I installed the Fedora ROS packages from this COPR repository on Fedora 29. I then tried compiling Google Cartographer for ROS (cartographer_ros). Cartographer crashes with the following message:
cartographer_ros
[cartographer_node-3] process has died [pid 6674, exit code -11, cmd /home/luke/catkin_ws/install_isolated/lib/cartographer_ros/cartographer_node -configuration_directory /home/luke/catkin_ws/install_isolated/share/cartographer_ros/configuration_files -configuration_basename backpack_3d.lua points2_1:=horizontal_laser_3d points2_2:=vertical_laser_3d __name:=cartographer_node __log:=/home/luke/.ros/log/aef6f06a-a488-11e9-b5c4-00e04c6818e8/cartographer_node-3.log]. log file: /home/luke/.ros/log/aef6f06a-a488-11e9-b5c4-00e04c6818e8/cartographer_node-3*.log
This may not actually be this Fedora ROS build's fault, but nonetheless, Cartographer is a good stress test for ROS, so it may be worth trying to get Cartographer working with your next ROS build.
I followed the instructions here:
https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html https://google-cartographer.readthedocs.io/en/latest/#system-requirements
Then these instructions, which triggered the crash:
https://google-cartographer-ros.readthedocs.io/en/latest/demos.html
This is the complete script I used:
# Install extra packages for Cartographer: # (Parallels Ubuntu setup: https://google-cartographer.readthedocs.io/en/latest/#system-requirements ) dnf -y install protobuf protobuf-devel clang gcc-c++ git cairo-devel lua-devel suitesparse-devel ninja-build python2-sphinx python3-wstool python3-rosdep lapack-devel metis-devel tbb-devel ros-kinetic-pcl_conversions-devel ros-kinetic-tf2_eigen-devel # Replace system gmock and gtest (depended upon by the ROS packages) with googletest rpm -e --nodeps gflags gflags-devel glog glog-devel gmock gmock-devel gtest gtest-devel cd /tmp git clone https://github.com/gflags/gflags.git cd gflags cmake -DCMAKE_INSTALL_PREFIX:PATH=/usr -DBUILD_SHARED_LIBS=ON . && make && sudo make install && sudo ldconfig cd /tmp git clone https://github.com/google/glog.git cd glog cmake -DCMAKE_INSTALL_PREFIX:PATH=/usr -DBUILD_SHARED_LIBS=ON . && make && sudo make install && sudo ldconfig cd /tmp git clone https://github.com/google/googletest.git cd googletest cmake -DCMAKE_INSTALL_PREFIX:PATH=/usr -DBUILD_SHARED_LIBS=ON . && make && sudo make install && sudo ldconfig cd # Set up ROS source /usr/lib64/ros/setup.bash sudo rosdep init rosdep update # Create a new cartographer_ros workspace in ‘catkin_ws’. mkdir catkin_ws cd catkin_ws python3-wstool init src python3-wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall python3-wstool update -t src # Disable tests -- they have a linkage error that I couldn't resolve: replace line "foreach(ABS_FIL ${ALL_TESTS})" with "foreach(ABS_FIL)" in: emacs src/cartographer/CMakeLists.txt # Build and install catkin_make_isolated --install --use-ninja
PS The reason for building gflags, glog, and googletest (gmock + gtest) is the following, which is another problem with ROS on Fedora:
https://github.com/googlecartographer/cartographer/issues/1611 https://github.com/ceres-solver/ceres-solver/issues/491
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