const&, std::vector<cartographer::transform::Rigid3<double>, std::allocator<cartographer::transform::Rigid3<double> > >*)':
  185. optimization_problem.cc:(.text+0x90d): undefined reference to `ceres::Solver::Summary::Summary()'
  186. optimization_problem.cc:(.text+0x93b): undefined reference to `ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*)'
  187. optimization_problem.cc:(.text+0xb2d): undefined reference to `ceres::Problem::~Problem()'
  188. optimization_problem.cc:(.text+0xbab): undefined reference to `ceres::Problem::Problem(ceres::Problem::Options const&)'
  189. optimization_problem.cc:(.text+0xd70): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  190. optimization_problem.cc:(.text+0xd9c): undefined reference to `ceres::Problem::SetParameterBlockConstant(double*)'
  191. optimization_problem.cc:(.text+0xdd4): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  192. optimization_problem.cc:(.text+0xe23): undefined reference to `vtable for ceres::QuaternionParameterization'
  193. optimization_problem.cc:(.text+0xedb): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  194. optimization_problem.cc:(.text+0xf34): undefined reference to `vtable for ceres::QuaternionParameterization'
  195. optimization_problem.cc:(.text+0x114f): undefined reference to `vtable for ceres::HuberLoss'
  196. optimization_problem.cc:(.text+0x12d2): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*, double*, double*)'
  197. optimization_problem.cc:(.text+0x17fc): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*)'
  198. optimization_problem.cc:(.text+0x1e9c): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*, double*, double*, double*)'
  199. optimization_problem.cc:(.text+0x2492): undefined reference to `ceres::Problem::~Problem()'
  200. optimization_problem.cc:(.text+0x24f4): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  201. optimization_problem.cc:(.text+0x25bd): undefined reference to `ceres::Solver::Summary::FullReport[abi:cxx11]() const'
  202. /root/catkin_ws/install/lib/libcartographer.a(optimization_problem.cc.o): In function `ceres::AutoDiffLocalParameterization<cartographer::mapping_3d::sparse_pose_graph::(anonymous namespace)::ConstantYawQuaternionPlus, 4, 2>::~AutoDiffLocalParameterization()':
  203. optimization_problem.cc:(.text+0x3c): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  204. /root/catkin_ws/install/lib/libcartographer.a(optimization_problem.cc.o): In function `ceres::QuaternionParameterization::~QuaternionParameterization()':
  205. optimization_problem.cc:(.text._ZN5ceres26QuaternionParameterizationD0Ev[_ZN5ceres26QuaternionParameterizationD5Ev]+0x3): undefined reference to `vtable for ceres::QuaternionParameterization'
  206. optimization_problem.cc:(.text._ZN5ceres26QuaternionParameterizationD0Ev[_ZN5ceres26QuaternionParameterizationD5Ev]+0x13): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  207. /root/catkin_ws/install/lib/libcartographer.a(optimization_problem.cc.o): In function `ceres::QuaternionParameterization::~QuaternionParameterization()':
  208. optimization_problem.cc:(.text._ZN5ceres26QuaternionParameterizationD2Ev[_ZN5ceres26QuaternionParameterizationD5Ev]+0x3): undefined reference to `vtable for ceres::QuaternionParameterization'
  209. optimization_problem.cc:(.text._ZN5ceres26QuaternionParameterizationD2Ev[_ZN5ceres26QuaternionParameterizationD5Ev]+0xf): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  210. /root/catkin_ws/install/lib/libcartographer.a(optimization_problem.cc.o):(.data.rel.ro+0x10): undefined reference to `typeinfo for ceres::LocalParameterization'
  211. /root/catkin_ws/install/lib/libcartographer.a(optimization_problem.cc.o):(.data.rel.ro+0x48): undefined reference to `ceres::LocalParameterization::MultiplyByJacobian(double const*, int, double const*, double*) const'
  212. /root/catkin_ws/install/lib/libcartographer.a(constraint_builder.cc.o): In function `cartographer::mapping_3d::sparse_pose_graph::ConstraintBuilder::ComputeConstraint(int, cartographer::mapping_3d::Submap const*, int, cartographer::mapping::Submaps const*, cartographer::mapping::Submaps const*, bool, cartographer::mapping::TrajectoryConnectivity*, cartographer::sensor::CompressedPointCloud const*, cartographer::transform::Rigid3<double> const&, std::unique_ptr<cartographer::mapping::SparsePoseGraph::Constraint, std::default_delete<cartographer::mapping::SparsePoseGraph::Constraint> >*)':
  213. constraint_builder.cc:(.text+0x3fa8): undefined reference to `ceres::Solver::Summary::Summary()'
  214. /root/catkin_ws/install/lib/libcartographer.a(ceres_scan_matcher.cc.o): In function `ceres::AutoDiffLocalParameterization<cartographer::mapping_3d::scan_matching::(anonymous namespace)::YawOnlyQuaternionPlus, 4, 1>::~AutoDiffLocalParameterization()':
  215. ceres_scan_matcher.cc:(.text+0x5b): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  216. /root/catkin_ws/install/lib/libcartographer.a(ceres_scan_matcher.cc.o): In function `cartographer::mapping_3d::scan_matching::CeresScanMatcher::Match(cartographer::transform::Rigid3<double> const&, cartographer::transform::Rigid3<double> const&, std::vector<std::pair<std::vector<Eigen::Matrix<float, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1, 0, 3, 1> > > const*, cartographer::mapping_3d::HybridGrid const*>, std::allocator<std::pair<std::vector<Eigen::Matrix<float, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1, 0, 3, 1> > > const*, cartographer::mapping_3d::HybridGrid const*> > > const&, cartographer::transform::Rigid3<double>*, Eigen::Matrix<double, 6, 6, 0, 6, 6>*, ceres::Solver::Summary*)':
  217. ceres_scan_matcher.cc:(.text+0x39b): undefined reference to `ceres::Problem::Problem()'
  218. ceres_scan_matcher.cc:(.text+0x585): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*)'
  219. ceres_scan_matcher.cc:(.text+0x69d): undefined reference to `vtable for ceres::QuaternionParameterization'
  220. ceres_scan_matcher.cc:(.text+0x7b7): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*)'
  221. ceres_scan_matcher.cc:(.text+0x8bd): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*)'
  222. ceres_scan_matcher.cc:(.text+0x8d8): undefined reference to `ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*)'
  223. ceres_scan_matcher.cc:(.text+0x967): undefined reference to `ceres::Problem::~Problem()'
  224. ceres_scan_matcher.cc:(.text+0xb2b): undefined reference to `ceres::Problem::~Problem()'
  225. ceres_scan_matcher.cc:(.text+0xbac): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  226. /root/catkin_ws/install/lib/libcartographer.a(ceres_scan_matcher.cc.o): In function `ceres::AutoDiffLocalParameterization<cartographer::mapping_3d::scan_matching::(anonymous namespace)::YawOnlyQuaternionPlus, 4, 1>::~AutoDiffLocalParameterization()':
  227. ceres_scan_matcher.cc:(.text+0x3c): undefined reference to `ceres::LocalParameterization::~LocalParameterization()'
  228. /root/catkin_ws/install/lib/libcartographer.a(ceres_scan_matcher.cc.o):(.data.rel.ro+0x10): undefined reference to `typeinfo for ceres::LocalParameterization'
  229. /root/catkin_ws/install/lib/libcartographer.a(ceres_scan_matcher.cc.o):(.data.rel.ro+0x48): undefined reference to `ceres::LocalParameterization::MultiplyByJacobian(double const*, int, double const*, double*) const'
  230. /root/catkin_ws/install/lib/libcartographer.a(local_trajectory_builder.cc.o): In function `cartographer::mapping_2d::LocalTrajectoryBuilder::ScanMatch(std::chrono::time_point<cartographer::common::UniversalTimeScaleClock, std::chrono::duration<long, std::ratio<1l, 10000000l> > >, cartographer::transform::Rigid3<double> const&, cartographer::transform::Rigid3<double> const&, cartographer::sensor::LaserFan const&, cartographer::transform::Rigid3<double>*, Eigen::Matrix<double, 6, 6, 0, 6, 6>*)':
  231. local_trajectory_builder.cc:(.text+0x1270): undefined reference to `ceres::Solver::Summary::Summary()'
  232. /root/catkin_ws/install/lib/libcartographer.a(optimization_problem.cc.o): In function `cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::Solve(std::vector<cartographer::mapping::SparsePoseGraph::Constraint, std::allocator<cartographer::mapping::SparsePoseGraph::Constraint> > const&, std::vector<cartographer::mapping::Submaps const*, std::allocator<cartographer::mapping::Submaps const*> > const&, std::vector<cartographer::transform::Rigid2<double>, std::allocator<cartographer::transform::Rigid2<double> > > const&, std::vector<cartographer::transform::Rigid2<double>, std::allocator<cartographer::transform::Rigid2<double> > >*, std::vector<cartographer::transform::Rigid2<double>, std::allocator<cartographer::transform::Rigid2<double> > >*)':
  233. optimization_problem.cc:(.text+0x10e): undefined reference to `ceres::Problem::Problem(ceres::Problem::Options const&)'
  234. optimization_problem.cc:(.text+0x284): undefined reference to `ceres::Problem::AddParameterBlock(double*, int)'
  235. optimization_problem.cc:(.text+0x364): undefined reference to `ceres::Problem::AddParameterBlock(double*, int)'
  236. optimization_problem.cc:(.text+0x390): undefined reference to `ceres::Problem::SetParameterBlockConstant(double*)'
  237. optimization_problem.cc:(.text+0x5d2): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*)'
  238. optimization_problem.cc:(.text+0xace): undefined reference to `ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*)'
  239. optimization_problem.cc:(.text+0xce4): undefined reference to `ceres::Problem::~Problem()'
  240. optimization_problem.cc:(.text+0xd32): undefined reference to `vtable for ceres::HuberLoss'
  241. optimization_problem.cc:(.text+0x12e2): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*)'
  242. optimization_problem.cc:(.text+0x1326): undefined reference to `ceres::Solver::Summary::Summary()'
  243. optimization_problem.cc:(.text+0x1358): undefined reference to `ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*)'
  244. optimization_problem.cc:(.text+0x165a): undefined reference to `ceres::Problem::Evaluate(ceres::Problem::EvaluateOptions const&, double*, std::vector<double, std::allocator<double> >*, std::vector<double, std::allocator<double> >*, ceres::CRSMatrix*)'
  245. optimization_problem.cc:(.text+0x174d): undefined reference to `ceres::Solver::Summary::FullReport[abi:cxx11]() const'
  246. optimization_problem.cc:(.text+0x18f2): undefined reference to `ceres::Problem::~Problem()'
  247. /root/catkin_ws/install/lib/libcartographer.a(constraint_builder.cc.o): In function `cartographer::mapping_2d::sparse_pose_graph::ConstraintBuilder::ComputeConstraint(int, cartographer::mapping::Submap const*, int, cartographer::mapping::Submaps const*, cartographer::mapping::Submaps const*, bool, cartographer::mapping::TrajectoryConnectivity*, std::vector<Eigen::Matrix<float, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1, 0, 3, 1> > > const*, cartographer::transform::Rigid2<double> const&, std::unique_ptr<cartographer::mapping::SparsePoseGraph::Constraint, std::default_delete<cartographer::mapping::SparsePoseGraph::Constraint> >*)':
  248. constraint_builder.cc:(.text+0x39a5): undefined reference to `ceres::Solver::Summary::Summary()'
  249. /root/catkin_ws/install/lib/libcartographer.a(ceres_scan_matcher.cc.o): In function `cartographer::mapping_2d::scan_matching::CeresScanMatcher::Match(cartographer::transform::Rigid2<double> const&, cartographer::transform::Rigid2<double> const&, std::vector<Eigen::Matrix<float, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<float, 3, 1, 0, 3, 1> > > const&, cartographer::mapping_2d::ProbabilityGrid const&, cartographer::transform::Rigid2<double>*, Eigen::Matrix<double, 3, 3, 0, 3, 3>*, ceres::Solver::Summary*) const':
  250. ceres_scan_matcher.cc:(.text+0x12d): undefined reference to `ceres::Problem::Problem()'
  251. ceres_scan_matcher.cc:(.text+0x26b): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*)'
  252. ceres_scan_matcher.cc:(.text+0x33b): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*)'
  253. ceres_scan_matcher.cc:(.text+0x403): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*)'
  254. ceres_scan_matcher.cc:(.text+0x414): undefined reference to `ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*)'
  255. ceres_scan_matcher.cc:(.text+0x486): undefined reference to `ceres::Covariance::Covariance(ceres::Covariance::Options const&)'
  256. ceres_scan_matcher.cc:(.text+0x4ce): undefined reference to `ceres::Covariance::Compute(std::vector<std::pair<double const*, double const*>, std::allocator<std::pair<double const*, double const*> > > const&, ceres::Problem*)'
  257. ceres_scan_matcher.cc:(.text+0x4ec): undefined reference to `ceres::Covariance::GetCovarianceBlock(double const*, double const*, double*) const'
  258. ceres_scan_matcher.cc:(.text+0x5a2): undefined reference to `ceres::Covariance::~Covariance()'
  259. ceres_scan_matcher.cc:(.text+0x5aa): undefined reference to `ceres::Problem::~Problem()'
  260. ceres_scan_matcher.cc:(.text+0x7fd): undefined reference to `ceres::Problem::~Problem()'
  261. ceres_scan_matcher.cc:(.text+0x84e): undefined reference to `ceres::Covariance::~Covariance()'
  262. /root/catkin_ws/install/lib/libcartographer.a(kalman_local_trajectory_builder.cc.o): In function `cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::AddAccumulatedLaserFan(std::chrono::time_point<cartographer::common::UniversalTimeScaleClock, std::chrono::duration<long, std::ratio<1l, 10000000l> > >, cartographer::sensor::LaserFan const&)':
  263. kalman_local_trajectory_builder.cc:(.text+0x11aa): undefined reference to `ceres::Solver::Summary::Summary()'
  264. /root/catkin_ws/install/lib/libcartographer.a(ceres_pose.cc.o): In function `cartographer::mapping_3d::CeresPose::CeresPose(cartographer::transform::Rigid3<double> const&, std::unique_ptr<ceres::LocalParameterization, std::default_delete<ceres::LocalParameterization> >, ceres::Problem*)':
  265. ceres_pose.cc:(.text+0x5d): undefined reference to `ceres::Problem::AddParameterBlock(double*, int)'
  266. ceres_pose.cc:(.text+0x7e): undefined reference to `ceres::Problem::AddParameterBlock(double*, int, ceres::LocalParameterization*)'
  267. /root/catkin_ws/install/lib/libcartographer.a(optimizing_local_trajectory_builder.cc.o): In function `cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::MaybeOptimize(std::chrono::time_point<cartographer::common::UniversalTimeScaleClock, std::chrono::duration<long, std::ratio<1l, 10000000l> > >)':
  268. optimizing_local_trajectory_builder.cc:(.text+0x1e47): undefined reference to `ceres::Problem::Problem()'
  269. optimizing_local_trajectory_builder.cc:(.text+0x1eef): undefined reference to `ceres::Problem::SetParameterBlockConstant(double*)'
  270. optimizing_local_trajectory_builder.cc:(.text+0x1f06): undefined reference to `ceres::Problem::AddParameterBlock(double*, int)'
  271. optimizing_local_trajectory_builder.cc:(.text+0x1f11): undefined reference to `ceres::Problem::SetParameterBlockConstant(double*)'
  272. optimizing_local_trajectory_builder.cc:(.text+0x1f20): undefined reference to `ceres::Problem::SetParameterBlockConstant(double*)'
  273. optimizing_local_trajectory_builder.cc:(.text+0x2137): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*)'
  274. optimizing_local_trajectory_builder.cc:(.text+0x22ac): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*)'
  275. optimizing_local_trajectory_builder.cc:(.text+0x22cb): undefined reference to `vtable for ceres::QuaternionParameterization'
  276. optimizing_local_trajectory_builder.cc:(.text+0x22e8): undefined reference to `ceres::Problem::SetParameterization(double*, ceres::LocalParameterization*)'
  277. optimizing_local_trajectory_builder.cc:(.text+0x2582): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*)'
  278. optimizing_local_trajectory_builder.cc:(.text+0x273a): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*, double*)'
  279. optimizing_local_trajectory_builder.cc:(.text+0x28e4): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*)'
  280. optimizing_local_trajectory_builder.cc:(.text+0x2f9a): undefined reference to `ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, double*, double*, double*, double*)'
  281. optimizing_local_trajectory_builder.cc:(.text+0x2fe2): undefined reference to `ceres::Solver::Summary::Summary()'
  282. optimizing_local_trajectory_builder.cc:(.text+0x2ffc): undefined reference to `ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*)'
  283. optimizing_local_trajectory_builder.cc:(.text+0x302f): undefined reference to `ceres::Problem::~Problem()'
  284. optimizing_local_trajectory_builder.cc:(.text+0x36a0): undefined reference to `ceres::Problem::~Problem()'
  285. collect2: error: ld returned 1 exit status
  286. make[2]: *** [/root/catkin_ws/devel/.private/cartographer_ros/lib/cartographer_ros/configuration_files_test] Error 1
  287. make[1]: *** [cartographer_ros/CMakeFiles/configuration_files_test.dir/all] Error 2
  288. make[1]: *** Waiting for unfinished jobs....
  289. make: *** [all] Error 2
  290. cd /root/catkin_ws/build/cartographer_ros; catkin build --get-env cartographer_ros | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
  291. ...............................................................................
  292. Failed << cartographer_ros:make [ Exited with code 2 ]
  293. Failed <<< cartographer_ros [ 47.0 seconds ]
  294. [build] Summary: 5 of 6 packages succeeded.
  295. [build] Ignored: None.
  296. [build] Warnings: 3 packages succeeded with warnings.
  297. [build] Abandoned: No packages were abandoned.
  298. [build] Failed: 1 packages failed.
  299. [build] Runtime: 3 minutes and 1.9 seconds total.
  300. [build] Note: Workspace packages have changed, please re-source setup files to use them.
  301. The command '/bin/sh -c catkin config --extend /opt/ros/$ROS_DISTRO --install && catkin build' returned a non-zero code: 1
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