catkin_make in ROS Noetic [Error]

[HappySamuel]

I am trying to install the LIO-SAM in Ubuntu 20.04 and ROS Noetic. However i couldn't get it catkin_make.

Error 1:
GTSAM version: ppa gtsam (4.0.3)
Reason of using ppa GTSAM (4.0.3) is because failed to build GTSAM (4.0.2) from source. It failed at cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..

Is there any solution to this error?

Error 2:
catkin_make ERROR

What's the opencv version needed for LIO-SAM?

Best,
Samuel

[Rotoslider]

For me on Melodic with Opencv4.5 installed I had the change the line in utility.h to opencv2/opencv.hpp.

[HappySamuel]

Hi @Rotoslider

Thanks for the info.

@TixiaoShan
I have successful tried out installing LIO-SAM with ROS Noetic, and we need to do the following changes:
Step 1: Install GTSAM 4.0.3 binary

• Reason of doing so, is because failed to install from source using the gtsam 4.0.2
  

Step 2: Configure the utility.h to use
#include <opencv2/opencv.hpp> instead of #include <opencv/cv.h>

Step 3: Configure CMakeLists.txt to use
set(CMAKE_CXX_FLAGS "-std=c++14") instead of set(CMAKE_CXX_FLAGS "-std=c++11")

With these 3 modifications, LIO-SAM is able to be installed on Ubuntu 20.04 and ROS Noetic. You may try it out.

Best,
Samuel

[J-Rojas]

@HappySamuel this was very helpful. @TixiaoShan Can this be added to the documentation?

[FrankBu0616]

@HappySamuel Thanks for the post! Supper helpful!

[juliangaal]

I created a fork that compiles on Ubuntu 20.04 with ROS Noetic

[willat343]

Even with @HappySamuel's changes, I still encountered a strange error:

error: ‘class std::unordered_map<unsigned int, std::vector<unsigned int> >’ has no member named ‘serialize’

which was resolved by moving #include <opencv2/opencv.hpp> after the pcl headers.

This appears to be caused by a incompatibility between FLANN and OpenCV, whereby the USE_UNORDERED_MAP macro leeks from the OpenCV header and is picked by FLANN. Swapping the header order resolves this issue. See flann-lib/flann#214 and https://stackoverflow.com/questions/42504592/flann-util-serialization-h-class-stdunordered-mapunsigned-int-stdvectorun for more details.

Also the stable gtsam-release-4.0 at time of writing is now 4.0.3, so it was not necessary to install GTSAM from source.

[TixiaoShan]

Thanks for providing information for Noetic compiling. To summarize HappySamuel and willat343's comments:

1. Install GTSAM following readme
2. Configure the utility.h to use #include <opencv2/opencv.hpp> instead of #include <opencv/cv.h>
3. Configure CMakeLists.txt to use set(CMAKE_CXX_FLAGS "-std=c++14") instead of set(CMAKE_CXX_FLAGS "-std=c++11")
4. Move #include <opencv2/opencv.hpp> after the pcl headers

[leo-stan]

According to this all that has to be done to fix the flann serialization error is to include <pcl/kdtree/kdtree_flann.h> before <opencv2/opencv.hpp>. I tested this change locally and it solved the issue.