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

[Eitan Marder-Eppstein]

Raph,

I was able to get things working with a bit of pain.

The error you're experiencing is because there's a ROS_NOBUILD file checked
into the ann package that you pulled from the repo.

If you do a "make" explicitly in that package, that should get you past this
blocker at least.

I also had to track down some missing dependencies and pull the "hogman"
package from the repo, changing references in the slam code from "hogman" to
"hogman_minimal" though you might just be able to change the "hogman"
package name instead.

Hope this helps,

Eitan

On Mon, Jan 24, 2011 at 1:20 PM, Raphael Favier <raphael.favier at gmail.com>wrote:

>
> 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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