Google cartographer without ROS

[pa...@flylab.io]

Hello,

I have followed this tutorial in order to install Cartographer and getting started without ROS.
My problem is when I run the bash script install_cartographer (located in cartographer/scripts), it's not compiling when the script tries to do "ninja" command.
Here is th error I got :
```
[6/281] Building CXX object CMakeFiles/cartographer.dir/common/lua_parameter_dictionary.cc.o
FAILED: /usr/bin/c++   -DGOOGLE_GLOG_DLL_DECL="" -isystem /usr/include/eigen3 -isystem /usr/local/include -isystem /usr/include/lua5.1 -isystem /usr/include/cairo -isystem /usr/include/glib-2.0 -isystem /usr/lib/x86_64-linux-gnu/glib-2.0/include -isystem /usr/include/pixman-1 -isystem /usr/include/freetype2 -isystem /usr/include/libpng12 -I. -I../ -O3 -DNDEBUG    -pthread -std=c++11  -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=uninitialized -O3 -DNDEBUG -MMD -MT CMakeFiles/cartographer.dir/common/lua_parameter_dictionary.cc.o -MF CMakeFiles/cartographer.dir/common/lua_parameter_dictionary.cc.o.d -o CMakeFiles/cartographer.dir/common/lua_parameter_dictionary.cc.o -c common/lua_parameter_dictionary.cc
common/lua_parameter_dictionary.cc: In function ‘void cartographer::common::{anonymous}::QuoteStringOnStack(lua_State*)’:
common/lua_parameter_dictionary.cc:49:24: error: ‘lua_pushglobaltable’ was not declared in this scope
   lua_pushglobaltable(L);         // S: ... string globals
                        ^
common/lua_parameter_dictionary.cc: In lambda function:
common/lua_parameter_dictionary.cc:332:3: error: control reaches end of non-void function [-Werror=return-type]
   };
   ^
cc1plus: some warnings being treated as errors
[6/281] Building CXX object CMakeFiles/cartographer.dir/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc.o
ninja: build stopped: subcommand failed.
```


So my first question is has anyone tried to install and use this version of Cartographer (without ROS)?

If yes, did you get the same error?

[Damon Kohler]

Hi,

Could you please file an issue on Github and include some details about your configuration (OS, compiler version, etc.)?

Have a look at the Travis configuration for an example of building and installing the library in a stock Trusy/Xenial Docker image. Builds are green so I expect this is an issue resulting from an untested configuration.

Damon

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[Przemysław Makosiej]

This may have to do with your lua version. lua_pushglobaltable is available in 5.2

[pa...@flylab.io]

Hi,

First of all thank you for your answer, and to answer to your question my OS is Ubuntu 16.04 LTS, G++ compiler version 5.4.0.

I solved some of the package installing problems, there was an error in my package manager and I solved it by using this command (reference: http://askubuntu.com/questions/66875/how-to-disable-multiarch-support).

sudo dpkg --remove-architecture arm64
I only needed the amd64.

However there is a new problem:
after having run succesfully (and consecutively) install_debs.sh and install_ceres.h, I executed install_cartographer.sh script 
and I got this :
# Build and install Cartographer.
cd cartographer
mkdir build
cd build
cmake .. -G Ninja
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler using: Ninja
-- Check for working C compiler using: Ninja -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler using: Ninja
-- Check for working CXX compiler using: Ninja -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
CMake Error at common/CMakeLists.txt:19 (google_test):
  Unknown CMake command "google_test".


CMake Warning (dev) in CMakeLists.txt:
  No cmake_minimum_required command is present.  A line of code such as

    cmake_minimum_required(VERSION 3.5)

  should be added at the top of the file.  The version specified may be lower
  if you wish to support older CMake versions for this project.  For more
  information run "cmake --help-policy CMP0000".
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Configuring incomplete, errors occurred!


It seems like the install_debs.sh hasn't installed  google test.

Did you got the same error ?

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[Damon Kohler]

Could you please file an issue on GitHub? It's easier to track that way.

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[pa...@flylab.io]

Ok done,here is the link: https://github.com/googlecartographer/cartographer/issues/195

Regards

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