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Hello.

Thanks for sharing this slam.
I want to run this slam and have set up a build environment.
However, I get an error in srrg2_slam_interfaces and cannot build it.
I am using Ubuntu 18.04 and ROS is melodic.
Could you please tell me how to solve this problem?
This problem is the same as the following two

・build error with srrg2_slam_interfaces · Issue #4 · srrg-sapienza/srrg2_proslam (github.com)

・Build error and Localization mode · Issue #2 · srrg-sapienza/srrg2_slam_interfaces (github.com)

Error：
・In file included from /home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/mapping/local_map.cpp:1:0:/home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/mapping/local_map.h:16:10: error: ‘void srrg2_slam_interfaces::DynamicPropertyContainerOwner::draw(srrg2_core::ViewerCanvasPtr) const’ marked ‘override’, but does not override void draw(srrg2_core::ViewerCanvasPtr canvas) const override;

・In file included from /home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/instances.cpp:12:0:/home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/system/multi_graph_slam_impl.cpp: In member function ‘void srrg2_slam_interfaces::MultiGraphSLAM_<LoopClosureType_>::compute()’: /home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/system/multi_graph_slam_impl.cpp:101:12: error: reference to ‘_platform’ is ambiguous if (!_platform) {

・In file included from /home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/instances.cpp:13:0:/home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/trackers/multi_tracker.h: In instantiation of ‘class srrg2_slam_interfaces::MultiTrackerBase_<Eigen::Transform<float, 2, 1> >’: /home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/instances.cpp:51:5: required from here /home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/trackers/multi_tracker_impl.cpp:175:8: error: ‘void srrg2_slam_interfaces::MultiTrackerBase_::draw(srrg2_core::ViewerCanvasPtr) const [with EstimateType_ = Eigen::Transform<float, 2, 1>; srrg2_core::ViewerCanvasPtr = std::shared_ptr<srrg2_core::ViewerCanvas>]’ marked ‘override’, but does not override void MultiTrackerBase_<EstimateType_>::draw(srrg2_core::ViewerCanvasPtr canvas_) const {

・/home/k-nagao/slam/workspaces/srrg2/src/srrg2_slam_interfaces/src/srrg2_slam_interfaces/initializers/initializer_camera.h:250:22: error: ‘using element_type = class srrg2_core::CameraMatrixOwner_<3> {aka class srrg2_core::CameraMatrixOwner_<3>}’ has no member named ‘param_canvas_rows’; did you mean ‘canvas_rows’? cmowner->param_canvas_rows.setValue(image_message->image_rows.value());

Hi,
Thanks for sharing slam work. But I build error with srrg2_slam_interfaces.
Could you help me to solve it?
Thanks!
The issue is the same as followings:
rvp-group/srrg2_slam_interfaces#2

Error:

srrg2_slam_interfaces/src/srrg2_slam_interfaces/mapping/local_map.h:16:10: error: ‘void srrg2_slam_interfaces::DynamicPropertyContainerOwner::draw(srrg2_core::ViewerCanvasPtr) const’ marked ‘override’, but does not override
void draw(srrg2_core::ViewerCanvasPtr canvas) const override;

srrg2_slam_interfaces/src/srrg2_slam_interfaces/system/multi_graph_slam.h:121:7: error: reference to ‘setPlatform’ is ambiguous
BaseType::setPlatform(platform_);

srrg2_slam_interfaces/registration/aligners/multi_aligner_impl.cpp:298:8: error: ‘void srrg2_slam_interfaces::MultiAlignerBase_<VariableType_>::draw(srrg2_core::ViewerCanvasPtr) const [with VariableType_ = srrg2_solver::VariableSE2AD_<srrg2_solver::VariableSE2_<(srrg2_solver::VariableSE2Base::PerturbationSide)2> >; srrg2_core::ViewerCanvasPtr = std::shared_ptr<srrg2_core::ViewerCanvas>]’ marked ‘override’, but does not override
void MultiAlignerBase_<VariableType_>::draw(srrg2_core::ViewerCanvasPtr canvas_) const {

/srrg2_slam_interfaces/initializers/initializer_camera.h:246:20: error: ‘using element_type = class srrg2_core::CameraMatrixOwner_<3> {aka class srrg2_core::CameraMatrixOwner_<3>}’ has no member named ‘param_canvas_rows’; did you mean ‘_canvas_rows’?
cmowner->param_canvas_rows.setValue(camera_info_msg->rows.value());

srrg2_slam_interfaces/src/srrg2_slam_interfaces/initializers/initializer_camera.h:247:20: error: ‘using element_type = class srrg2_core::CameraMatrixOwner_<3> {aka class srrg2_core::CameraMatrixOwner_<3>}’ has no member named ‘param_canvas_cols’; did you mean ‘_canvas_cols’?
cmowner->param_canvas_cols.setValue(camera_info_msg->cols.value());

Hello,

Thanks for this new version I follow your project since srrg_proslam.

Why do I need the velodyne pointcloud in this version as normally it's only a stera-camera slam ? Is it to create the map?

Thank you for your job.

I see big difference in speed comparing srrg2_proslam and srrg_proslam - 40fps vs 60fps. Is that expected? Both were compiled without -march=native.

I was able to build and run srrg2_executor on kitty 00 following the instructions in https://github.com/srrg-sapienza/srrg2_executor/blob/master/srrg2_executor/readme.md and https://github.com/srrg-sapienza/srrg2_proslam/blob/master/README.md.

What is the easiest way to run srrg2_proslam on my data? I'd like to start with RGBD camera and later on add IMU (orientation, rotational speeds, linear accelerations), altimeter and single point lidars looking up and down for drone or wheel odometry for skid steering robot (=traveled distance very reliable, orientation very unreliable).