UZ-SLAMLab
ORB SLAM3 - ROS does not build!
Hi guys, I am trying to use ORB SLAM3 with ROS examples. I've already installed ORB SLAM3 and all its dependecies, I can run it on datasets and with my cameras (realsense T265). Then I've tried to link it to ROS using the examples and I met some problems. The first one, following the instruction written in the readme file, I exported the folder "Example" in my bashrc file in this way: export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS, adding this line below the source command of my ros workspace source ~/catkin_ws/devel/setup.bash. But in the last commit of the repository the folder containing the ros exmples is not under the folder "Examples" but under "Exmples_old", so I changed the export line in bashrc file in this way: ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples_old/ROS and I changed, also, the file build_ros.sh changing the third line in cd Examples_old/ROS/ORB_SLAM3. Then I tried to build using this last file but it gives me this error in terminal output:
`Building ROS nodes
mkdir: cannot create directory ‘build’: File exists
CMake Warning (dev) in CMakeLists.txt:
No project() command is present. The top-level CMakeLists.txt file must
contain a literal, direct call to the project() command. Add a line of
code such as
project(ProjectName)
near the top of the file, but after cmake_minimum_required().
CMake is pretending there is a "project(Project)" command on the first line. This warning is for project developers. Use -Wno-dev to suppress it.
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:7 (cmake_policy): The OLD behavior for policy CMP0011 will be removed from a future version of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): CMakeLists.txt:2 (include)
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:16 (cmake_policy): The OLD behavior for policy CMP0002 will be removed from a future version of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): CMakeLists.txt:2 (include)
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:18 (cmake_policy): The OLD behavior for policy CMP0003 will be removed from a future version of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): CMakeLists.txt:2 (include)
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:20 (cmake_policy): The OLD behavior for policy CMP0005 will be removed from a future version of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): CMakeLists.txt:2 (include)
CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:23 (cmake_policy): The OLD behavior for policy CMP0011 will be removed from a future version of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): CMakeLists.txt:2 (include)
CMake Warning (dev) at /opt/ros/noetic/share/ros/core/rosbuild/public.cmake:155 (project): Policy CMP0048 is not set: project() command manages VERSION variables. Run "cmake --help-policy CMP0048" for policy details. Use the cmake_policy command to set the policy and suppress this warning.
The following variable(s) would be set to empty:
CMAKE_PROJECT_VERSION
CMAKE_PROJECT_VERSION_MAJOR
CMAKE_PROJECT_VERSION_MINOR
CMAKE_PROJECT_VERSION_PATCH
Call Stack (most recent call first): CMakeLists.txt:4 (rosbuild_init) This warning is for project developers. Use -Wno-dev to suppress it.
[rosbuild] Building package ORB_SLAM3 [rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/public.cmake:366 (cmake_policy): The OLD behavior for policy CMP0037 will be removed from a future version of CMake.
The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): CMakeLists.txt:4 (rosbuild_init)
-- Using CATKIN_DEVEL_PREFIX: /home/vinsco/ORB3/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/build/devel -- Using CMAKE_PREFIX_PATH: /home/vinsco/catkin_ws/devel;/opt/ros/noetic -- This workspace overlays: /home/vinsco/catkin_ws/devel;/opt/ros/noetic -- Found PythonInterp: /usr/bin/python3.8 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3.8 -- Using Debian Python package layout -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Skip enable_testing() for dry packages -- Using CATKIN_TEST_RESULTS_DIR: /home/vinsco/ORB3/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/build/test_results -- Forcing gtest/gmock from source, though one was otherwise available. -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python3.8 (found version "3.8.10") -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.10 -- BUILD_SHARED_LIBS is on -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy [rosbuild] Including /opt/ros/noetic/share/roslisp/rosbuild/roslisp.cmake [rosbuild] Including /opt/ros/noetic/share/roscpp/rosbuild/roscpp.cmake [rosbuild] Including /opt/ros/noetic/share/rospy/rosbuild/rospy.cmake Build type: Release -- Using flag -std=c++14. CMake Error at CMakeLists.txt:37 (message): OpenCV > 2.4.3 not found.
-- Configuring incomplete, errors occurred! See also "/home/vinsco/ORB3/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/build/CMakeFiles/CMakeOutput.log". See also "/home/vinsco/ORB3/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/build/CMakeFiles/CMakeError.log". make: *** No targets specified and no makefile found. Stop.`
I looked for other closed issues with similar problems, someone suggests to change the version od cmake (to 14), I tried this but still doesn't work. Have you any suggestion to fix this problem?
cant find opencv:
CMake Error at CMakeLists.txt:37 (message): OpenCV > 2.4.3 not found
just build it and try again
.No project() command is present.
add first string to CMakeLists.txt:
project(ORB_SLAM3)
