Make MINS working with pcl 1.12 and Eigen 3.4 #3
Conversation
1. using boost::filesystem:: instead of filesystem:: for std::filesystem is introduced since c++ 17 2. include necessary headers.
This reverts commit 438a55f.
1. for ubuntu 18.04 + ros melodic; 2. for ubuntu 20.04 + ros noetic;
This reverts commit f1b9142.
This reverts commit b653603.
This reverts commit b48a62c.
Can be built with Eigen 3.4
lnexenl
changed the title
|
I intend to fix a minor error here, but I decide to improve MINS to run with pcl 1.12 and Eigen 3.4. For my PC runs ubuntu 22.04 and ROS Noetic, MINS cannot be compiled natively on my PC. I make multiple commits to make MINS compiles and runs on Ubuntu 18.04+ROS Melodic, Ubuntu 20.04+ROS Noetic and Ubuntu 22.04+ROS Noetic. I test all these conditions with my PC and docker container by To make MINS compiles with Eigen 3.4, I upgrade libpointmatcher to newest version. To make MINS compiles with pcl 1.12, I add two lines to ROSPublisher::publish_lidar_map() I also add some dockerfiles and introduce a CI/CD progress to MINS. The latest CI/CD progress in my repo can be seen here Hope this pr works. |
lnexenl
changed the title
| sys->~SystemManager(); | ||
| pub->~ROSPublisher(); | ||
| op->~Options(); | ||
| save->~State_Logger(); |
There was a problem hiding this comment.
Hi! Thanks for looking at this problem!
I also actually looked into this and ended up having these explicit destructors.
Previously, when the system was terminated successfully, I got the following error message:
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
what(): Attempt to unload library that class_loader is unaware of.
This error also shows up in OpenVINS, and I tried to resolve this issue ended up having those explicit destructors - SystemManager destructor seems to remove the error message.
I was aware of the double destruction issue, but at least I had a clean system termination on my terminal so left it as it was.
Will this double destruction be an issue?
There was a problem hiding this comment.
I see. I also find that removing explicit destructors will get these messages:
I think this error might be from image_transport. And the error really doesn't show on screen by calling destructors explicitly. But I think the error doesn't disappear, it might be hidden by error "corrupted double-linked list", which I think is more severe than 'class_loader::LibraryUnloadException'.
There was a problem hiding this comment.
Okay, thank you for sharing your opinion. If you are finished with improving the compatibility of MINS, I will go through the test and merge your PR if all is good.
There was a problem hiding this comment.
Yes, I have done some tests and it seems that everything runs correctly and natively on my PC. And CI/CD also passes: action
| RUN /bin/bash -c "chmod +x /opt/ros/noetic/setup.sh && source /opt/ros/noetic/setup.sh && catkin build --workspace /catkin_ws" | ||
|
|
||
| WORKDIR /catkin_ws | ||
| ENTRYPOINT ["/bin/bash"] |
This is the initial pr message:
Destructors don't need to be called explicitly here. The smart ptr will do this when program exits.
If we print "SystemManager Destructor called!" in destructor of SystemManager, we can see that the destructor is called twice:
This also leads to error "corrupted double-linked list"