Build Failed: Cartographer on branch ros2 ros-foxy with colcon about cartographer HOT 7 CLOSED

This should have been fixed upstream with cartographer-project@ae05658 (which is in this repository), and then further fixed in cartographer-project@1f69b83 (which is not). So I believe that this would be fixed by moving to upstream.

And that is basically the goal here. All of the changes in this repository have now been merged upstream, so this repository should be considered deprecated. We can't quite switch to the upstream yet in ROS 2 Foxy, because the cartographer_ros port in https://github.com/ros2/cartographer_ros doesn't build against the newer cartographer.

All of that is to say is that you should make sure that https://github.com/cartographer-project/cartographer builds for you, and work with upstream to make sure that is the case.

from cartographer.

Can you tell me which branch and commit you are on for the cartographer repository? You have to be using the ros2 branch here.

from cartographer.

Yes I was using ros2 branch but before that I have tried to build on tag 2.0.0, 2.1.0 and release-latest unfortunately only 2.1.0 was able to build successfully but is incompatible with cartographer_ros[on branch ros2].

from cartographer.

Yes, you need to stick to the ros2 branches for both this and cartographer_ros.

I will say that what you pasted above looks pretty weird. There's a lot of jumbled output there, so it's kind of hard to see what is going on.

Unfortunately, I don't have much else to give you here. This builds for me locally and on the buildfarm: http://build.ros2.org/view/Fbin_uF64/job/Fbin_uF64__cartographer__ubuntu_focal_amd64__binary/5/consoleFull . This must be something different in your environment, but I don't have a good idea what it could be at the moment.

from cartographer.

On Archlinux with GCC 10.2 I get similar errors:

/usr/bin/ld: CMakeFiles/cartographer.common.lockless_queue_test.dir/cartographer/common/lockless_queue_test.cc.o: undefined reference to symbol '_ZN7testing4Test5SetUpEv'
/usr/bin/ld: /usr/lib/libgtest.so.1.10.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

libgtest must be provided as a library during linking:

$ pwd
build/cartographer

$ cmake  -E cmake_link_script CMakeFiles/cartographer.common.lockless_queue_test.dir/link.txt --verbose=1
/usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer.common.lockless_queue_test.dir/cartographer/common/lockless_queue_test.cc.o -o cartographer.common.lockless_queue_test  libcartographer.a -lgmock_main -lpthread libcartographer_test_library.a libcartographer.a /usr/lib/libceres.so.1.14.0 -lglog -llua5.3 -lm /usr/lib64/libboost_iostreams.so.1.72.0 -lglog -lgflags -lcairo -lprotobuf -lpthread 
/usr/bin/ld: CMakeFiles/cartographer.common.lockless_queue_test.dir/cartographer/common/lockless_queue_test.cc.o: undefined reference to symbol '_ZN7testing4Test5SetUpEv'
/usr/bin/ld: /usr/lib/libgtest.so.1.10.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

$ /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer.common.lockless_queue_test.dir/cartographer/common/lockless_queue_test.cc.o -o cartographer.common.lockless_queue_test  libcartographer.a -lgmock_main -lpthread libcartographer_test_library.a libcartographer.a /usr/lib/libceres.so.1.14.0 -lglog -llua5.3 -lm /usr/lib64/libboost_iostreams.so.1.72.0 -lglog -lgflags -lcairo -lprotobuf -lpthread -lgtest
# links successfully

kunaltyagi has a CMake solution which works for me: cartographer-project#1611 (comment)

from cartographer.

I switched to rolling and tried compiling cartographer_ros with its dependencies. I replaced ros2/cartographer with cartographer-project/cartographer but as @clalancette suggested, ros2/cartographer_ros is not compatible with cartographer-project/cartographer. (I could compile cartographer but not cartographer_ros.)

I was about to replace ros2/cartographer_ros with cartographer-project/cartographer_ros, but saw the WIP cartographer-project/cartographer_ros#1622 for rolling/galactic. I did not try it.

from cartographer.

This was all cleaned up in the latest stuff, so should work now (at least on Humble and Rolling). I'm going to close this out, but feel free to reopen if you are still having issues.

from cartographer.