Upgrading to PCL 1.6.0 with ROS fuerte Ubuntu 12.04

asked 2012-07-26 13:11:11 -0600

MartinW
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updated 2014-01-28 17:13:09 -0600

ngrennan
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Hi all,

I am trying to download the latest PCL library so that I can try using their object recognition code, however I can't figure out how to properly install it.

I followed the instruction for compiling from source on the PCL website http://pointclouds.org/downloads/source.html.

"cd PCL-1.6.0 && mkdir build && cd build cmake -DCMAKE_BUILD_TYPE=Release .. make sudo make install"

Everything seems to install fine but when I searched through the folders it generated, the file paths were all different. For example, planar_polygon.h should be in /pcl/geometery/planar_polygon.h, instead it is in pcl-1.6/pcl/geometery/include/pcl/geometery/. It seems like all the header files that my programs want are buried in sub-directories. Did I compile/make my pcl library incorrectly?

I tried manually moving the header files to where they should be but when I rosmake my program it gives me LOTS of errors. Therefore I feel as though I am installing incorrectly in some way.

Kind regards, Martin

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answered 2012-07-26 16:49:42 -0600

Mac

4119 ●27 ●62 ●83 http://www.cs.duke.edu/~mac

updated 2012-07-26 16:50:11 -0600

As @joq says, this is a common problem.

However, it's such a common problem that we've (sort of) fixed it. Install the ros-fuerte-perception-pcl-fuerte-unstable package. This adds pcl16 and pcl16_ros packages that track PCL 1.6 (not quite to PCL 1.6.0 yet; I haven't had the chance to bump the version lately; soon!).

The namespacing, filenames, and everything else have been changed from pcl to pcl16, so you'll need to make some minor changes to your code. For example, pcl::PointCloud<pcl::PointXYZRGB> becomes pcl16::PointCloud<pcl16::PointXYZRGB>. Doing it this way lets the two PCL versions coexist nicely.

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Fantastic! I've been able to download the package and all the correct files are in the folder. However, after installing and rosmaking the perception_pcl_fuerte_unstable package, the header files are still not linking correctly in my program. Is there another step I am missing during installation?

MartinW ( 2012-07-30 14:35:09 -0600 )edit

First, I'd suggest using the binary installer, just because building is slow...but since you've done that, I'm not sure what problem you're describing. Can you post a code snippet?

Mac ( 2012-07-30 15:57:39 -0600 )edit

/root/ros_workspace/my_pcl_tutorial/src/recognizer.cpp:1:29: fatal error: pcl16/io/pcd_io.h: No such file or directory. According to the rosmake error I have no such file or directory, however I checked and it is buried (quite deep) in my ros stacks directory. I'll try to binary install today

MartinW ( 2012-07-31 06:11:42 -0600 )edit

Have you done <depend package="pcl16"/> in your manifest.xml?

Mac ( 2012-07-31 06:32:09 -0600 )edit

Ahh Mac! Thank you, that is what I needed to do. I'm still so new to this type of programming/compiling that I completely forgot I had to update the manifest! :) Cheers! (Moreover, I realized that I /did/ do a binary install the first time haha)

MartinW ( 2012-07-31 06:39:03 -0600 )edit

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answered 2012-07-26 16:25:29 -0600

joq
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This is a frequently asked question.

Sadly, you can't run the standalone PCL library with ROS. You have to build the ROS version, which is compiled and installed differently.

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@joq I have running the pcl17 and pcl17_ros but i cant manage to crate a publisher in a person detection code, have you manage to make a pcl code from pcl17 work with ros?

ctguell ( 2013-10-08 08:04:36 -0600 )edit

PCL 1.7 is a completely different discussion, and not relevant to this question. The standalone libpcl-1.7-all-dev package is supported by ROS Hydro. Its ROS API is not compatible. Getting it to work with earlier ROS releases is challenging. For details, please ask on the PCL users mailing list.

joq ( 2013-10-08 08:59:08 -0600 )edit

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