catkin errors when compiling snap_cam

[potaito]

Hi
I updated to the current master (c3606dd) today and can no longer compile snap_cam using catkin. Compiling commit 58b4444 still works though. The problem seems to have to do with OpticalFlow and klt_feature_tracker now being git submodules.

Following the Readme in the snap_cam repo and doing only

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd src
git clone https://github.com/ros-perception/vision_opencv
git clone https://github.com/ros-perception/image_common
git clone https://github.com/PX4/snap_cam.git
cd ..
catkin_make

results in the following error

-- Building snap_cam with catkin
CMake Error at snap_cam/CMakeLists.txt:40 (add_subdirectory):
The source directory

/home/user/git/catkin_ws/src/snap_cam/src/OpticalFlow

does not contain a CMakeLists.txt file.

which is true and makes sense. So I ran

cd snap_cam
git submodule update --init --recursive

and if I try to compile now, catkin produces another error:

CMake Error at /opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:114 (message):
catkin_package() 'catkin' must be listed as a buildtool dependency in the
package.xml
Call Stack (most recent call first):
/opt/ros/indigo/share/catkin/cmake/catkin_package.cmake:100 (_catkin_package)
snap_cam/src/OpticalFlow/external/klt_feature_tracker/CMakeLists.txt:119 (catkin_package)

-- Configuring incomplete, errors occurred!
See also "/home/user/git/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/user/git/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

I went on and checked snap_cam/src/OpticalFlow/external/klt_feature_tracker/package.xml to see if it contains catkin as a buildtool dependency; it does. So this is not the issue...

Did anyone else run into this problem? I am able to reproduce it on the snapdragon as well as on a Desktop Ubuntu 14.04.

Building with cmake is still working fine!

[ChristophTobler]

@potaito Thank you for reporting. I could reproduce this on my snapdragon but could not yet figure out why that is. Need to investigate a bit more

[potaito]

Yeah it's a weird one. All I could find is that OpticalFlow, when cloned to its own catkin_ws repository, does not compile with catkin either. There it complains about a malformed OpticalFlow/package.xml file on line 1, column 6. Removing the copyright header all together fixed this problem and it compiled. But this does not seem to have anything to do with this issue here...

[ChristophTobler]

There is no error when removing/commenting https://github.com/ethz-ait/klt_feature_tracker/blob/34871a67648e560c7125de5ab79404f81f9d0caa/CMakeLists.txt#L119-L124 but this can not be the solution I guess...

[foehnx]

I ran into the same problem as @potaito and the quick-fix by @ChristophTobler works for the error.
After this, cmake complained about the c++ version so I had to add add_definitions(-std=c++11) to snap_cam/src/OpticalFlow/external/klt_feature_tracker/CMakeLists.txt.

Now I'm stuck on the following linker error:

/home/linaro/catkin_ws/devel/.private/camera_calibration_parsers/lib/libcamera_calibration_parsers.so: undefined reference to `vtable for YAML::BadConversion'
/home/linaro/catkin_ws/devel/.private/camera_calibration_parsers/lib/libcamera_calibration_parsers.so: undefined reference to `YAML::BadConversion::~BadConversion()'
/home/linaro/catkin_ws/devel/.private/camera_calibration_parsers/lib/libcamera_calibration_parsers.so: undefined reference to `YAML::detail::node_data::convert_to_map(std::shared_ptr<YAML::detail::memory_holder>)'
/home/linaro/catkin_ws/devel/.private/camera_calibration_parsers/lib/libcamera_calibration_parsers.so: undefined reference to `typeinfo for YAML::BadConversion'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/linaro/catkin_ws/devel/.private/camera_calibration_parsers/lib/camera_calibration_parsers/convert] Error 1
make[1]: *** [CMakeFiles/convert.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2

Any suggestions? I hope this might help to solve the problem completely.

[Seanmatthews]

This temporary fix is less than ideal, and it means that you can't have any projects easily depend on snap_cam, but to get it building, comment out these lines: https://github.com/ethz-ait/klt_feature_tracker/blob/34871a67648e560c7125de5ab79404f81f9d0caa/CMakeLists.txt#L119-L124

[ChristophTobler]

@Seanmatthews Thanks. But I already suggested that two comments above ;)

[Seanmatthews]

@ChristophTobler Did you figure out anything else?

[ChristophTobler]

No, unfortunately not... seems to me like catkin is having issues with nested submodules

[bilalah21]

It still have not solve the problem for me. Even after commenting out those lines as suggested.

-- Building klt_feature_tracker as a catkin package -- Using these message generators: gencpp;genlisp;genpy -- klt_feature_tracker: 0 messages, 1 services -- Building OpticalFlow with OpenCV -- Configuring incomplete, errors occurred! See also "/home/linaro/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/linaro/catkin_ws/build/CMakeFiles/CMakeError.log". make: *** [cmake_check_build_system] Error 1 Invoking "make cmake_check_build_system" failed