ros-noetic/rtabmap-ros-0.20.0-r3 does not emerge (multiple errors)

[flabrosse]

Trying to install ros-noetic/rtabmap_ros, which fails because it wants the non-existent package ros-noetic/rtabmap. There is a sci-libs/rtabmap, which is the correct rtabmap, but may not offer the necessary bits for the ros package.

Anybody solved this?

[flabrosse]

I have patched in my tree the ebuild to fix the problem above and add another missing package (apriltag_ros).

However the rtabmap_ros package itself needs a lot of work. cmake complains about a lot of deprecations (as warnings) and then complains about not finding FindPkgConfig.cmake because it looks in the wrong place:

/opt/ros/noetic/core/rosbuild/FindPkgConfig.cmake

instead of

/opt/ros/noetic/share/ros/core/rosbuild/FindPkgConfig.cmake

So the file CMakeLists.txt of the rtabmap_ros package needs patching.

[flabrosse]

Just to record progress, I patched the CMakeLists.txt file from the rtabmap-ros to use the correct way to find pkg-config.

Emerge still fails, now with lots of errors relating to PCL. I guess it needs an older version than the latest 1.11.1.

[flabrosse]

The good news is that PCL-1.9.1, also in the ros-overlay tree seems to do the trick.

However, emerging fails on some missing function in rtabmap. That is because the only version of rtabmap anywhere in the tree (gentoo's) is 0.20.3 when rtabmap_ros wants 0.20.7 (according to the CMakeLists.txt in the rtabmap_ros package). Strangely enough this seems to be ignored, for a reason I do not understand.

[flabrosse]

And rtabmap-0.20.7 does not exist as a release... 0.20.3 is the last one.

[flabrosse]

My comment on needing rtabmap-0.20.7 is incorrect. This is only the latest version on git that wants this, not the latest release. That said, rtabmap_ros-0.20.0 still does not compile with rtabmap-0.20.3. Still looking.

[flabrosse]

It transpires that rtabmap and rtabmap_ros versions have to match. However, there is no rtabmap-0.20.0 and rtabmap_ros-0.20.0 is the latest release. This is discussed here. Only way forward at the moment is to create a version 9999 of rtabmap_ros and risk using the potentially unstable master (until compatible versions are available again).

Anybody sees a better solution?