Trouble Installing Kimera VIO with ROS

[Bud-Spud]

Description:
I was having very early errors going on relating to the GTSAM which is a widely known issue from what I understand. I followed this guide: MIT-SPARK/Kimera-VIO-ROS#180. And was able to get most of the way there. An important distinction is that the guide is for Ubuntu 18.04 while I am using 16.04. The GTSAM issue was solved and I got much further but still failed the catkin build. It has to do with some sort of empty value error but I have not been able to find anyone else with the same problem.

It is important to note that I am new to both Linux and Github so apologies to any errors!

Command:

adm-eng-cdp21e@ENG-L-31YQDX3:~/catkin_ws/src$ cd ~/catkin_ws/src/gtsam
adm-eng-cdp21e@ENG-L-31YQDX3:~/catkin_ws/src/gtsam$ git checkout c4184e192b4605303cc0b0d51129e470eb4b4ed1
Note: checking out 'c4184e192b4605303cc0b0d51129e470eb4b4ed1'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by performing another checkout.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -b with the checkout command again. Example:

  git checkout -b <new-branch-name>

HEAD is now at c4184e192 fix error in python unit test
adm-eng-cdp21e@ENG-L-31YQDX3:~/catkin_ws/src/gtsam$ cd ~/catkin_ws/src/Kimera-VIO
adm-eng-cdp21e@ENG-L-31YQDX3:~/catkin_ws/src/Kimera-VIO$ git checkout feature/hydra
error: pathspec 'feature/hydra' did not match any file(s) known to git.
adm-eng-cdp21e@ENG-L-31YQDX3:~/catkin_ws/src/Kimera-VIO$ cd ..
adm-eng-cdp21e@ENG-L-31YQDX3:~/catkin_ws/src$ catkin build

Console output:

In file included from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam/discrete/DiscreteLookupDAG.h:20:0,
                 from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam/discrete/DiscreteFactorGraph.h:22,
                 from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam_unstable/discrete/CSP.h:10,
                 from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam_unstable/discrete/Scheduler.h:10,
                 from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam_unstable/discrete/examples/schedulingExample.cpp:11:
/home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam/discrete/DiscreteDistribution.h:97:64: warning: ‘size_t gtsam::DiscreteConditional::solve(const gtsam::DiscreteValues&) const’ is deprecated [-Wdeprecated-declarations]
   size_t GTSAM_DEPRECATED solve() const { return Base::solve({}); }
                                                                ^
In file included from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam/discrete/DiscreteDistribution.h:20:0,
                 from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam/discrete/DiscreteLookupDAG.h:20,
                 from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam/discrete/DiscreteFactorGraph.h:22,
                 from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam_unstable/discrete/CSP.h:10,
                 from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam_unstable/discrete/Scheduler.h:10,
                 from /home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam_unstable/discrete/examples/schedulingExample.cpp:11:
/home/adm-eng-cdp21e/catkin_ws/src/gtsam/gtsam/discrete/DiscreteConditional.h:231:27: note: declared here
   size_t GTSAM_DEPRECATED solve(const DiscreteValues& parentsValues) const;
                           ^~~~~
cd /home/adm-eng-cdp21e/catkin_ws/build/gtsam; catkin build --get-env gtsam | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Finished  <<< gtsam                                        [ 2 minutes and 34.2 seconds ]
Starting  >>> kimera_rpgo                                                      
Starting  >>> opengv_catkin                                                    
Finished  <<< kimera_rpgo                                  [ 23.2 seconds ]    
_______________________________________________________________________________
Warnings   << opengv_catkin:make /home/adm-eng-cdp21e/catkin_ws/logs/opengv_catkin/build.make.000.log
Cloning into 'opengv_src'...
Already on 'master'
Submodule 'python/pybind11' (https://github.com/pybind/pybind11.git) registered for path 'python/pybind11'
Cloning into '/home/adm-eng-cdp21e/catkin_ws/build/opengv_catkin/opengv_src-prefix/src/opengv_src/python/pybind11'...
Submodule 'tools/clang' (https://github.com/wjakob/clang-cindex-python3) registered for path 'python/pybind11/tools/clang'
Cloning into '/home/adm-eng-cdp21e/catkin_ws/build/opengv_catkin/opengv_src-prefix/src/opengv_src/python/pybind11/tools/clang'...
make[3]: warning: -jN forced in submake: disabling jobserver mode.
make[3]: warning: jobserver unavailable: using -j1.  Add '+' to parent make rule.**Additional files:**
Please attach all the files needed to reproduce the error.
cd /home/adm-eng-cdp21e/catkin_ws/build/opengv_catkin; catkin build --get-env opengv_catkin | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Finished  <<< opengv_catkin                                [ 52.2 seconds ]    
Starting  >>> kimera_vio                                                       
_______________________________________________________________________________
Warnings   << kimera_vio:cmake /home/adm-eng-cdp21e/catkin_ws/logs/kimera_vio/build.cmake.000.log
Cloning into 'googletest-src'...
Note: checking out 'v1.10.x'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by performing another checkout.**Additional files:**
Please attach all the files needed to reproduce the error.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -b with the checkout command again. Example:

  git checkout -b <new-branch-name>

HEAD is now at 703bd9ca Googletest export
cd /home/adm-eng-cdp21e/catkin_ws/build/kimera_vio; catkin build --get-env kimera_vio | catkin env -si  /usr/bin/cmake /home/adm-eng-cdp21e/catkin_ws/src/Kimera-VIO --no-warn-unused-cli -DCMAKE_INSTALL_PREFIX=/home/adm-eng-cdp21e/catkin_ws/devel -DCMAKE_BUILD_TYPE=Release -DGTSAM_TANGENT_PREINTEGRATION=OFF; cd -
...............................................................................
_______________________________________________________________________________
Errors     << kimera_vio:make /home/adm-eng-cdp21e/catkin_ws/logs/kimera_vio/build.make.000.log
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-VIO/src/frontend/StereoMatcher.cpp: In member function ‘void VIO::StereoMatcher::denseStereoReconstruction(const cv::Mat&, const cv::Mat&, cv::Mat*)’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-VIO/src/frontend/StereoMatcher.cpp:81:15: error: ‘const Rect {aka const class cv::Rect_<int>}’ has no member named ‘empty’
     if (!roi1.empty() && !roi2.empty()) {
               ^~~~~
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-VIO/src/frontend/StereoMatcher.cpp:81:32: error: ‘const Rect {aka const class cv::Rect_<int>}’ has no member named ‘empty’
     if (!roi1.empty() && !roi2.empty()) {
                                ^~~~~
make[2]: *** [CMakeFiles/kimera_vio.dir/src/frontend/StereoMatcher.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/kimera_vio.dir/all] Error 2
make: *** [all] Error 2
cd /home/adm-eng-cdp21e/catkin_ws/build/kimera_vio; catkin build --get-env kimera_vio | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed     << kimera_vio:make                              [ Exited with code 2 ]
Failed    <<< kimera_vio                                   [ 44.6 seconds ]    
Abandoned <<< kimera_vio_ros                               [ Unrelated job failed ]
[build] Summary: 12 of 14 packages succeeded.                                  
[build]   Ignored:   None.                                                     
[build]   Warnings:  6 packages succeeded with warnings.                       
[build]   Abandoned: 1 packages were abandoned.                                
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 4 minutes and 11.0 seconds total.                             
[build] Note: Workspace packages have changed, please re-source setup files to use them.

Additional files:
Please attach all the files needed to reproduce the error.

Please give also the following information:

• Kimera-Vio branch, tag or commit used
• GTSAM version used:
• OpenGV version used:
• OpenCV version used: type opencv_version
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 16.04
• Did you change the source code? (yes / no):