hdl_graph_slam install (ROS noetic)

hdl_graph_slam
https://github.com/koide3/hdl_graph_slam

hpc@hpc-ubuntu:~$ sudo apt-get install ros-noetic-geodesy ros-noetic-pcl-ros ros-noetic-nmea-msgs ros-noetic-libg2o

hpc@hpc-ubuntu:~/catkin_floam$ mkdir -p ~/catkin_hdl_graph_slam/src
 

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ git clone https://github.com/koide3/ndt_omp.git
Cloning into 'ndt_omp'...
remote: Enumerating objects: 259, done.
remote: Counting objects: 100% (97/97), done.
remote: Compressing objects: 100% (42/42), done.
remote: Total 259 (delta 66), reused 55 (delta 55), pack-reused 162
Receiving objects: 100% (259/259), 1.71 MiB | 10.21 MiB/s, done.
Resolving deltas: 100% (115/115), done.
 

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive
Cloning into 'fast_gicp'...
remote: Enumerating objects: 1271, done.
remote: Counting objects: 100% (227/227), done.
remote: Compressing objects: 100% (73/73), done.
remote: Total 1271 (delta 172), reused 159 (delta 152), pack-reused 1044
Receiving objects: 100% (1271/1271), 6.53 MiB | 5.57 MiB/s, done.
Resolving deltas: 100% (706/706), done.
Submodule 'thirdparty/Eigen' (https://gitlab.com/libeigen/eigen.git) registered for path 'thirdparty/Eigen'
Submodule 'thidparty/Sophus' (https://github.com/strasdat/Sophus.git) registered for path 'thirdparty/Sophus'
Submodule 'thirdparty/nvbio' (https://github.com/NVlabs/nvbio.git) registered for path 'thirdparty/nvbio'
Submodule 'thirdparty/pybind11' (https://github.com/pybind/pybind11.git) registered for path 'thirdparty/pybind11'
Cloning into '/home/hpc/catkin_hdl_graph_slam/src/fast_gicp/thirdparty/Eigen'...
remote: Enumerating objects: 116912, done.        
remote: Counting objects: 100% (6/6), done.        
remote: Compressing objects: 100% (6/6), done.        
remote: Total 116912 (delta 0), reused 5 (delta 0), pack-reused 116906        
Receiving objects: 100% (116912/116912), 102.36 MiB | 16.83 MiB/s, done.
Resolving deltas: 100% (96575/96575), done.
Cloning into '/home/hpc/catkin_hdl_graph_slam/src/fast_gicp/thirdparty/Sophus'...
remote: Enumerating objects: 4888, done.        
remote: Counting objects: 100% (1787/1787), done.        
remote: Compressing objects: 100% (584/584), done.        
remote: Total 4888 (delta 1348), reused 1516 (delta 1194), pack-reused 3101        
Receiving objects: 100% (4888/4888), 12.38 MiB | 13.57 MiB/s, done.
Resolving deltas: 100% (3531/3531), done.
Cloning into '/home/hpc/catkin_hdl_graph_slam/src/fast_gicp/thirdparty/nvbio'...
remote: Enumerating objects: 61168, done.        
remote: Total 61168 (delta 0), reused 0 (delta 0), pack-reused 61168        
Receiving objects: 100% (61168/61168), 70.95 MiB | 13.77 MiB/s, done.
Resolving deltas: 100% (57976/57976), done.
Cloning into '/home/hpc/catkin_hdl_graph_slam/src/fast_gicp/thirdparty/pybind11'...
remote: Enumerating objects: 24659, done.        
remote: Counting objects: 100% (214/214), done.        
remote: Compressing objects: 100% (121/121), done.        
remote: Total 24659 (delta 109), reused 160 (delta 80), pack-reused 24445        
Receiving objects: 100% (24659/24659), 9.22 MiB | 14.37 MiB/s, done.
Resolving deltas: 100% (17260/17260), done.
Submodule path 'thirdparty/Eigen': checked out '1fd5ce1002a6f30e1169b529b291216a18be2f7e'
Submodule path 'thirdparty/Sophus': checked out 'd63ad09177f6b99ba605d684bac7f4b8d6820f5a'
Submodule path 'thirdparty/nvbio': checked out '9bb7e6363c65f65e46f21df09bef98e404250f10'
Submodule path 'thirdparty/pybind11': checked out '0e01c243c7ffae3a2e52f998bacfe82f56aa96d9'
 

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ git clone https://github.com/koide3/hdl_graph_slam
Cloning into 'hdl_graph_slam'...
remote: Enumerating objects: 995, done.
remote: Counting objects: 100% (122/122), done.
remote: Compressing objects: 100% (71/71), done.
remote: Total 995 (delta 55), reused 82 (delta 44), pack-reused 873
Receiving objects: 100% (995/995), 3.99 MiB | 6.94 MiB/s, done.
Resolving deltas: 100% (555/555), done.

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

...
[100%] Linking CXX shared library /home/hpc/catkin_hdl_graph_slam/devel/lib/libhdl_graph_slam_nodelet.so
[100%] Built target hdl_graph_slam_nodelet

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam$ sudo pip install ProgressBar2
Collecting ProgressBar2
  Downloading progressbar2-4.0.0-py2.py3-none-any.whl (26 kB)
Collecting python-utils>=3.0.0
  Downloading python_utils-3.3.3-py2.py3-none-any.whl (23 kB)
Installing collected packages: python-utils, ProgressBar2
Successfully installed ProgressBar2-4.0.0 python-utils-3.3.3

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam$ source devel/setup.bash
hpc@hpc-ubuntu:~/catkin_hdl_graph_slam$ rosparam set use_sim_time true
hpc@hpc-ubuntu:~/catkin_hdl_graph_slam$ roslaunch hdl_graph_slam hdl_graph_slam_400.launch

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam$ roscd hdl_graph_slam/rviz
hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src/hdl_graph_slam/rviz$ rviz -d hdl_graph_slam.rviz

hpc@hpc-ubuntu:~/Downloads$ rosbag play --clock 2022-09-16-iam-6.bag
[ INFO] [1663653655.638413928]: Opening 2022-09-16-iam-6.bag

Waiting 0.2 seconds after advertising topics... done.

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam$ roslaunch hdl_graph_slam hdl_graph_slam_custom.launch

ERROR: cannot launch node of type [msf_updates/pose_sensor]: msf_updates
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/hpc/catkin_hdl_graph_slam/src
ROS path [2]=/opt/ros/noetic/share

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ git clone https://github.com/ethz-asl/ethzasl_msf.git
Cloning into 'ethzasl_msf'...
remote: Enumerating objects: 10638, done.
remote: Counting objects: 100% (161/161), done.
remote: Compressing objects: 100% (95/95), done.
remote: Total 10638 (delta 75), reused 119 (delta 52), pack-reused 10477
Receiving objects: 100% (10638/10638), 20.79 MiB | 12.76 MiB/s, done.
Resolving deltas: 100% (6671/6671), done.
hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release
..
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "glog_catkin" with
  any of the following names:

    glog_catkinConfig.cmake
    glog_catkin-config.cmake

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam$ cd src/
hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ git clone https://github.com/ethz-asl/glog_catkin.git
Cloning into 'glog_catkin'...
remote: Enumerating objects: 165, done.
remote: Counting objects: 100% (17/17), done.
remote: Compressing objects: 100% (13/13), done.
remote: Total 165 (delta 7), reused 10 (delta 4), pack-reused 148
Receiving objects: 100% (165/165), 30.78 KiB | 189.00 KiB/s, done.
Resolving deltas: 100% (79/79), done.
hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release
...
CMake Error at glog_catkin/CMakeLists.txt:4 (find_package):
  By not providing "Findcatkin_simple.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "catkin_simple", but CMake did not find one.

  Could not find a package configuration file provided by "catkin_simple"
  with any of the following names:

    catkin_simpleConfig.cmake
    catkin_simple-config.cmake

hpc@hpc-ubuntu:~/catkin_hdl_graph_slam$ cd src/
hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ git clone https://github.com/catkin/catkin_simple.git
Cloning into 'catkin_simple'...
remote: Enumerating objects: 286, done.
remote: Total 286 (delta 0), reused 0 (delta 0), pack-reused 286
Receiving objects: 100% (286/286), 47.72 KiB | 7.95 MiB/s, done.
Resolving deltas: 100% (108/108), done.
hpc@hpc-ubuntu:~/catkin_hdl_graph_slam/src$ cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release
[100%] Linking CXX executable /home/hpc/catkin_hdl_graph_slam/devel/lib/msf_updates/position_pose_sensor
[100%] Built target position_pose_sensor