make failed, g2o issue

[cu-autobike]

I followed the instructions on #427 (comment) to install rtabmap on ros-melodic for the Jetson Xavier (running Ubuntu 18.04), but encountered the following error message when running make:
/home/autobike/rtabmap/corelib/src/optimizer/OptimizerG2O.cpp:157:133: error: no matching function for call to ‘g2o::Factory::registerType(const char [17], std::unique_ptr<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset>, std::default_delete<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset> > >)’ erType("CACHE_SE3_OFFSET", g2o::make_unique<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset> >()); In file included from /home/autobike/rtabmap/corelib/src/optimizer/OptimizerG2O.cpp:46:0: /opt/ros/melodic/include/g2o/core/factory.h:62:12: note: candidate: void g2o::Factory::registerType(const string&, g2o::AbstractHyperGraphElementCreator*) void registerType(const std::string& tag, AbstractHyperGraphElementCreator* c); /opt/ros/melodic/include/g2o/core/factory.h:62:12: note: no known conversion for argument 2 from ‘std::unique_ptr<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset>, std::default_delete<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset> > >’ to ‘g2o::AbstractHyperGraphElementCreator*’ corelib/src/CMakeFiles/rtabmap_core.dir/build.make:915: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerG2O.cpp.o' failed make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerG2O.cpp.o] Error 1 CMakeFiles/Makefile2:825: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2 Makefile:155: recipe for target 'all' failed make: *** [all] Error 2

The cmake output can be found here
cmakeoutput.txt

[matlabbe]

cmake is mixing up two g2o. In cmake log, it found the one you built locally in /usr/local, but in that log error, it is referring to a g2o file in /opt/ros/melodic. If you want to use your local version, uninstall ros-melodic-libg2o, cleanup the build cache and rebuild.

cheers,
Mathieu

[cu-autobike]

Thanks, this fixed the issue!