Hello,
I was willing to try the exiting
http://www.ros.org/wiki/openni/Contests/ROS%203D/RGBD-6D-SLAM rgbdslam
package that appeared in the Kinect contest.
But when I try to checkout from
http://alufr-ros-pkg.googlecode.com/svn/branches/kinect-experimental, but
this folder does not exist in the repro.
Pushing the exploration a bit farther, I found the package
http://alufr-ros-pkg.googlecode.com/svn/branches/freiburg_kinect-experimental/
freiburg_kinect-experimental that indeed contains rgbdslam.
Once sourced with unstable and openni, I try to compile slamrgbd but I
eventually end up on the following message:
Linking CXX shared library ../lib/libstanford_gicp.so
/usr/bin/ld: cannot find -lANN
I understand that somehow, slamrgbd tries to find the aan library in my
system's library. Or is it the stanford_gicp lib that needs it? Would
anyone have an idea how to solve that?
Here is the trace of my rosmake for rgbdslam:
[ rosmake ] Last 40 linesbdslam: 0.9 sec ]
[ 1 Active 46/47 Complete ]
{-------------------------------------------------------------------------------
cd build && make -j4
make[1]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[2]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
[ 0%] Built target rospack_genmsg_libexe
[ 0%] Built target rosbuild_premsgsrvgen
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
[ 4%] Built target ROSBUILD_genmsg_lisp
[ 8%] Built target ROSBUILD_genmsg_cpp
[ 16%] Built target ROSBUILD_genmsg_py
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
[ 16%] Built target rospack_genmsg
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
[ 16%] Built target rosbuild_precompile
[ 16%] Built target rospack_genmsg_all
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[3]: Entering directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
Linking CXX shared library ../lib/libstanford_gicp.so
/usr/bin/ld: cannot find -lANN
collect2: ld returned 1 exit status
make[3]: *** [../lib/libstanford_gicp.so] Error 1
make[3]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[2]: *** [CMakeFiles/stanford_gicp.dir/all] Error 2
make[2]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory
`/home/raph/kinectSLAM/freiburg_kinect-experimental/rgbdslam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package rgbdslam written to:
[ rosmake ]
/home/raph/.ros/rosmake/rosmake_output-20110124-221202/rgbdslam/build_output.log
[rosmake-3] Finished <<< rgbdslam [FAIL] [ 0.96 seconds ]
[ rosmake ] Halting due to failure in package rgbdslam.
Thanks for your help
Raph
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