ERROR install

[antun008]

I get this message when execute catkin_make:
[-Wreturn-type]
} // xy2theta
^
[ 72%] Linking CXX executable /home/id/catkin_scaloam_ws/devel/lib/aloam_velodyne/kittiHelper
[ 72%] Linking CXX executable /home/id/catkin_scaloam_ws/devel/lib/aloam_velodyne/ascanRegistration
[ 72%] Built target kittiHelper
/home/id/catkin_scaloam_ws/src/SC-A-LOAM/src/laserPosegraphOptimization.cpp: In function ‘int main(int, char**)’:
/home/id/catkin_scaloam_ws/src/SC-A-LOAM/src/laserPosegraphOptimization.cpp:781:10: warning: variable ‘unused’ set but not used [-Wunused-but-set-variable]
auto unused = system((std::string("exec rm -r ") + pgScansDirectory).c_str());
^~~~~~
[ 72%] Built target ascanRegistration
[ 81%] Linking CXX executable /home/id/catkin_scaloam_ws/devel/lib/aloam_velodyne/alaserOdometry
[ 81%] Built target alaserOdometry
In file included from /usr/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0,
from /usr/include/pcl-1.8/pcl/sample_consensus/sac.h:45,
from /usr/include/pcl-1.8/pcl/sample_consensus/ransac.h:44,
from /usr/include/pcl-1.8/pcl/registration/icp.h:45,
from /home/id/catkin_scaloam_ws/src/SC-A-LOAM/src/laserPosegraphOptimization.cpp:19:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’:
/usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations]
SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel));

AND THEN WHEN EXECUTING:
roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch

auto-starting new master
process[master]: started with pid [30989]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 058225d2-2c07-11ec-8133-3cf011fc43dd
process[rosout-1]: started with pid [31000]
started core service [/rosout]
process[ascanRegistration-2]: started with pid [31003]
process[alaserOdometry-3]: started with pid [31008]
process[alaserMapping-4]: started with pid [31009]
process[alaserPGO-5]: started with pid [31010]
/home/id/catkin_scaloam_ws/devel/lib/aloam_velodyne/alaserPGO: error while loading shared libraries: libmetis.so: cannot open shared object file: No such file or directory
process[rviz-6]: started with pid [31016]

[alaserPGO-5] process has died [pid 31010, exit code 127, cmd /home/id/catkin_scaloam_ws/devel/lib/aloam_velodyne/alaserPGO /velodyne_points:=/velodyne_points __name:=alaserPGO __log:=/home/id/.ros/log/058225d2-2c07-11ec-8133-3cf011fc43dd/alaserPGO-5.log].

log file: /home/id/.ros/log/058225d2-2c07-11ec-8133-3cf011fc43dd/alaserPGO-5*.log
[rviz-6] process has finished cleanly

[gisbi-kim]

@antun008 I think PGO node error may related with GTSAM version
please read this issue gisbi-kim/FAST_LIO_SLAM#8

[antun008]

I tried to delete all gtsam, and install again, and doesn't work....

[gisbi-kim]

@antun008 I actually cannot grasp the reason, would you try to install the recent 4.0.3 ver? https://github.com/borglab/gtsam/releases/tag/4.0.3

and I'll reinstall it from scratch around the middle of Nov, let you know then.

[shaheer34mts]

Any update on this issue? I am facing the same issue even with recommended GTSAM version (4.0.2)

[singlesingerdht]

I am facing the same issue. @gisbi-kim Have any new issue now? I want to know what errors in the code urgently.

[GRF-Sunomikp31]

metoo, gtsam4.0.2