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No arm64 support? #11

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manuelarling opened this issue Jan 17, 2025 · 6 comments
Open

No arm64 support? #11

manuelarling opened this issue Jan 17, 2025 · 6 comments
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enhancement New feature or request

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@manuelarling
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Missing arm64 support?

First of all, nice work, very interesting package.
I wanted to install it in a VM (Ubuntu 22.04, Humble, ARM64) on my MacBook with Apple Silicon (M3 Pro) and start a simulation.
I already got ROS2 and some other workspaces working.
But I can't get your project installed. I have problems with the colcon build steps of the installation.

First Error "OpenMP not found"

First, I had the following error after running the command colcon build --symlink-install. I upgraded my CMake version from 3.21.2 to 3.31.4.

~$ colcon build --symlink-install
Starting >>> fast_gicp
Starting >>> mrg_slam_msgs
Starting >>> ndt_omp
Starting >>> mrg_slam_sim
Starting >>> small_gicp
Finished <<< small_gicp [0.11s]                                                            
Finished <<< mrg_slam_sim [0.66s]                                                          
--- stderr: ndt_omp                                                                        
** WARNING ** io features related to pcap will be disabled
CMake Warning at CMakeLists.txt:116 (message):
  OpenMP not found


c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
gmake[2]: *** [CMakeFiles/ndt_omp.dir/build.make:76: CMakeFiles/ndt_omp.dir/src/pclomp/voxel_grid_covariance_omp.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
gmake[2]: *** [CMakeFiles/ndt_omp.dir/build.make:90: CMakeFiles/ndt_omp.dir/src/pclomp/ndt_omp.cpp.o] Error 1
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
gmake[2]: *** [CMakeFiles/ndt_omp.dir/build.make:104: CMakeFiles/ndt_omp.dir/src/pclomp/gicp_omp.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/ndt_omp.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ndt_omp [0.87s, exited with code 2]
Aborted  <<< fast_gicp [0.92s]                                               
Aborted  <<< mrg_slam_msgs [1.10s]                           
                                
Summary: 2 packages finished [1.29s]
  1 package failed: ndt_omp
  2 packages aborted: fast_gicp mrg_slam_msgs
  2 packages had stderr output: fast_gicp ndt_omp
  1 package not processed

This now leads to the following new error:

Second Error

~$ colcon build --symlink-install
Starting >>> fast_gicp
Starting >>> mrg_slam_msgs
Starting >>> ndt_omp
Starting >>> mrg_slam_sim
Starting >>> small_gicp
Finished <<< mrg_slam_sim [0.10s]                                                              
Finished <<< small_gicp [0.11s]
Finished <<< mrg_slam_msgs [0.29s]                                                              
--- stderr: ndt_omp                                                              
CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:146 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable EIGEN_ROOT is set to:

    /usr/include/eigen3

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:299 (find_eigen)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:128 (find_package):
  Policy CMP0167 is not set: The FindBoost module is removed.  Run "cmake
  --help-policy CMP0167" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.

Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:297 (find_boost)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/Modules/FindFLANN.cmake:44 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable FLANN_ROOT is set to:

    /usr

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:256 (find_package)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:301 (find_flann)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

** WARNING ** io features related to pcap will be disabled
CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:128 (find_package):
  Policy CMP0167 is not set: The FindBoost module is removed.  Run "cmake
  --help-policy CMP0167" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.

Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:297 (find_boost)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Error at CMakeLists.txt:32 (if):
  if given arguments:

    "EQUAL" "1"

  Unknown arguments specified


---
Failed   <<< ndt_omp [1.05s, exited with code 1]
Aborted  <<< fast_gicp [1.06s]

Summary: 3 packages finished [1.16s]
  1 package failed: ndt_omp
  1 package aborted: fast_gicp
  2 packages had stderr output: fast_gicp ndt_omp
  1 package not processed

Alternative Installation with Docker

I have additionally tried to run the installation via Docker, however, I get the following output when pulling the image:

~$ sudo docker pull aserbremen/mrg_slam_humble
Using default tag: latest
AMA2024latest: Pulling from aserbremen/mrg_slam_humble
no matching manifest for linux/arm64/v8 in the manifest list entries
@aserbremen
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Owner

Hey, I have tried to build the mrg_slam package on arm64 but had some issues regarding the pcl library, if I remember correctly. If I have some time in the future I can try to rebuild the docker containers for arm as well.

During your build ndt_omp is not being configured correctly since the envrionment variable ROS_VERSION is not set. Check out: https://github.com/koide3/ndt_omp/blob/master/CMakeLists.txt
Have you sourced your ROS installation? Let me know how far you get with your ROS overlay being properly sourced.

In general. you can try to build the package with colcon build --symlink-install --event-handlers console_cohesion+ to get detailed build information, if the build breaks at another point

@manuelarling
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Author

Oh man, how stupid. I forgot to source again in the new terminal after the cmake update. Sorry, I'm also new to the ROS2 world, please forgive my beginner's mistakes. 😄
I have now performed the following steps:

  1. ✅ source /opt/ros/humble/local_setup-bash
  2. ✅ git clone https://github.com/aserbremen/Multi-Robot-Graph-SLAM
  3. ✅ cd Multi-Robot-Graph-SLAM
  4. ✅ mkdir src
  5. ✅ vcs import src < mrg_slam.repos
  6. ✅ rosdep install --from-paths src --ignore-src -r -y
  7. ✅ colcon build --symlink-install --packages-select small_gicp
  8. ❌ colcon build --symlink-install --event-handlers console_cohesion+
  9. ⚪ (skipped) source install/setup.bash

The output from 8. step:

colcon build --symlink-install --event-handlers console_cohesion+
Starting >>> fast_gicp
Starting >>> mrg_slam_msgs
Starting >>> ndt_omp
Starting >>> mrg_slam_sim
Starting >>> small_gicp
--- output: small_gicp                                                                     
[100%] Built target small_gicp
-- Install configuration: "Release"
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration/registration_result.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration/registration_helper.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration/reduction_tbb.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration/reduction.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration/termination_criteria.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration/rejector.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration/optimizer.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration/registration.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/registration/reduction_omp.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/benchmark
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/benchmark/benchmark_odom.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/benchmark/read_points.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/benchmark/benchmark.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/points
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/points/point_cloud.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/points/eigen.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/points/traits.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/factors
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/factors/general_factor.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/factors/gicp_factor.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/factors/robust_kernel.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/factors/plane_icp_factor.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/factors/icp_factor.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/flat_container.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/kdtree.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/knn_result.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/projective_search.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/projection.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/kdtree_tbb.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/incremental_voxelmap.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/kdtree_omp.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/gaussian_voxelmap.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/ann/traits.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/pcl
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/pcl/pcl_point_traits.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/pcl/pcl_point.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/pcl/pcl_proxy.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/pcl/pcl_registration_impl.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/pcl/pcl_registration.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/lie.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/normal_estimation_tbb.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/normal_estimation.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/vector3i_hash.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/normal_estimation_omp.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/downsampling.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/fast_floor.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/sort_tbb.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/sort_omp.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/downsampling_tbb.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/include/small_gicp/util/downsampling_omp.hpp
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/lib/libsmall_gicp.so
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/lib/cmake/small_gicp/small_gicp-targets.cmake
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/lib/cmake/small_gicp/small_gicp-targets-release.cmake
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/lib/cmake/small_gicp/small_gicp-config.cmake
-- Up-to-date: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/small_gicp/lib/cmake/small_gicp/small_gicp-config-version.cmake
---
Finished <<< small_gicp [0.16s]
--- output: mrg_slam_sim                                                                   
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 3.10 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
  to tell CMake that the project requires at least <min> but has been updated
  to work with policies introduced by <max> or earlier.


-- Found ament_cmake: 1.3.11 (/opt/ros/humble/share/ament_cmake/cmake)
-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter
-- Override CMake install command with custom implementation using symlinks instead of copying resources
-- Configuring done (0.3s)
-- Generating done (0.0s)
-- Build files have been written to: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/build/mrg_slam_sim
-- Install configuration: ""
-- Execute custom install script
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/dual_robot_marsyard2020_sim.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/dual_robot_ros_gz_bridge.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/dual_robot_rubicon_sim.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/multi_robot_ros_gz_bridge.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/multi_robot_sim.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/ranging_ros_gz_bridge.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/ranging_sim.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/single_robot_marsyard2020_sim.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/single_robot_ros_gz_bridge.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/single_robot_rubicon_sim.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/config/spawn_robot.yaml
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/LICENSE
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/materials/textures/realsense_diffuse.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/materials/textures/spotlight.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/VLP16_base_1.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/VLP16_base_2.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/VLP16_scan.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/base_link.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/bumper.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/jpl04_arch_nosensor.stl
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/realsense.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/spotlight.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/top_chassis.dae
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-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/user_rail.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/meshes/wheel.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/model.config
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/model.sdf
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/thumbnails/1.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/thumbnails/2.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/thumbnails/3.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/thumbnails/4.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/thumbnails/5.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_1/worlds/example.sdf
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/materials/textures/realsense_diffuse.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/materials/textures/spotlight.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/VLP16_base_1.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/VLP16_base_2.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/VLP16_scan.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/base_link.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/bumper.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/jpl04_arch_nosensor.stl
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/realsense.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/spotlight.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/top_chassis.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/top_plate.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/user_rail.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/meshes/wheel.dae
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/model.config
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/model.sdf
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/thumbnails/1.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/thumbnails/2.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/thumbnails/3.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/thumbnails/4.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/thumbnails/5.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/COSTAR_HUSKY_SENSOR_CONFIG_REDUCED/worlds/example.sdf
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/LANDER/model.config
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/LANDER/model.sdf
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/RADIO_BOX/model.config
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/RADIO_BOX/model.sdf
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/marsyard2020_terrain/meshes/terrain_compressed.mtl
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/marsyard2020_terrain/meshes/terrain_compressed.obj
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/marsyard2020_terrain/meshes/textures/diffuse.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/marsyard2020_terrain/meshes/textures/fp_rock_03_dif.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/marsyard2020_terrain/meshes/textures/fp_rock_04_dif.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/marsyard2020_terrain/meshes/textures/fp_rock_spec.jpg
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/marsyard2020_terrain/model.config
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/models/marsyard2020_terrain/model.sdf
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/worlds/marsyard2020/LICENSE
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/worlds/marsyard2020/README.md
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/worlds/marsyard2020/marsyard2020.sdf
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/worlds/rubicon/LICENSE
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/worlds/rubicon/rubicon.sdf
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/launch/dual_robot_sim.launch.py
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/launch/marsyard2020.launch.py
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/launch/multi_robot_sim.launch.py
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/launch/ranging_sim.launch.py
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/launch/rubicon.launch.py
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/launch/single_robot_sim.launch.py
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/launch/spawn_robot.launch.py
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/environment/gz_sim_resource_path.dsv
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-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/ament_index/resource_index/packages/mrg_slam_sim
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/cmake/mrg_slam_simConfig.cmake
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/cmake/mrg_slam_simConfig-version.cmake
-- Symlinking: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/install/mrg_slam_sim/share/mrg_slam_sim/package.xml
---
--- stderr: mrg_slam_sim
CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required):
  Compatibility with CMake < 3.10 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
  to tell CMake that the project requires at least <min> but has been updated
  to work with policies introduced by <max> or earlier.


---
Finished <<< mrg_slam_sim [0.54s]
--- output: ndt_omp                                                                        
CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:146 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable EIGEN_ROOT is set to:

    /usr/include/eigen3

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:299 (find_eigen)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:128 (find_package):
  Policy CMP0167 is not set: The FindBoost module is removed.  Run "cmake
  --help-policy CMP0167" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.

Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:297 (find_boost)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/Modules/FindFLANN.cmake:44 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable FLANN_ROOT is set to:

    /usr

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:256 (find_package)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:301 (find_flann)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- FLANN found (include: /usr/include, lib: /usr/lib/aarch64-linux-gnu/libflann_cpp.so)
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/aarch64-linux-gnu/libOpenNI2.so;libusb::libusb)
** WARNING ** io features related to pcap will be disabled
CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:128 (find_package):
  Policy CMP0167 is not set: The FindBoost module is removed.  Run "cmake
  --help-policy CMP0167" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.

Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:297 (find_boost)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Eigen found (include: /usr/include/eigen3, version: 3.4.0)
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- OpenNI2 found (version: 2.2.0.33, include: /usr/include/openni2, lib: /usr/lib/aarch64-linux-gnu/libOpenNI2.so;libusb::libusb)
-- Found Qhull version 8.0.2
-- OpenNI found (version: 1.5.4.0, include: /usr/include/ni, lib: /usr/lib/libOpenNI.so;libusb::libusb)
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_APPS
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_MODELER
-- looking for PCL_POINT_CLOUD_EDITOR
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- PCL_INCLUDE_DIRS:/usr/include/pcl-1.12/usr/include/eigen3/usr/include/usr/include/ni/usr/include/openni2
-- PCL_LIBRARY_DIRS:/usr/lib/aarch64-linux-gnu
-- PCL_DEFINITIONS:-DDISABLE_PCAP
-- Could NOT find OpenMP_CXX (missing: OpenMP_CXX_FLAGS OpenMP_CXX_LIB_NAMES) 
-- Could NOT find OpenMP (missing: OpenMP_CXX_FOUND) (found version "4.5")
-- Found ament_cmake_auto: 1.3.11 (/opt/ros/humble/share/ament_cmake_auto/cmake)
-- Found Python3: /usr/bin/python3 (found version "3.10.12") found components: Interpreter
-- Override CMake install command with custom implementation using symlinks instead of copying resources
CMake Warning at CMakeLists.txt:116 (message):
  OpenMP not found


-- Configuring done (1.4s)
-- Generating done (0.0s)
-- Build files have been written to: /home/ubuntu_22_04_ama/Multi-Robot-Graph-SLAM/build/ndt_omp
[ 25%] Building CXX object CMakeFiles/ndt_omp.dir/src/pclomp/voxel_grid_covariance_omp.cpp.o
[ 50%] Building CXX object CMakeFiles/ndt_omp.dir/src/pclomp/ndt_omp.cpp.o
[ 75%] Building CXX object CMakeFiles/ndt_omp.dir/src/pclomp/gicp_omp.cpp.o
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
gmake[2]: *** [CMakeFiles/ndt_omp.dir/build.make:79: CMakeFiles/ndt_omp.dir/src/pclomp/voxel_grid_covariance_omp.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/ndt_omp.dir/build.make:93: CMakeFiles/ndt_omp.dir/src/pclomp/ndt_omp.cpp.o] Error 1
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
gmake[2]: *** [CMakeFiles/ndt_omp.dir/build.make:107: CMakeFiles/ndt_omp.dir/src/pclomp/gicp_omp.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:153: CMakeFiles/ndt_omp.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
--- stderr: ndt_omp
CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:146 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable EIGEN_ROOT is set to:

    /usr/include/eigen3

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:299 (find_eigen)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:128 (find_package):
  Policy CMP0167 is not set: The FindBoost module is removed.  Run "cmake
  --help-policy CMP0167" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.

Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:297 (find_boost)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/Modules/FindFLANN.cmake:44 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable FLANN_ROOT is set to:

    /usr

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:256 (find_package)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:301 (find_flann)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

** WARNING ** io features related to pcap will be disabled
CMake Warning (dev) at /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:128 (find_package):
  Policy CMP0167 is not set: The FindBoost module is removed.  Run "cmake
  --help-policy CMP0167" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.

Call Stack (most recent call first):
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:297 (find_boost)
  /usr/lib/aarch64-linux-gnu/cmake/pcl/PCLConfig.cmake:543 (find_external_library)
  CMakeLists.txt:17 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning at CMakeLists.txt:116 (message):
  OpenMP not found


c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse2\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse3\u2019
c++: error: unrecognized command-line option \u2018-msse4\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
c++: error: unrecognized command-line option \u2018-msse4.1\u2019
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
gmake[2]: *** [CMakeFiles/ndt_omp.dir/build.make:79: CMakeFiles/ndt_omp.dir/src/pclomp/voxel_grid_covariance_omp.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/ndt_omp.dir/build.make:93: CMakeFiles/ndt_omp.dir/src/pclomp/ndt_omp.cpp.o] Error 1
c++: error: unrecognized command-line option \u2018-msse4.2\u2019
gmake[2]: *** [CMakeFiles/ndt_omp.dir/build.make:107: CMakeFiles/ndt_omp.dir/src/pclomp/gicp_omp.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:153: CMakeFiles/ndt_omp.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ndt_omp [1.49s, exited with code 2]
Aborted  <<< fast_gicp [1.50s]
Aborted  <<< mrg_slam_msgs [1.69s]                           

Summary: 2 packages finished [2.00s]
  1 package failed: ndt_omp
  2 packages aborted: fast_gicp mrg_slam_msgs
  4 packages had stderr output: fast_gicp mrg_slam_msgs mrg_slam_sim ndt_omp
  1 package not processed

So if I understand it correctly OpenMP is still missing after upgrading the CMake Version to 3.31.4.

@aserbremen
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aserbremen commented Jan 22, 2025 •
edited
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you can try to install OpenMP with sudo apt install libomp-dev.

Furthermore, the msse instructions do not seem to work under arm. Errors like unrecognized command-line option '-msse' indicate that the compiler is trying to use x86-specific SSE (Streaming SIMD Extensions) optimizations. This is incompatible with the ARM architecture (e.g., on aarch64).

Modify the build system to avoid enabling SSE flags on ARM. Check the CMakeLists.txt of the ndt_omp package or related packages, and look for SSE-related flags (e.g., -msse, -msse2, etc.). Replace or conditionally exclude them for ARM builds.

You can check the CMakeListsts.txt of the ndt_omp package and try to modify the current version:

if (BUILD_WITH_MARCH_NATIVE)
  add_compile_options(-march=native)
else()
  add_definitions(-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)
  set(CMAKE_CXX_FLAGS "-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")
endif()

to the following one:

if (BUILD_WITH_MARCH_NATIVE)
  add_compile_options(-march=native)
else()
  if (NOT ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64")
    add_definitions(-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")
  else()
    message(WARNING "SSE flags are not supported on this architecture (${CMAKE_SYSTEM_PROCESSOR}). Skipping SSE optimizations.")
  endif()
endif()

However, I am not sure what how to register your specific ARM64 architecture in the CMakeLists.txt

I recommend to paste your build output including the error to a large language model. Usually it can help you or at least give you hints on how to fix the current issue

@manuelarling
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Thank you for the detailed and helpful answer. For now I was able to get a x86 machine with an Ubuntu VM and got this repo working. I will be looking into the arm64 approach in the future.

@aserbremen aserbremen added the enhancement New feature or request label Jan 24, 2025
@aserbremen
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what OS does the x86 machine have? If you just want to deploy the multi-robot SLAM the docker containers might be a better choice. you can let me know if you need help configuring the SLAM with your setup

@manuelarling
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The host machine uses Windows 10. Thanks for your help, I already got both variants (source and docker container) to work successfully with my setup. 👍

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