Dependency library issues for autoware_pointcloud_preprocessor node

[hzkkk1997]

I have been learning the v1.0 version of autoware before, and I want to move to the latest version recently, but I found that the dependency library of autoware_pointcloud_preprocessor module has become more and more, and a Sophus library has been added. May I ask which version is at least?

[hzkkk1997]

I installed version 1.22.10 of the sophus library and version 3.3.7 of the eigen library, but I had the following error when compiling autoware_pointcloud_preprocessor. Is this a problem with sophus?

[knzo25]

Did you use rosdep to install the dep?

kenzolobos@HOST:~/DIR$ apt list --installed | grep sophus

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

ros-humble-sophus/jammy,now 1.22.9102-2jammy.20240728.191521 amd64 [installed]
kenzolobos@HOST:DIR$ apt-cache policy ros-humble-sophus
ros-humble-sophus:
  Installed: 1.22.9102-2jammy.20240728.191521
  Candidate: 1.22.9102-2jammy.20240728.191521
  Version table:
 *** 1.22.9102-2jammy.20240728.191521 500
        500 http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages
        100 /var/lib/dpkg/status

[hzkkk1997]

@knzo25 Thanks for your reply. Due to some reasons, we only have ubuntu20.04(focal) system environment at present, so I need to install sophus library manually to adapt the new autoware project source code.
Is the version of sophus library 1.22.9102? If you install this library using rosdep, you install ros-humble sophus, right? Is this different from the manually installed sophus library?

[knzo25]

In that case I recommend you to use docker. We do not support ubuntu 20.
Also, please do not repeat your question in every related post.

[hzkkk1997]

Okay, remember your warning. Do I have to install sophus 1.22.9102?

[knzo25]

You need to use Ubuntu 22