Unable to Build dso_ros

[rahul95ram]

CMakeOutput.log

I followed the instructions in the README.md.

I ran:
export DSO_PATH=/home/rahulr/Workspace/dso
rosmake
But i Got:

[ rosmake ] rosmake starting...
[ rosmake ] No package or stack specified. And current directory 'build' is not a package name or stack name.
[ rosmake ] Packages requested are: []
[ rosmake ] Logging to directory /home/rahulr/.ros/rosmake/rosmake_output-20180403-184032
[ rosmake ] Expanded args [] to:
[]
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names.

---

I when I tried to create the "build" folder and run
cmake ..

I got:

[rosbuild] Building package dso_ros
[rosbuild] Error from directory check: /opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py /home/rahulr/Workspace/dso_ros 1
Traceback (most recent call last):
File "/opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in <module> raise Exception
Exception
CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/private.cmake:102 (message):
[rosbuild] rospack found package "dso_ros" at "", but the current directory is "/home/rahulr/Workspace/dso_ros". You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order.
Call Stack (most recent call first): /opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location) CMakeLists.txt:13 (rosbuild_init)

-- Configuring incomplete, errors occurred!
See also "/home/rahulr/Workspace/dso_ros/build/CMakeFiles/CMakeOutput.log".

I am trying to get the dso to run on a live camera feed - either from the laptop camera or an externally attached usb cam. At this point I'm unsure of how to proceed.
Any help would be appreciated, Thanks!

[NikolausDemmel]

I suggest to use catkin instead of rosbuild, with the catkin branch of this repository.

Even better, I suggest to use my branches from the PR's JakobEngel/dso#109 and #27, which hopefully fix some build system issues:

• https://github.com/NikolausDemmel/dso/tree/cmake
• https://github.com/NikolausDemmel/dso_ros/tree/catkin

[SteveJos]

Hey @NikolausDemmel ...is there any aditional changes needed in order to compile the dso wrapper? I am cloning your repo to the src folder of my ROS workspace and it even isn recognized by catkin_make?
Could you please provide further steps?
Thank you in advance!

[NikolausDemmel]

Have you checked out the cmake branch for dso and catkin branch for dso_ros?

[NikolausDemmel]

BTW I'm using catkin tools, with that, you can also put dso in your catkin workspace and dso_ros should find it. Otherwise, you might need to specify the location of dso in the environment variable for dso_ros to find it.

[rahul95ram]

@SteveJos and @NikolausDemmel ,
Once I clone the catkin version of DSO_ROS into the src of catkin_ws, How do I build the files. I am very new to ROS and have little to no clue how to proceed.

[rahul95ram]

@NikolausDemmel - I cloned the two repositories you had linked to the catkin_ws/src.
In catkin_ws/src/dso I ran -
mkdir build
cd build
cmake ..
make -j

This built DSO in the catkin_ws. I cloned the catkin version of the DSO_ROS into catkin_ws/src/

I am facing two doubts. How do I build the dso_ros package using catkintools/catkin_make?
or
Should i go about the same procedure of creaking build folder, running cmake and make?

[NikolausDemmel]

With ROS packages, it is probably best to not manually call cmake and make. I suggest using catkin_tools. Assuming you have all dependencies installed, and both repositories at the specified branches checked out into catkin_ws/src/, you can build with:

# make sure you have the setup.bash for the base ROS install sourced (assuming Kinetic here)
source /opt/ros/kinetic/setup.bash

cd catkin_ws
catkin init
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

[rahul95ram]

Hi Nikolaus, Thank you for your reply.

I followed what you had suggested, but the dso_ros did not get built.
First I cleaned the catkin workspace catkin_ws using the command:
catkin clean --deinit
I cloned the both the repositories into the catkin_ws/src
I compiled dso using the standard cmake technique as suggested in the README.md with opencv.
Then I proceeded to follow the steps you had mentioned in your answer to build dso_ros

But I still find that dso_ros was not built.
I ran catkin list
This did not show dso_ros as one of the packages in the catkin_ws.

Any suggestions would be great. Thank you for replying once again!

[NikolausDemmel]

Please run both git status and git remote -v in the two folders dso and dso_ros inside your workspace and post the output here.

[rahul95ram]

DSO:

$ git status                                             
On branch master
Your branch is up-to-date with 'origin/master'.
nothing to commit, working directory clean

rahulr at rahulr-aw13 in ~/catkin_ws/src/dso (master)
$ git remote -v
origin	https://github.com/NikolausDemmel/dso.git (fetch)
origin	https://github.com/NikolausDemmel/dso.git (push)

DSO_ROS

$ git status   
On branch master
Your branch is up-to-date with 'origin/master'.
nothing to commit, working directory clean

$ git remote -v
origin	https://github.com/NikolausDemmel/dso_ros.git (fetch)
origin	https://github.com/NikolausDemmel/dso_ros.git (push)

[NikolausDemmel]

You need to use the branches mentioned above, not master. Go checkout cmake for dso and catkin for dso_ros.

[rahul95ram]

Nikolaus, you legend it compiled! Can't believe That was the issue.. Its compiling.

One last query with two sub-queries ( :D ) -

1. Does dso_ros run directly from the laptop camera?
2. what should I do to configure it to work from an external camera source, if I want to run this on a micro controller with a peripheral camera?

I was able to run it after adding the line
source XXX/catkin_ws/devel/setup.zsh

I'm getting one error though,

[ERROR] [1524752132.229356642]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying...

Thank you once again

[NikolausDemmel]

[ERROR] [1524752132.229356642]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying...

You will have to start roscore in a different terminal before running dso_live.

[NikolausDemmel]

Please close the issue if it is resolved. Thanks!

[rahul95ram]

Thanks Nikolaus!

[NikolausDemmel]

1. Does dso_ros run directly from the laptop camera?

2. what should I do to configure it to work from an external camera source, if I want to run this on a micro controller with a peripheral camera?

To work with live cameras, you will have to read up on how that works with ROS. ROS has a bunch of camera drivers for various devices: http://wiki.ros.org/Sensors/Cameras

Also, keep in mind that DSO will probably not work very well on a webcam, at least not for faster motion, since it assumes global shutter and most webcams are rolling shutter.

[MIL35]

@NikolausDemmel, @lorhm,
I've followed all your instructions, as I was facing the same issue. When I catkin build in my catkin_ws/src now, my dso package succesfully builds, but my dso_ros package fails with the error:

CMakeFiles/dso_live.dir/src/main.cpp.o: In function main': main.cpp:(.text.startup+0x5b9): undefined reference to dso::IOWrap::PangolinDSOViewer::PangolinDSOViewer(int, int, bool)'

I've tried the modified CMakeLists.txt in the issue https://github.com/JakobEngel/dso_ros/issues/11, but it hasn't solved the problem.

Further, my VS Code editor flags the following lines in the main.cpp of dso_ros as cannot open source file:

#include "util/settings.h"
#include "FullSystem/FullSystem.h"
#include "util/Undistort.h"
#include "IOWrapper/Pangolin/PangolinDSOViewer.h"
#include "IOWrapper/OutputWrapper/SampleOutputWrapper.h"

I am not able to figure out what to change or modify such that the main.cpp can see these files and use the functions in them.
Any guidance would be appreciated, Thanks!

Issue Resolved: I moved Pangolin and dso to my /home folder and kept dso_ros in my catkin_ws

[bigbellmercy]

With ROS packages, it is probably best to not manually call cmake and make. I suggest using catkin_tools. Assuming you have all dependencies installed, and both repositories at the specified branches checked out into catkin_ws/src/, you can build with:

# make sure you have the setup.bash for the base ROS install sourced (assuming Kinetic here)
source /opt/ros/kinetic/setup.bash

cd catkin_ws
catkin init
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

How to use 'catkin_make' to build 'dso_live':

As an another method to build, I succeeded in build by 'catkin_make' in kinetic ROS, instead of catkin_tools above. The 'XXX/dso' below is the path of dso package installed already (this is the original package for dso_ros ROS wrapper package).

export DSO_PATH=XXX/dso
catkin_make

After that, since the dso_live package is not recognized, the following command should be done once as mentioned above post. If the setup.bash makes some error, try other type of extension in the files of the folder below. The 'XXX' is the path to your caktin_ws folder.
source XXX/catkin_ws/devel/setup.bash