이전 글에서 무사히 glog 이슈를 해결한 줄 알았더니, 이번에는 voxblox나 dpgo_ros에서 glog를 찾을 수 없다고 에러가 발생했다.
Case 1. glog를 지우고 다시 설치했을 때 (결국 실패함…아래로 이동)
1. Glog error in ROS-free package 해결하기
먼저 ETH-ASL 친구들은 glog를 catkin화해서 사용하는데, 문제는 이 glog를 ros-free인 package에서는 찾지를 못한다는 것이다. 그런데 여기 PR에서 해당 문제를 해결했다. 따라서 아래와 같은 류의 에러가 발생한다면:
/home/shapelim/kimera_multi_ws/src/voxblox/voxblox/include/voxblox/integrator/esdf_occ_integrator.h:9:10: fatal error: glog/logging.h: No such file or directory
9 | #include <glog/logging.h>
현재 ROS workspace에 있는 glog_catkin을 제거한 후, 저 TimeSchneider42님의 레포지토리를 설치하면 된다.
git clone https://github.com/TimSchneider42/glog_catkin.git
2. Glog error in dpgo_ros 해결하기
그 후, dpgo_ros를 빌드하려고 하니 다음과 같은 에러가 발생했다:
/usr/bin/ld: cannot find -lglog::glog
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/dpgo_ros.dir/build.make:156: /home/shapelim/kimera_multi_ws/devel/.private/dpgo_ros/lib/libdpgo_ros.so] Error 1
make[1]: *** [CMakeFiles/Makefile2:2220: CMakeFiles/dpgo_ros.dir/all] Error 2
make: *** [Makefile:146: all] Error 2
이는 dpgo_ros에서 glog::glog를 찾지 못해서 발생하는 문제인데, 다른 레포지토리에서는 catkin_simple을 사용해서 현재 workspace 내의 glog_catkin를 link한 반면,
이 레포지토리에서는 또 local 컴퓨터에 설치하고자 하는 glog를 사용하고 있는 것 같다 (그리고 안타깝게도 local에 glog가 깔려있으면 현재 MIT-SPARK 시스템은 어느 glog를 가르켜야하는지에 대한 에러가 발생한다…진퇴양난임).
그런데 그냥 CMakeLists.txt에 아래와 같이 한 줄 추가해줬더니 해결됐다:
find_package(glog REQUIRED)
3. kimera_distributed에서의 에러 해결하기
In file included from /home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp:6:
/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp: In member function ‘std::shared_ptr<kimera_distributed::Keyframe> kimera_distributed::SubmapAtlas::getLatestKeyframe()’:
/home/shapelim/kimera_multi_ws/devel/.private/glog_catkin/include/glog/logging.h:776:80: error: no matching function for call to ‘CheckNotNull(const char [74], int, const char [44], std::shared_ptr<kimera_distributed::Keyframe>)’
776 | google::CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
| ^
/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp:88:12: note: in expansion of macro ‘CHECK_NOTNULL’
88 | return CHECK_NOTNULL(getKeyframe(keyframe_id));
| ^~~~~~~~~~~~~
In file included from /home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp:6:
/home/shapelim/kimera_multi_ws/devel/.private/glog_catkin/include/glog/logging.h:1286:4: note: candidate: ‘template<class T> T* google::CheckNotNull(const char*, int, const char*, T*)’
1286 | T* CheckNotNull(const char *file, int line, const char *names, T* t) {
| ^~~~~~~~~~~~
/home/shapelim/kimera_multi_ws/devel/.private/glog_catkin/include/glog/logging.h:1286:4: note: template argument deduction/substitution failed:
In file included from /home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp:6:
/home/shapelim/kimera_multi_ws/devel/.private/glog_catkin/include/glog/logging.h:776:80: note: mismatched types ‘T*’ and ‘std::shared_ptr<kimera_distributed::Keyframe>’
776 | google::CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
| ^
/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp:88:12: note: in expansion of macro ‘CHECK_NOTNULL’
88 | return CHECK_NOTNULL(getKeyframe(keyframe_id));
| ^~~~~~~~~~~~~
/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp: In member function ‘std::shared_ptr<kimera_distributed::Submap> kimera_distributed::SubmapAtlas::createSubmap(int, const gtsam::Pose3&, const uint64_t&)’:
/home/shapelim/kimera_multi_ws/devel/.private/glog_catkin/include/glog/logging.h:776:80: error: no matching function for call to ‘CheckNotNull(const char [74], int, const char [44], std::shared_ptr<kimera_distributed::Submap>)’
776 | google::CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
| ^
/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp:104:24: note: in expansion of macro ‘CHECK_NOTNULL’
104 | auto prev_submap = CHECK_NOTNULL(getSubmap(submap_id - 1));
| ^~~~~~~~~~~~~
.
.
.
CHECK_NOTNULL 에러는 왜 내 컴퓨터에서만 뜨는지는 모르겠으나, pointer 뒤에 get()을 추가해서 받으면 해결된다.
Case 1. glog를 지우고 다시 설치했을 때 (성공)
처음에는 glog가 여러 개 설치되어 있어서 발생한 문제라고 생각했는데, 이전 글과 같이 아래와 같이 glog를 완전히 지우고
sudo apt-get install libgoogle-glog-dev
다시 설치하니 대체로 glog 이슈는 해결되었다.
그럼에도 내 컴퓨터에서는 kimera_distributed, kimera_vio, voxblox_ros가 빌드가 실패했다…
(참고로 Kimera 계열을 build할 때는 꼭!!! catkin build -DGTSAM_USE_SYSTEM_EIGEN=ON와 같이 GTSAM 관련 명령어를 명시해줘야 한다고 한다.)
주로 CHECK_NOTNULL 관련 에러가 발생하는데:
rrors << kimera_vio:make /home/shapelim/kimera_multi_ws/logs/kimera_vio/build.make.001.log
In file included from /home/shapelim/kimera_multi_ws/src/kimera_vio/include/kimera-vio/backend/RegularVioBackendParams.h:27,
from /home/shapelim/kimera_multi_ws/src/kimera_vio/include/kimera-vio/pipeline/Pipeline-definitions.h:19,
from /home/shapelim/kimera_multi_ws/src/kimera_vio/include/kimera-vio/visualizer/OpenCvDisplay.h:19,
from /home/shapelim/kimera_multi_ws/src/kimera_vio/src/visualizer/OpenCvDisplay.cpp:15:
/home/shapelim/kimera_multi_ws/src/kimera_vio/src/visualizer/OpenCvDisplay.cpp: In constructor ‘VIO::OpenCv3dDisplay::OpenCv3dDisplay(VIO::DisplayParams::Ptr, const ShutdownPipelineCallback&)’:
/home/shapelim/kimera_multi_ws/src/kimera_vio/src/visualizer/OpenCvDisplay.cpp:35:16: error: no matching function for call to ‘CheckNotNull(const char [79], int, const char [84], std::shared_ptr<VIO::OpenCv3dDisplayParams>)’
35 | params_(*CHECK_NOTNULL(
| ^~~~~~~~~~~~~
In file included from /home/shapelim/kimera_multi_ws/src/kimera_vio/include/kimera-vio/backend/RegularVioBackendParams.h:27,
from /home/shapelim/kimera_multi_ws/src/kimera_vio/include/kimera-vio/pipeline/Pipeline-definitions.h:19,
from /home/shapelim/kimera_multi_ws/src/kimera_vio/include/kimera-vio/visualizer/OpenCvDisplay.h:19,
from /home/shapelim/kimera_multi_ws/src/kimera_vio/src/visualizer/OpenCvDisplay.cpp:15:
/home/shapelim/kimera_multi_ws/devel/include/glog/logging.h:1286:4: note: candidate: ‘template<class T> T* google::CheckNotNull(const char*, int, const char*, T*)’
1286 | T* CheckNotNull(const char *file, int line, const char *names, T* t) {
| ^~~~~~~~~~~~
/home/shapelim/kimera_multi_ws/devel/include/glog/logging.h:1286:4: note: template argument deduction/substitution failed:
In file included from /home/shapelim/kimera_multi_ws/src/kimera_vio/include/kimera-vio/backend/RegularVioBackendParams.h:27,
from /home/shapelim/kimera_multi_ws/src/kimera_vio/include/kimera-vio/pipeline/Pipeline-definitions.h:19,
from /home/shapelim/kimera_multi_ws/src/kimera_vio/include/kimera-vio/visualizer/OpenCvDisplay.h:19,
from /home/shapelim/kimera_multi_ws/src/kimera_vio/src/visualizer/OpenCvDisplay.cpp:15:
/home/shapelim/kimera_multi_ws/src/kimera_vio/src/visualizer/OpenCvDisplay.cpp:35:16: note: mismatched types ‘T*’ and ‘std::shared_ptr<VIO::OpenCv3dDisplayParams>’
35 | params_(*CHECK_NOTNULL(
| ^~~~~~~~~~~~~
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:1266: CMakeFiles/kimera_vio.dir/src/visualizer/OpenCvDisplay.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:799: CMakeFiles/kimera_vio.dir/all] Error 2
make: *** [Makefile:146: all] Error 2
코드 내에 있는 CHECK_NOTNULL의 입력으로 들어가는 pointer를 get()으로 받아주면 해결된다.
이를 통해 voxblox_ros와 kimera_vio는 해결했는데, kimera_distributed에서는 여전히 CHECK_NOTNULL 관련 에러가 아래와 같이 발생한다:
Errors << kimera_distributed:make /home/shapelim/kimera_multi_ws/logs/kimera_distributed/build.make.006.log
In file included from /home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp:6:
/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp: In member function ‘std::shared_ptr<kimera_distributed::Keyframe> kimera_distributed::SubmapAtlas::getLatestKeyframe()’:
/home/shapelim/kimera_multi_ws/devel/.private/glog_catkin/include/glog/logging.h:776:23: error: could not convert ‘google::CheckNotNull<kimera_distributed::Keyframe>(((const char*)"/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp"), 88, ((const char*)"\'getKeyframe(keyframe_id).get()\' Must be non NULL"), kimera_distributed::SubmapAtlas::getKeyframe(int)(keyframe_id).std::shared_ptr<kimera_distributed::Keyframe>::<anonymous>.std::__shared_ptr<kimera_distributed::Keyframe, __gnu_cxx::_S_atomic>::get())’ from ‘kimera_distributed::Keyframe*’ to ‘std::shared_ptr<kimera_distributed::Keyframe>’
776 | google::CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
| ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| |
| kimera_distributed::Keyframe*
/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp:88:12: note: in expansion of macro ‘CHECK_NOTNULL’
88 | return CHECK_NOTNULL(getKeyframe(keyframe_id).get());
| ^~~~~~~~~~~~~
/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp: In member function ‘std::shared_ptr<kimera_distributed::Submap> kimera_distributed::SubmapAtlas::getLatestSubmap()’:
/home/shapelim/kimera_multi_ws/devel/.private/glog_catkin/include/glog/logging.h:776:23: error: could not convert ‘google::CheckNotNull<kimera_distributed::Submap>(((const char*)"/home/shapelim/kimera_multi_ws/src/kimera_distributed/src/SubmapAtlas.cpp"), 134, ((const char*)"\'getSubmap(submap_id).get()\' Must be non NULL"), kimera_distributed::SubmapAtlas::getSubmap(int)(submap_id).std::shared_ptr<kimera_distributed::Submap>::<anonymous>.std::__shared_ptr<kimera_distributed::Submap, __gnu_cxx::_S_atomic>::get())’ from ‘kimera_distributed::Submap*’ to ‘std::shared_ptr<kimera_distributed::Submap>’
776 | google::CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
| ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| |
| kimera_distributed::Submap*
이는 CHECK_NOTNULL의 입력으로 들어가는 pointer는 원시 포인터를 받아야하기 때문에 get()으로 받아주되, 변수를 CHECK_NOTNULL 밖에 선언해주면 된다:
@@ -85,7 +85,9 @@ std::shared_ptr<Keyframe> SubmapAtlas::getLatestKeyframe() {
else {
int keyframe_id = numKeyframes() - 1;
CHECK_GE(keyframe_id, 0);
- return CHECK_NOTNULL(getKeyframe(keyframe_id));
+ auto keyframe_ptr = getKeyframe(keyframe_id);
+ CHECK_NOTNULL(keyframe_ptr.get());
+ return keyframe_ptr;
}
}
이렇게 하면 Kimera-Multi를 돌리는 세팅을 완료하게 된다!