I followed the instructions on #427 (comment) to install rtabmap on ros-melodic for the Jetson Xavier (running Ubuntu 18.04), but encountered the following error message when running make:
In file included from /usr/include/gtsam/slam/PriorFactor.h:20:0, from /home/autobike/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43: /usr/include/gtsam/nonlinear/PriorFactor.h: In instantiation of ‘gtsam::Vector gtsam::PriorFactor<VALUE>::evaluateError(const T&, gtsam::OptionalMatrixType) const [with VALUE = vertigo::SwitchVariableLinear; gtsam::Vector = Eigen::Matrix<double, -1, 1>; gtsam::PriorFactor<VALUE>::T = vertigo::SwitchVariableLinear; gtsam::OptionalMatrixType = Eigen::Matrix<double, -1, -1>*; gtsam::Matrix = Eigen::Matrix<double, -1, -1>]’: /home/autobike/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:749:1: required from here /usr/include/gtsam/nonlinear/PriorFactor.h:101:31: error: call to ‘static gtsam::traits<vertigo::SwitchVariableLinear>::TangentVector gtsam::traits<vertigo::SwitchVariableLinear>::Local(const vertigo::SwitchVariableLinear&, const vertigo::SwitchVariableLinear&, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian)’ uses the default argument for parameter 3, which is not yet defined return -traits<T>::Local(x, prior_); ~~~~~~~~~~~~~~~~^~~~~~~~~~~ /usr/include/gtsam/nonlinear/PriorFactor.h:101:31: error: call to ‘static gtsam::traits<vertigo::SwitchVariableLinear>::TangentVector gtsam::traits<vertigo::SwitchVariableLinear>::Local(const vertigo::SwitchVariableLinear&, const vertigo::SwitchVariableLinear&, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian)’ uses the default argument for parameter 4, which is not yet defined corelib/src/CMakeFiles/rtabmap_core.dir/build.make:929: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o' failed make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o] Error 1 CMakeFiles/Makefile2:825: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2 Makefile:155: recipe for target 'all' failed make: *** [all] Error 2
The cmake output can be found here:
cmakeoutput2.txt
I followed the instructions on #427 (comment) to install rtabmap on ros-melodic for the Jetson Xavier (running Ubuntu 18.04), but encountered the following error message when running make:
In file included from /usr/include/gtsam/slam/PriorFactor.h:20:0, from /home/autobike/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43: /usr/include/gtsam/nonlinear/PriorFactor.h: In instantiation of ‘gtsam::Vector gtsam::PriorFactor<VALUE>::evaluateError(const T&, gtsam::OptionalMatrixType) const [with VALUE = vertigo::SwitchVariableLinear; gtsam::Vector = Eigen::Matrix<double, -1, 1>; gtsam::PriorFactor<VALUE>::T = vertigo::SwitchVariableLinear; gtsam::OptionalMatrixType = Eigen::Matrix<double, -1, -1>*; gtsam::Matrix = Eigen::Matrix<double, -1, -1>]’: /home/autobike/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:749:1: required from here /usr/include/gtsam/nonlinear/PriorFactor.h:101:31: error: call to ‘static gtsam::traits<vertigo::SwitchVariableLinear>::TangentVector gtsam::traits<vertigo::SwitchVariableLinear>::Local(const vertigo::SwitchVariableLinear&, const vertigo::SwitchVariableLinear&, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian)’ uses the default argument for parameter 3, which is not yet defined return -traits<T>::Local(x, prior_); ~~~~~~~~~~~~~~~~^~~~~~~~~~~ /usr/include/gtsam/nonlinear/PriorFactor.h:101:31: error: call to ‘static gtsam::traits<vertigo::SwitchVariableLinear>::TangentVector gtsam::traits<vertigo::SwitchVariableLinear>::Local(const vertigo::SwitchVariableLinear&, const vertigo::SwitchVariableLinear&, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian)’ uses the default argument for parameter 4, which is not yet defined corelib/src/CMakeFiles/rtabmap_core.dir/build.make:929: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o' failed make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o] Error 1 CMakeFiles/Makefile2:825: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2 Makefile:155: recipe for target 'all' failed make: *** [all] Error 2The cmake output can be found here:
cmakeoutput2.txt