[ros-users] rgbdslam => repository link broken in wiki

[Raphael Favier]

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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