catkin_make error about fcl

[aobi12138]

I (used $apt-get install libfcl_dev) to installed fcl. The project named fcl could not be installed successfully.
But when I comiling path_planning, there are many errors about fcl thar I could`nt solve.
Seek for your help. How could you install fcl? Did you know how to solve this?

[ 66%] Built target traj_gen
[ 83%] Built target transform_pointcloud
In file included from /home/aaron/下载/catkin_path/src/path_planning-master/src/old_path_planning.cpp:41:0:
/usr/include/fcl/traversal/traversal_node_octree.h: In member function ‘bool fcl::OcTreeSolver::OcTreeShapeDistanceRecurse(const fcl::OcTree*, const OcTreeNode*, const fcl::AABB&, const S&, const fcl::AABB&, const fcl::Transform3f&, const fcl::Transform3f&) const’:
/usr/include/fcl/traversal/traversal_node_octree.h:267:50: error: ‘const OcTreeNode {aka const class octomap::OcTreeNode}’ has no member named ‘getChild’
const OcTree::OcTreeNode* child = root1->getChild(i);
^
In file included from /home/aaron/下载/catkin_path/src/path_planning-master/src/old_path_planning.cpp:41:0:
/usr/include/fcl/traversal/traversal_node_octree.h: In member function ‘bool fcl::OcTreeSolver::OcTreeShapeIntersectRecurse(const fcl::OcTree*, const OcTreeNode*, const fcl::AABB&, const S&, const fcl::OBB&, const fcl::Transform3f&, const fcl::Transform3f&) const’:
/usr/include/fcl/traversal/traversal_node_octree.h:404:50: error: ‘const OcTreeNode {aka const class octomap::OcTreeNode}’ has no member named ‘getChild’
const OcTree::OcTreeNode* child = root1->getChild(i);

…………

/usr/local/include/fcl/math/bv/AABB.h:136:8: error: ‘S’ was not declared in this scope
AABB& expand(const AABB& core, S ratio);
^
/usr/local/include/fcl/math/bv/AABB.h:136:3: error: ‘AABB< >’ does not name a type
AABB& expand(const AABB& core, S ratio);
^
/usr/local/include/fcl/math/bv/AABB.h:139:15: error: ‘AABB’ does not name a type
using AABBf = AABB;
^
/usr/local/include/fcl/math/bv/AABB.h:140:15: error: ‘AABB’ does not name a type
using AABBd = AABB;
^
/usr/local/include/fcl/math/bv/AABB.h:144:1: error: ‘AABB’ does not name a type
AABB translate(
^
/usr/local/include/fcl/math/bv/AABB.h:147:1: error: expected declaration before ‘}’ token
} // namespace fcl
^
path_planning-master/CMakeFiles/old_path_planning.dir/build.make:62: recipe for target 'path_planning-master/CMakeFiles/old_path_planning.dir/src/old_path_planning.cpp.o' failed
make[2]: *** [path_planning-master/CMakeFiles/old_path_planning.dir/src/old_path_planning.cpp.o] Error 1
CMakeFiles/Makefile2:2930: recipe for target 'path_planning-master/CMakeFiles/old_path_planning.dir/all' failed
make[1]: *** [path_planning-master/CMakeFiles/old_path_planning.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
path_planning-master/CMakeFiles/path_planning_node.dir/build.make:62: recipe for target 'path_planning-master/CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o' failed
make[2]: *** [path_planning-master/CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o] Error 1
CMakeFiles/Makefile2:1288: recipe for target 'path_planning-master/CMakeFiles/path_planning_node.dir/all' failed
make[1]: *** [path_planning-master/CMakeFiles/path_planning_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

[zyp1998]

你好请问你解决了吗

[jojo666666]

I encountered the same problem, then downloaded fcl-0.5 from GitHub website and installed it as follows:

mkdir build
cd build
cmake ..
make -j4
sudo make install

[abdur4373]

Hello @jojo666666 were you able to compile this repo with fcl-0.5. Because they have changed many include files and class names in that?

[Wayne-xixi]

@abdur4373 can you complie this repo with fcl-0.5? I got this error:
'''CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o: In function fcl::Transform3f::transform(fcl::Vec3fX<fcl::details::Vec3Data<double> > const&) const': path_planning.cpp:(.text._ZNK3fcl11Transform3f9transformERKNS_6Vec3fXINS_7details8Vec3DataIdEEEE[_ZNK3fcl11Transform3f9transformERKNS_6Vec3fXINS_7details8Vec3DataIdEEEE]+0x46): undefined reference to fcl::Quaternion3f::transform(fcl::Vec3fX<fcl::details::Vec3Data > const&) const'
CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o: In function fcl::CollisionGeometry::CollisionGeometry()': path_planning.cpp:(.text._ZN3fcl17CollisionGeometryC2Ev[_ZN3fcl17CollisionGeometryC5Ev]+0x34): undefined reference to fcl::AABB::AABB()'
CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o: In function fcl::CollisionObject::CollisionObject(std::shared_ptr<fcl::CollisionGeometry> const&)': path_planning.cpp:(.text._ZN3fcl15CollisionObjectC2ERKSt10shared_ptrINS_17CollisionGeometryEE[_ZN3fcl15CollisionObjectC5ERKSt10shared_ptrINS_17CollisionGeometryEE]+0x59): undefined reference to fcl::AABB::AABB()'
CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o: In function fcl::Box::Box(double, double, double)': path_planning.cpp:(.text._ZN3fcl3BoxC2Eddd[_ZN3fcl3BoxC5Eddd]+0x29): undefined reference to vtable for fcl::Box'
CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o: In function planner::isStateValid(ompl::base::State const*)': path_planning.cpp:(.text._ZN7planner12isStateValidEPKN4ompl4base5StateE[_ZN7planner12isStateValidEPKN4ompl4base5StateE]+0x1e5): undefined reference to fcl::collide(fcl::CollisionObject const*, fcl::CollisionObject const*, fcl::CollisionRequest const&, fcl::CollisionResult&)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/fapsros/catkin_ws/devel/.private/path_planning/lib/path_planning/path_planning_node] Error 1
make[1]: *** [CMakeFiles/path_planning_node.dir/all] Error 2
make: *** [all] Error 2
'''

[Tokymin]

I also encountered the same problem..T T, have you solved it?

[Wayne-xixi]

I also encountered the same problem..T T, have you solved it?

yes, maybe you need checkout the fcl to banch 4.1. Sorry, it was too long, but I remembered that I changed the branch and rebuilded. But I'm not sure about the tag number.