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Trouble Shooting

Memory Problem

Problem

CMakeFiles/mapping.dir/src/mapping.cpp.o: in function `__tcf_0':
mapping.cpp:(.text+0x9): relocation truncated to fit: R_X86_64_PC32 against `.bss'
/usr/bin/ld: failed to convert GOTPCREL relocation; relink with --no-relax

This occurs usually when the map size in settings.h is too big for your PC's memory. Reduce the size by decrease one or more of the following parameters:

constexpr uint8_t C_VOXEL_NUM_AXIS_X_N = 8;
constexpr uint8_t C_VOXEL_NUM_AXIS_Y_N = 8;
constexpr uint8_t C_VOXEL_NUM_AXIS_Z_N = 7;

constexpr uint8_t C_MAX_PARTICLE_NUM_PER_VOXEL_N = 2;

Libusb problem when Nuitrack was installed

Problem

/usr/lib/x86_64-linux-gnu/libpcl_io.so: undefined reference to `libusb_set_option'

This problem shows because Nuitrack is installed and PCL is linked to an old version libusb given by Nuitrack.

First, make sure libusb is installed by running

sudo apt install libusb-1.0-0-dev

Then check the symbolic link that libpcl_io.so uses by

ldd /usr/lib/x86_64-linux-gnu/libpcl_io.so

You will see libusb-1.0.so.0 => /usr/local/lib/nuitrack/libusb-1.0.so.0 (0x00007f5c3fbaf000). Further check by

readlink /usr/local/lib/nuitrack/libusb-1.0.so.0

You will see that libusb-1.0.so.0.1.0, which is located in /usr/local/lib/nuitrack/. The required version should be libusb-1.0.so.0.2.0. Thus remake the link.

sudo cp /usr/lib/x86_64-linux-gnu/libusb-1.0.so.0.2.0 /usr/local/lib/nuitrack/ 
sudo rm /usr/local/lib/nuitrack/libusb-1.0.so.0
sudo ln -s /usr/local/lib/nuitrack/libusb-1.0.so.0.2.0 /usr/local/lib/nuitrack/libusb-1.0.so.0

This will fix the problem but nuitrack can possibly not be used. Reinstall nuitrack after ROS + PCL has been installed may be a way to use both of them.