std::bad_alloc error while running demo
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Vincent Sieben
Aug 3, 2017, 11:44:41 AM8/3/17
to google-cartographer
Hi,
I received the following error after downloading, compiling, and running the first 2D demo on my system. Do you have any suggestions? The system has 8GB of memory and an Intel® Core™ i5-4670 CPU @ 3.40GHz × 4.
Command:
$ roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
Output:
... logging to /home/sdrwcs/.ros/log/2063244a-7861-11e7-ba85-3417ebc0a292/roslaunch-SLB-4MYKY12-4852.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://SLB-4MYKY12:37999/
SUMMARY
========
PARAMETERS
* /robot_description: <...>
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /use_sim_time: True
NODES
/
cartographer_node (cartographer_ros/cartographer_node)
cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
playbag (rosbag/play)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [4863]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 2063244a-7861-11e7-ba85-3417ebc0a292
process[rosout-1]: started with pid [4876]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [4880]
process[cartographer_node-3]: started with pid [4884]
process[cartographer_occupancy_grid_node-4]: started with pid [4898]
process[rviz-5]: started with pid [4904]
process[playbag-6]: started with pid [4911]
[ INFO] [1501774421.305915823]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/backpack_2d.lua' for 'backpack_2d.lua'.
[ INFO] [1501774421.306145931]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1501774421.306173307]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1501774421.306216655]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
[ INFO] [1501774421.306240221]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
[ INFO] [1501774421.306355446]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1501774421.306379798]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1501774421.306418021]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1501774421.306441180]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1501774421.306513585]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1501774421.306539436]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1501774421.311928476]: I0803 11:33:41.000000 4884 submaps.cc:188] Added submap 1
[ INFO] [1501774421.312020826]: I0803 11:33:41.000000 4884 map_builder_bridge.cc:58] Added trajectory with ID '0'.
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
[cartographer_node-3] process has died [pid 4884, exit code -6, cmd /home/sdrwcs/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/sdrwcs/catkin_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename backpack_2d.lua echoes:=horizontal_laser_2d __name:=cartographer_node __log:=/home/sdrwcs/.ros/log/2063244a-7861-11e7-ba85-3417ebc0a292/cartographer_node-3.log].
log file: /home/sdrwcs/.ros/log/2063244a-7861-11e7-ba85-3417ebc0a292/cartographer_node-3*.log
^C[playbag-6] killing on exit
[rviz-5] killing on exit
[cartographer_occupancy_grid_node-4] killing on exit
[robot_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
I received the following error after downloading, compiling, and running the first 2D demo on my system. Do you have any suggestions? The system has 8GB of memory and an Intel® Core™ i5-4670 CPU @ 3.40GHz × 4.
Command:
$ roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag
Output:
... logging to /home/sdrwcs/.ros/log/2063244a-7861-11e7-ba85-3417ebc0a292/roslaunch-SLB-4MYKY12-4852.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://SLB-4MYKY12:37999/
SUMMARY
========
PARAMETERS
* /robot_description: <...>
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /use_sim_time: True
NODES
/
cartographer_node (cartographer_ros/cartographer_node)
cartographer_occupancy_grid_node (cartographer_ros/cartographer_occupancy_grid_node)
playbag (rosbag/play)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [4863]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 2063244a-7861-11e7-ba85-3417ebc0a292
process[rosout-1]: started with pid [4876]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [4880]
process[cartographer_node-3]: started with pid [4884]
process[cartographer_occupancy_grid_node-4]: started with pid [4898]
process[rviz-5]: started with pid [4904]
process[playbag-6]: started with pid [4911]
[ INFO] [1501774421.305915823]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer_ros/configuration_files/backpack_2d.lua' for 'backpack_2d.lua'.
[ INFO] [1501774421.306145931]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1501774421.306173307]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[ INFO] [1501774421.306216655]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
[ INFO] [1501774421.306240221]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/sparse_pose_graph.lua' for 'sparse_pose_graph.lua'.
[ INFO] [1501774421.306355446]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1501774421.306379798]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[ INFO] [1501774421.306418021]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1501774421.306441180]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[ INFO] [1501774421.306513585]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1501774421.306539436]: I0803 11:33:41.000000 4884 configuration_file_resolver.cc:40] Found '/home/sdrwcs/catkin_ws/install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[ INFO] [1501774421.311928476]: I0803 11:33:41.000000 4884 submaps.cc:188] Added submap 1
[ INFO] [1501774421.312020826]: I0803 11:33:41.000000 4884 map_builder_bridge.cc:58] Added trajectory with ID '0'.
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
[cartographer_node-3] process has died [pid 4884, exit code -6, cmd /home/sdrwcs/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/sdrwcs/catkin_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename backpack_2d.lua echoes:=horizontal_laser_2d __name:=cartographer_node __log:=/home/sdrwcs/.ros/log/2063244a-7861-11e7-ba85-3417ebc0a292/cartographer_node-3.log].
log file: /home/sdrwcs/.ros/log/2063244a-7861-11e7-ba85-3417ebc0a292/cartographer_node-3*.log
^C[playbag-6] killing on exit
[rviz-5] killing on exit
[cartographer_occupancy_grid_node-4] killing on exit
[robot_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Wolfgang Hess
Aug 7, 2017, 8:08:57 AM8/7/17
to Vincent Sieben, google-cartographer
Can you file an issue on GitHub? Also, did you try to reproduce this in a Docker container? If you cannot, it is likely to be an issue in your build environment.
Cheers,
Wolfgang
log file: /home/sdrwcs/.ros/log/2063244a-7861-11e7-ba85-3417ebc0a292/cartographer_node-3*.log
^C[playbag-6] killing on exit
[rviz-5] killing on exit
[cartographer_occupancy_grid_node-4] killing on exit
[robot_state_publisher-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
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Wolfgang Hess
Software Engineer
Google Germany GmbH
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Vincent Sieben
Aug 10, 2017, 10:53:26 AM8/10/17
to google-cartographer
Hi Wolfgang, thanks for getting back to me. When building the docker container, I get the following error:
Step 20/24 : RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && cartographer_ros/scripts/install.sh --pkg cartographer_ros --catkin-make-args run_tests && cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
[18/36] Building CXX object gmock/CMakeFiles/gmock.dir/usr/src/gtest/src/gtest-all.cc.o
FAILED: /usr/bin/c++ -DDISABLE_OPENNI2 -DDISABLE_PCAP -DDISABLE_PNG -DQT_CORE_LIB -DQT_GUI_LIB -DQT_NO_DEBUG -DQT_WIDGETS_LIB -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME=\"cartographer_ros\" -DvtkFiltersFlowPaths_AUTOINIT="1(vtkFiltersParallelFlowPaths)" -DvtkIOExodus_AUTOINIT="1(vtkIOParallelExodus)" -DvtkIOGeometry_AUTOINIT="1(vtkIOMPIParallel)" -DvtkIOImage_AUTOINIT="1(vtkIOMPIImage)" -DvtkIOSQL_AUTOINIT="2(vtkIOMySQL,vtkIOPostgreSQL)" -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL)" -DvtkRenderingCore_AUTOINIT="4(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingFreeTypeOpenGL,vtkRenderingOpenGL)" -DvtkRenderingFreeType_AUTOINIT="2(vtkRenderingFreeTypeFontConfig,vtkRenderingMatplotlib)" -DvtkRenderingLIC_AUTOINIT="1(vtkRenderingParallelLIC)" -DvtkRenderingVolume_AUTOINIT="1(vtkRenderingVolumeOpenGL)" -isystem /usr/include/vtk-6.2 -isystem /usr/include/freetype2 -isystem /usr/include/x86_64-linux-gnu/freetype2 -isystem /usr/include/jsoncpp -isystem /usr/include/hdf5/openmpi -isystem /usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent -isystem /usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include -isystem /usr/lib/openmpi/include -isystem /usr/lib/openmpi/include/openmpi -isystem /usr/include/x86_64-linux-gnu -isystem /usr/include/python2.7 -isystem /usr/include/libxml2 -isystem /usr/include/tcl -isystem /usr/include/lua5.2 -isystem /usr/include/pcl-1.7 -isystem /usr/include/eigen3 -isystem /usr/include/ni -isystem /opt/cartographer_ros/include -isystem /opt/ros/kinetic/include -isystem /opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -I. -I/catkin_ws/src/cartographer_ros/cartographer_ros -I/usr/src/gmock/gtest/include -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/libpng12 -isystem /usr/include/x86_64-linux-gnu/qt5 -isystem /usr/include/x86_64-linux-gnu/qt5/QtWidgets -isystem /usr/include/x86_64-linux-gnu/qt5/QtGui -isystem /usr/include/x86_64-linux-gnu/qt5/QtCore -isystem /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++-64 -O3 -DNDEBUG -DDISABLE_LIBUSB-1.0 -DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET -pthread -std=c++11 -fPIC -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=switch -Werror=uninitialized -O3 -DNDEBUG -fPIC -MMD -MT CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o -MF CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o.d -o CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o -c /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc
<command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
In file included from /usr/include/c++/5/bits/stl_map.h:63:0,
from /usr/include/c++/5/map:61,
from /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.h:20,
from /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc:17:
/usr/include/c++/5/tuple: In instantiation of ‘std::pair<_T1, _T2>::pair(std::tuple<_Args1 ...>&, std::tuple<_Args2 ...>&, std::_Index_tuple<_Indexes1 ...>, std::_Index_tuple<_Indexes2 ...>) [with _Args1 = {int&}; long unsigned int ..._Indexes1 = {0ul}; _Args2 = {std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&}; long unsigned int ..._Indexes2 = {0ul}; _T1 = const int; _T2 = cartographer::mapping::PoseExtrapolator]’:
/usr/include/c++/5/tuple:1161:63: required from ‘std::pair<_T1, _T2>::pair(std::piecewise_construct_t, std::tuple<_Args1 ...>, std::tuple<_Args2 ...>) [with _Args1 = {int&}; _Args2 = {std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&}; _T1 = const int; _T2 = cartographer::mapping::PoseExtrapolator]’
/usr/include/c++/5/ext/new_allocator.h:120:4: required from ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Tp = std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> >]’
/usr/include/c++/5/bits/alloc_traits.h:530:4: required from ‘static void std::allocator_traits<std::allocator<_Tp1> >::construct(std::allocator_traits<std::allocator<_Tp1> >::allocator_type&, _Up*, _Args&& ...) [with _Up = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Tp = std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; std::allocator_traits<std::allocator<_Tp1> >::allocator_type = std::allocator<std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> > >]’
/usr/include/c++/5/bits/stl_tree.h:529:32: required from ‘void std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_M_construct_node(std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_Link_type, _Args&& ...) [with _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Key = int; _Val = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _KeyOfValue = std::_Select1st<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_Link_type = std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> >*]’
/usr/include/c++/5/bits/stl_tree.h:546:21: required from ‘std::_Rb_tree_node<_Val>* std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_M_create_node(_Args&& ...) [with _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Key = int; _Val = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _KeyOfValue = std::_Select1st<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_Link_type = std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> >*]’
/usr/include/c++/5/bits/stl_tree.h:2123:33: required from ‘std::pair<std::_Rb_tree_iterator<_Val>, bool> std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_M_emplace_unique(_Args&& ...) [with _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Key = int; _Val = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _KeyOfValue = std::_Select1st<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >]’
/usr/include/c++/5/bits/stl_map.h:559:64: required from ‘std::pair<typename std::_Rb_tree<_Key, std::pair<const _Key, _Tp>, std::_Select1st<std::pair<const _Key, _Tp> >, _Compare, typename __gnu_cxx::__alloc_traits<_Alloc>::rebind<std::pair<const _Key, _Tp> >::other>::iterator, bool> std::map<_Key, _Tp, _Compare, _Alloc>::emplace(_Args&& ...) [with _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Key = int; _Tp = cartographer::mapping::PoseExtrapolator; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; typename std::_Rb_tree<_Key, std::pair<const _Key, _Tp>, std::_Select1st<std::pair<const _Key, _Tp> >, _Compare, typename __gnu_cxx::__alloc_traits<_Alloc>::rebind<std::pair<const _Key, _Tp> >::other>::iterator = std::_Rb_tree_iterator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >]’
/catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc:116:46: required from here
/usr/include/c++/5/tuple:1172:70: error: no matching function for call to ‘cartographer::mapping::PoseExtrapolator::PoseExtrapolator(std::chrono::duration<long int, std::ratio<1l, 10000000l> >)’
second(std::forward<_Args2>(std::get<_Indexes2>(__tuple2))...)
^
In file included from /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.h:27:0,
from /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc:17:
/opt/cartographer_ros/include/cartographer/mapping/pose_extrapolator.h:37:12: note: candidate: cartographer::mapping::PoseExtrapolator::PoseExtrapolator(cartographer::common::Duration, double)
explicit PoseExtrapolator(common::Duration pose_queue_duration,
^
/opt/cartographer_ros/include/cartographer/mapping/pose_extrapolator.h:37:12: note: candidate expects 2 arguments, 1 provided
<command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
ninja: build stopped: subcommand failed.
MPI4Py;vtkFiltersSMP;vtkFiltersSelection;vtkIOVPIC;VPIC;vtkImagingMath;vtkImagingMorphological;vtkRenderingParallel;vtkRenderingFreeTypeFontConfig;vtkIOFFMPEG;vtkIOMPIImage;vtkIOGDAL
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- iostreams
-- regex
-- Configuring done
-- Generating done
-- Build files have been written to: /catkin_ws/build_isolated/cartographer_ros
==> ninja -j4 -l4 in '/catkin_ws/build_isolated/cartographer_ros'
<== Failed to process package 'cartographer_ros':
Command '['/opt/cartographer_ros/env.sh', 'ninja', '-j4', '-l4']' returned non-zero exit status 1
Reproduce this error by running:
==> cd /catkin_ws/build_isolated/cartographer_ros && /opt/cartographer_ros/env.sh ninja -j4 -l4
Command failed, exiting.
The command '/bin/sh -c cartographer_ros/scripts/install.sh --pkg cartographer_ros && cartographer_ros/scripts/install.sh --pkg cartographer_ros --catkin-make-args run_tests && cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros' returned a non-zero code: 1
Step 20/24 : RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && cartographer_ros/scripts/install.sh --pkg cartographer_ros --catkin-make-args run_tests && cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
[18/36] Building CXX object gmock/CMakeFiles/gmock.dir/usr/src/gtest/src/gtest-all.cc.o
FAILED: /usr/bin/c++ -DDISABLE_OPENNI2 -DDISABLE_PCAP -DDISABLE_PNG -DQT_CORE_LIB -DQT_GUI_LIB -DQT_NO_DEBUG -DQT_WIDGETS_LIB -DROSCONSOLE_BACKEND_LOG4CXX -DROS_PACKAGE_NAME=\"cartographer_ros\" -DvtkFiltersFlowPaths_AUTOINIT="1(vtkFiltersParallelFlowPaths)" -DvtkIOExodus_AUTOINIT="1(vtkIOParallelExodus)" -DvtkIOGeometry_AUTOINIT="1(vtkIOMPIParallel)" -DvtkIOImage_AUTOINIT="1(vtkIOMPIImage)" -DvtkIOSQL_AUTOINIT="2(vtkIOMySQL,vtkIOPostgreSQL)" -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL)" -DvtkRenderingCore_AUTOINIT="4(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingFreeTypeOpenGL,vtkRenderingOpenGL)" -DvtkRenderingFreeType_AUTOINIT="2(vtkRenderingFreeTypeFontConfig,vtkRenderingMatplotlib)" -DvtkRenderingLIC_AUTOINIT="1(vtkRenderingParallelLIC)" -DvtkRenderingVolume_AUTOINIT="1(vtkRenderingVolumeOpenGL)" -isystem /usr/include/vtk-6.2 -isystem /usr/include/freetype2 -isystem /usr/include/x86_64-linux-gnu/freetype2 -isystem /usr/include/jsoncpp -isystem /usr/include/hdf5/openmpi -isystem /usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent -isystem /usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include -isystem /usr/lib/openmpi/include -isystem /usr/lib/openmpi/include/openmpi -isystem /usr/include/x86_64-linux-gnu -isystem /usr/include/python2.7 -isystem /usr/include/libxml2 -isystem /usr/include/tcl -isystem /usr/include/lua5.2 -isystem /usr/include/pcl-1.7 -isystem /usr/include/eigen3 -isystem /usr/include/ni -isystem /opt/cartographer_ros/include -isystem /opt/ros/kinetic/include -isystem /opt/ros/kinetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp -I. -I/catkin_ws/src/cartographer_ros/cartographer_ros -I/usr/src/gmock/gtest/include -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/libpng12 -isystem /usr/include/x86_64-linux-gnu/qt5 -isystem /usr/include/x86_64-linux-gnu/qt5/QtWidgets -isystem /usr/include/x86_64-linux-gnu/qt5/QtGui -isystem /usr/include/x86_64-linux-gnu/qt5/QtCore -isystem /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++-64 -O3 -DNDEBUG -DDISABLE_LIBUSB-1.0 -DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET -pthread -std=c++11 -fPIC -Wall -Wpedantic -Werror=format-security -Werror=missing-braces -Werror=reorder -Werror=return-type -Werror=switch -Werror=uninitialized -O3 -DNDEBUG -fPIC -MMD -MT CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o -MF CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o.d -o CMakeFiles/cartographer_ros.dir/cartographer_ros/node.cc.o -c /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc
<command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
In file included from /usr/include/c++/5/bits/stl_map.h:63:0,
from /usr/include/c++/5/map:61,
from /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.h:20,
from /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc:17:
/usr/include/c++/5/tuple: In instantiation of ‘std::pair<_T1, _T2>::pair(std::tuple<_Args1 ...>&, std::tuple<_Args2 ...>&, std::_Index_tuple<_Indexes1 ...>, std::_Index_tuple<_Indexes2 ...>) [with _Args1 = {int&}; long unsigned int ..._Indexes1 = {0ul}; _Args2 = {std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&}; long unsigned int ..._Indexes2 = {0ul}; _T1 = const int; _T2 = cartographer::mapping::PoseExtrapolator]’:
/usr/include/c++/5/tuple:1161:63: required from ‘std::pair<_T1, _T2>::pair(std::piecewise_construct_t, std::tuple<_Args1 ...>, std::tuple<_Args2 ...>) [with _Args1 = {int&}; _Args2 = {std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&}; _T1 = const int; _T2 = cartographer::mapping::PoseExtrapolator]’
/usr/include/c++/5/ext/new_allocator.h:120:4: required from ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Tp = std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> >]’
/usr/include/c++/5/bits/alloc_traits.h:530:4: required from ‘static void std::allocator_traits<std::allocator<_Tp1> >::construct(std::allocator_traits<std::allocator<_Tp1> >::allocator_type&, _Up*, _Args&& ...) [with _Up = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Tp = std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; std::allocator_traits<std::allocator<_Tp1> >::allocator_type = std::allocator<std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> > >]’
/usr/include/c++/5/bits/stl_tree.h:529:32: required from ‘void std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_M_construct_node(std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_Link_type, _Args&& ...) [with _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Key = int; _Val = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _KeyOfValue = std::_Select1st<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_Link_type = std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> >*]’
/usr/include/c++/5/bits/stl_tree.h:546:21: required from ‘std::_Rb_tree_node<_Val>* std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_M_create_node(_Args&& ...) [with _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Key = int; _Val = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _KeyOfValue = std::_Select1st<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_Link_type = std::_Rb_tree_node<std::pair<const int, cartographer::mapping::PoseExtrapolator> >*]’
/usr/include/c++/5/bits/stl_tree.h:2123:33: required from ‘std::pair<std::_Rb_tree_iterator<_Val>, bool> std::_Rb_tree<_Key, _Val, _KeyOfValue, _Compare, _Alloc>::_M_emplace_unique(_Args&& ...) [with _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Key = int; _Val = std::pair<const int, cartographer::mapping::PoseExtrapolator>; _KeyOfValue = std::_Select1st<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >]’
/usr/include/c++/5/bits/stl_map.h:559:64: required from ‘std::pair<typename std::_Rb_tree<_Key, std::pair<const _Key, _Tp>, std::_Select1st<std::pair<const _Key, _Tp> >, _Compare, typename __gnu_cxx::__alloc_traits<_Alloc>::rebind<std::pair<const _Key, _Tp> >::other>::iterator, bool> std::map<_Key, _Tp, _Compare, _Alloc>::emplace(_Args&& ...) [with _Args = {const std::piecewise_construct_t&, std::tuple<int&>, std::tuple<std::chrono::duration<long int, std::ratio<1l, 10000000l> >&&>}; _Key = int; _Tp = cartographer::mapping::PoseExtrapolator; _Compare = std::less<int>; _Alloc = std::allocator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >; typename std::_Rb_tree<_Key, std::pair<const _Key, _Tp>, std::_Select1st<std::pair<const _Key, _Tp> >, _Compare, typename __gnu_cxx::__alloc_traits<_Alloc>::rebind<std::pair<const _Key, _Tp> >::other>::iterator = std::_Rb_tree_iterator<std::pair<const int, cartographer::mapping::PoseExtrapolator> >]’
/catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc:116:46: required from here
/usr/include/c++/5/tuple:1172:70: error: no matching function for call to ‘cartographer::mapping::PoseExtrapolator::PoseExtrapolator(std::chrono::duration<long int, std::ratio<1l, 10000000l> >)’
second(std::forward<_Args2>(std::get<_Indexes2>(__tuple2))...)
^
In file included from /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.h:27:0,
from /catkin_ws/src/cartographer_ros/cartographer_ros/cartographer_ros/node.cc:17:
/opt/cartographer_ros/include/cartographer/mapping/pose_extrapolator.h:37:12: note: candidate: cartographer::mapping::PoseExtrapolator::PoseExtrapolator(cartographer::common::Duration, double)
explicit PoseExtrapolator(common::Duration pose_queue_duration,
^
/opt/cartographer_ros/include/cartographer/mapping/pose_extrapolator.h:37:12: note: candidate expects 2 arguments, 1 provided
<command-line>:0:15: warning: ISO C++11 requires whitespace after the macro name
ninja: build stopped: subcommand failed.
MPI4Py;vtkFiltersSMP;vtkFiltersSelection;vtkIOVPIC;VPIC;vtkImagingMath;vtkImagingMorphological;vtkRenderingParallel;vtkRenderingFreeTypeFontConfig;vtkIOFFMPEG;vtkIOMPIImage;vtkIOGDAL
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- iostreams
-- regex
-- Configuring done
-- Generating done
-- Build files have been written to: /catkin_ws/build_isolated/cartographer_ros
==> ninja -j4 -l4 in '/catkin_ws/build_isolated/cartographer_ros'
<== Failed to process package 'cartographer_ros':
Command '['/opt/cartographer_ros/env.sh', 'ninja', '-j4', '-l4']' returned non-zero exit status 1
Reproduce this error by running:
==> cd /catkin_ws/build_isolated/cartographer_ros && /opt/cartographer_ros/env.sh ninja -j4 -l4
Command failed, exiting.
The command '/bin/sh -c cartographer_ros/scripts/install.sh --pkg cartographer_ros && cartographer_ros/scripts/install.sh --pkg cartographer_ros --catkin-make-args run_tests && cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros' returned a non-zero code: 1
Damon Kohler
Aug 11, 2017, 3:39:27 AM8/11/17
to Vincent Sieben, google-cartographer
It looks like you have a incompatible versions of cartographer and cartographer_ros. If you're trying to build from master, be sure to pull the latest changes from cartographer_ros before building cartographer_ros/Dockerfile.*
Otherwise, you'll need to make use of the Dockerfile's $CARTOGRAPHER_VERSION variable and point it at a version of cartographer that is compatible with the version of cartographer_ros you're using.l
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--Wolfgang Hess
Software Engineer
Google Germany GmbH
Erika-Mann-Str. 33
80636 Munich
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle
Registergericht und -nummer: Hamburg, HRB 86891
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--
Damon Kohler
Software Engineer
Google Germany GmbH
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Vincent Sieben
Aug 17, 2017, 5:19:29 PM8/17/17
to google-cartographer, vjsi...@gmail.com
Hi,
Turns out the HD was crashing!!! With a new HD + reinstall, cartographer is now working beautifully. Thanks for the support, it was much appreciated.
-Vince
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For more options, visit https://groups.google.com/d/optout.
--Wolfgang Hess
Software Engineer
Google Germany GmbH
Erika-Mann-Str. 33
80636 Munich
Geschäftsführer: Matthew Scott Sucherman, Paul Terence Manicle
Registergericht und -nummer: Hamburg, HRB 86891
Sitz der Gesellschaft: Hamburg
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