HDl_graph_slam debugging problems solved

• Source code: hdl_graph_slam
• Source code: hdl_localization
• Source code: hdl_people_tracking

1. Installation dependencies

sudo apt install libomp-dev
sudo apt-get install ros-kinetic-geodesy ros-kinetic-pcl-ros ros-kinetic-nmea-msgs ros-kinetic-libg2o

2. hdl_graph_slam

1. Install the package

cd catkin_ws/src
git clone https://github.com/koide3/ndt_omp.git
git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive

The first ndt_omppackage compiled without problems, and the second fast_gicppackage compiled encounter the following problems

in fast-gicpthe CMakeListsfile to add

add_compile_options(-std=c++11) 
add_compile_options(-std=gnu++11)

2. Install hdl_graph_slam

cd ~/catkin_ws/src
git clone https://github.com/koide3/hdl_graph_slam.git
cd .. && catkin_make

Compile encounter the following problems

hdl_graph_slam the CMakeListsfile is added

add_compile_options(-std=c++11) 

Can successfully compile

三. hdl_localization

• Question 1
  
  hdl_global_localizationof the CMakeListsfile is added

add_compile_options(-std=c++14) 
add_compile_options(-std=gnu++14)

• Question 2
  
  hdl_localization/apps/hdl_localization_nodelet.cppadd header files

#include <atomic>

There will still be problems: I

don't know how to solve it.

Update: issues [2021-01-27]

In the hdl_localization/apps/hdl_localization_nodelet.cppmiddle:

pcl::Registration<PointT, PointT>::Ptr create_registration() const

Change to

pcl::Registration<PointT, PointT>::Ptr create_registration()

Then you can compile successfully

四. hdl_localization

Question 1:
Finally there is a direct solution: issues

cv::ml::Boost::load<cv::ml::Boost>(modelfile);

Change to:

cv::ml::Boost::load(modelfile); 

Finally all ok