Pcl: catkin_make with pcl error

[crankler]

I use ubuntu 16.04 and pcl version is pcl-1.9，
when I use catkin_make with my ros package,
there show error:

In file included from /usr/local/include/pcl-1.9/pcl/pcl_macros.h:39:0,
from /usr/local/include/pcl-1.9/pcl/PCLHeader.h:10,
from /usr/local/include/pcl-1.9/pcl/point_cloud.h:47,
/usr/local/include/pcl-1.9/pcl/pcl_config.h:7:4: error: #error PCL requires C++14 or above
#error PCL requires C++14 or above
^
In file included from /usr/local/include/pcl-1.9/pcl/console/print.h:44:0,
from /usr/local/include/pcl-1.9/pcl/conversions.h:53,
from /opt/ros/kinetic/include/pcl_conversions/pcl_conversions.h:44,
/usr/local/include/pcl-1.9/pcl/pcl_config.h:7:4: error: #error PCL requires C++14 or above
#error PCL requires C++14 or above
In file included from /usr/local/include/pcl-1.9/pcl/io/pcd_io.h:43:0,
from /opt/ros/kinetic/include/pcl_conversions/pcl_conversions.h:70,
/usr/local/include/pcl-1.9/pcl/io/file_io.h:235:8: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
std::enable_if_t::value>
/usr/local/include/pcl-1.9/pcl/io/file_io.h:266:18: error: expected initializer before ‘<’ token
copyValueString (const pcl::PCLPointCloud2 &cloud,
/usr/local/include/pcl-1.9/pcl/io/file_io.h:280:18: error: expected initializer before ‘<’ token
copyValueString (const pcl::PCLPointCloud2 &cloud,
^
/usr/local/include/pcl-1.9/pcl/io/file_io.h:304:8: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
std::enable_if_t::value, bool>
^
/usr/local/include/pcl-1.9/pcl/io/file_io.h:317:8: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type
std::enable_if_t::value, bool>

my cmakelist as follow:

find_package(PCL 1.9 REQUIRED)

catkin_package(
INCLUDE_DIRS
${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
CATKIN_DEPENDS
roscpp
)

include_directories(
include ${catkin_INCLUDE_DIRS}
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS}
)

my cpp file as follow:

include

include

include

include

include

int main (int argc, char **argv)
{
ros::init (argc, argv, "loadpcd");
ros::NodeHandle nh;
ros::Publisher pcl_pub = nh.advertise ("pcl_load", 10);
pcl::PointCloud cloud;
sensor_msgs::PointCloud2 output;
pcl::io::loadPCDFile ("/home/0-sim_bag/loam.pcd", cloud);
//Convert the cloud to ROS message
pcl::toROSMsg(cloud, output);
output.header.frame_id = "odom";//this has been done in order to be able to visualize our PointCloud2 message on the RViz visualizer
ros::Rate loop_rate(1);
while (ros::ok())
{
pcl_pub.publish(output);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}

So can you tell me how to solve this problem ? Thank you !

[SergioRAgostinho]

Add these two line at the top of your CMake file after defining the project. Hopefully it will compile.

# Set target C++ standard and required compiler features
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

Alternatively, use pcl 1.9.1 instead of the development version from GitHub.

[crankler]

Yes, I try this way yesterday, but there stiil have error in catkin_make, just as follow:

CMakeFiles/loadpcd. Dir/SRC/loadpcd. CPP. O: in function 'photo: : PCDReader: : PCDReader ()' :
Loadpcd.cpp :(.text._zn3pcl9pcdreaderc2ev [_ZN3pcl9PCDReaderC5Ev]+0x19) : undefined reference to 'vtable for PCL ::PCDReader'
CMakeFiles/loadpcd. Dir/SRC/loadpcd. CPP. O: in function 'photo: : PCDReader: : ~ PCDReader ()' :
Loadpcd.cpp :(.text._zn3pcl9pcdreaderd2ev [_ZN3pcl9PCDReaderD5Ev]+0xd) : undefined reference to 'vtable for PCL ::PCDReader'
CMakeFiles/loadpcd. Dir/SRC/loadpcd. CPP. O: in function 'void PCLS: : detail: : FieldMapper < photo: : PointXYZ > : : operator () < photo: : fields: : x > ()' :
Loadpcd. CPP: (. Text. _ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1xEEEvv [_ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1xEEEvv] + 0 x1b2) : Print (PCL ::console::print(PCL ::console::VERBOSITY_LEVEL, char const... An undefined reference
CMakeFiles/loadpcd. Dir/SRC/loadpcd. CPP. O: in function 'void PCLS: : detail: : FieldMapper < photo: : PointXYZ > : : operator () < photo: : fields: : y > ()' :
Loadpcd. CPP: (. Text. _ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1yEEEvv [_ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1yEEEvv] + 0 x1b2) : Print (PCL ::console::print(PCL ::console::VERBOSITY_LEVEL, char const... An undefined reference
CMakeFiles/loadpcd. Dir/SRC/loadpcd. CPP. O: in function 'void PCLS: : detail: : FieldMapper < photo: : PointXYZ > : : operator () < photo: : fields: : z > ()' :
Loadpcd. CPP: (. Text. _ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1zEEEvv [_ZN3pcl6detail11FieldMapperINS_8PointXYZEEclINS_6fields1zEEEvv] + 0 x1b2) : Print (PCL ::console::print(PCL ::console::VERBOSITY_LEVEL, char const*... An undefined reference
Collect2: error: ld returned 1 exit status

[SergioRAgostinho]

In your CMake snippet I see no command linking against ${PCL_LIBRARIES}. That would cause the compile issues you're seeing here.

[crankler]

OK, I add this and it worked !
Thank you!

[anujgpatil]

@SergioRAgostinho I have the linking commands in my CMakeLists.txt but still getting undefined reference to errors. Any inputs?

[taketwo]

Please follow our guidelines and post such support questions on Stack Overflow. Make sure to provide more detailed information as it is virtually impossible to give any meaningful suggestions to a request like "Stuff does not work -- help!"

[parkerlreed]

@taketwo Is that a joke? Stack Overflow is the worst place for quick questions. Hell I can't even answer questions because of the bullcrap points system. I have to ask questions to be able to answer? That's freaking stupid.

@SergioRAgostinho Thanks for the solution. This helped for building rtabmap.

[anujgpatil]

Compared to StackOverflow, https://gitter.im/PointCloudLibrary/pcl is a good forum to get PCL related "help" @parkerlreed
:)

[chrisfernam2]

Hey guys could you please help me with this error.

I get this same error PCL requires c++14 or above error.
I tried adding to the CMakeLists.txt found in the sick_scan/, right below cmake_minimum_required(VERSION2.8.3) but i still face the same error.

Set target C++ standard and required compiler features

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

Here i have attached
CMakeLists.txt
the content of my /sick_scan/CMakeLists.txt file, which is exactly the same content found in the sick_scan github page under the master branch:

I would greatly appreciate your assistance!

[SergioRAgostinho]

You're setting the standard to C++11 in your CMake file. PCL 1.10 requires C++14 as the minimum.

[chrisfernam2]

Hi Sergio. I actually added:
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

Right below the project(sick_scan) in my Sick_Scan/CMakeLists.txt and this change alone seemed to fix most of my issue. The compilation is almost succeeding 100%. Now I only face 2 small errors, both of which are relative the same.

Could you please assist me?
I added 2 screenshots of both of them.

The compiler doesn't really know how to compare between the boost::system::error_code object and the integer itself; i'm just not too familiar with boost::system.

Care to elaborate if possible?

[chrisfernam2]

Actually got it to compile completely, it was a simple mistake in the sick_scan-provided sick_scan_common.cpp. Changed ec == 0 to: ec.value() == boost::system::errc::success. Thank you!