unable to catkin_make on Ubuntu 16.04.2 LTS using ROS Lunar

[pierrekilly]

Hello guys!

I'm trying to install cob_people_perception on ROS Lunar.

I have followed the instruction there http://wiki.ros.org/cob_people_detection, beeing aware that those are relevant for ROS Indigo.

Anyway, I get to the following error:

In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_tracking_filter/src/uniform_vector.cpp:37:0:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_tracking_filter/include/cob_people_tracking_filter/uniform_vector.h:40:21: fatal error: pdf/pdf.h: No such file or directory

I've looked for the file pdf.h and I have it:

$ locate -b '\pdf.h'
/opt/ros/lunar/include/bfl/pdf/pdf.h

I guess /opt/ros/lunar/include is not in the include path.

Any idea?

[pierrekilly]

I managed to get over this error by editing cob_people_tracking_filter/CMakeLists.txt.
Change

include_directories(
        include
        ${catkin_INCLUDE_DIRS}
        ${BFL_INCLUDE_DIRS}
)

lines 55-59 into

include_directories(
        include
        ${catkin_INCLUDE_DIRS}
        ${BFL_INCLUDE_DIRS}
        ${BFL_INCLUDE_DIRS}/bfl
)

eg. add ${BFL_INCLUDE_DIRS}/bfl to the include directories.

Unfortunately it fails later:

/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::synthFace(cv::Mat&, cv::Mat&, cv::Size&, std::vector<cv::Mat>&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:141:5: error: ‘cvtColor’ is not a member of ‘cv’
     cv::cvtColor(RGB,GRAY,CV_RGB2GRAY);
     ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:157:38: error: ‘cvtColor’ is not a member of ‘cv’
     if(synth_images[n].channels()==3)cv::cvtColor(synth_images[n],synth_images[n],CV_RGB2GRAY);
                                      ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:173:3: error: ‘resize’ is not a member of ‘cv’
   cv::resize(synth_images[n],synth_images[n],norm_size_,0,0);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::normalizeFace(cv::Mat&, cv::Mat&, cv::Size&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:213:26: error: ‘cvtColor’ is not a member of ‘cv’
     if(img.channels()==3)cv::cvtColor(img,img,CV_RGB2GRAY);
                          ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:249:3: error: ‘resize’ is not a member of ‘cv’
   cv::resize(img,img,norm_size_,0,0);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:250:3: error: ‘resize’ is not a member of ‘cv’
   cv::resize(depth,depth,norm_size_,0,0);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::normalizeFace(cv::Mat&, cv::Size&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:276:24: error: ‘cvtColor’ is not a member of ‘cv’
   if(img.channels()==3)cv::cvtColor(img,img,CV_RGB2GRAY);
                        ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:295:3: error: ‘resize’ is not a member of ‘cv’
   cv::resize(img,img,norm_size_,0,0);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘void FaceNormalizer::extractVChannel(cv::Mat&, cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:314:13: error: ‘cvtColor’ is not a member of ‘cv’
   if(debug_)cv::cvtColor(img,img,CV_RGB2HSV);
             ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:315:8: error: ‘cvtColor’ is not a member of ‘cv’
   else cv::cvtColor(img,img,CV_BGR2HSV);
        ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:321:13: error: ‘cvtColor’ is not a member of ‘cv’
   if(debug_)cv::cvtColor(img,img,CV_HSV2RGB);
             ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:322:8: error: ‘cvtColor’ is not a member of ‘cv’
   else cv::cvtColor(img,img,CV_HSV2BGR);
        ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘void FaceNormalizer::subVChannel(cv::Mat&, cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:331:14: error: ‘cvtColor’ is not a member of ‘cv’
    if(debug_)cv::cvtColor(img,img,CV_RGB2HSV);
              ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:332:8: error: ‘cvtColor’ is not a member of ‘cv’
   else cv::cvtColor(img,img,CV_BGR2HSV);
        ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:339:13: error: ‘cvtColor’ is not a member of ‘cv’
   if(debug_)cv::cvtColor(img,img,CV_HSV2RGB);
             ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:340:8: error: ‘cvtColor’ is not a member of ‘cv’
   else cv::cvtColor(img,img,CV_HSV2BGR);
        ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘void FaceNormalizer::GammaDoG(cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:367:3: error: ‘GaussianBlur’ is not a member of ‘cv’
   cv::GaussianBlur(img,g1,cv::Size(9,9),1);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:368:3: error: ‘GaussianBlur’ is not a member of ‘cv’
   cv::GaussianBlur(img,g2,cv::Size(9,9),2);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:372:3: error: ‘equalizeHist’ is not a member of ‘cv’
   cv::equalizeHist(img,img);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘void FaceNormalizer::GammaDCT(cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:401:3: error: ‘equalizeHist’ is not a member of ‘cv’
   cv::equalizeHist(img,img);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::synth_head_poses_relative(cv::Mat&, cv::Mat&, std::vector<cv::Mat>&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:600:25: error: ‘cvtColor’ is not a member of ‘cv’
    if(img.channels()==3)cv::cvtColor(img,img,CV_RGB2GRAY);
                         ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::synth_head_poses(cv::Mat&, cv::Mat&, std::vector<cv::Mat>&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:796:25: error: ‘cvtColor’ is not a member of ‘cv’
    if(img.channels()==3)cv::cvtColor(img,img,CV_RGB2GRAY);
                         ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::rotate_head(cv::Mat&, cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:939:25: error: ‘cvtColor’ is not a member of ‘cv’
    if(img.channels()==3)cv::cvtColor(img,img,CV_RGB2GRAY);
                         ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:949:3: error: ‘circle’ is not a member of ‘cv’
   cv::circle(imgres,nose_uv,5,cv::Scalar(255,255,255),-1,8);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:950:3: error: ‘circle’ is not a member of ‘cv’
   cv::circle(imgres,lefteye_uv,5,cv::Scalar(255,255,255),-1,8);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:951:3: error: ‘circle’ is not a member of ‘cv’
   cv::circle(imgres,righteye_uv,5,cv::Scalar(255,255,255),-1,8);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:952:3: error: ‘imshow’ is not a member of ‘cv’
   cv::imshow("FULL",imgres);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:955:7: error: ‘waitKey’ is not a member of ‘cv’
   key=cv::waitKey(200);
       ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:960:11: error: ‘waitKey’ is not a member of ‘cv’
     enter=cv::waitKey(0);
           ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::normalize_geometry_depth(cv::Mat&, cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1078:25: error: ‘cvtColor’ is not a member of ‘cv’
    if(img.channels()==3)cv::cvtColor(img,img,CV_RGB2GRAY);
                         ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘void FaceNormalizer::dump_img(cv::Mat&, std::__cxx11::string)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1233:3: error: ‘imwrite’ is not a member of ‘cv’
   cv::imwrite(filename,data);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘void FaceNormalizer::dump_features(cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1243:4: error: ‘circle’ is not a member of ‘cv’
    cv::circle(img2,cv::Point(f_det_img_.nose.x, f_det_img_.nose.y),5,CV_RGB(255,0,0));
    ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1245:4: error: ‘circle’ is not a member of ‘cv’
    cv::circle(img2,cv::Point(f_det_img_.lefteye.x,f_det_img_.lefteye.y),5,CV_RGB(255,255,0));
    ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1246:4: error: ‘circle’ is not a member of ‘cv’
    cv::circle(img2,cv::Point(f_det_img_.righteye.x,f_det_img_.righteye.y),5,CV_RGB(255,0,255));
    ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::save_scene(cv::Mat&, cv::Mat&, std::__cxx11::string)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1263:25: error: ‘imwrite’ was not declared in this scope
   imwrite(color_path,RGB);
                         ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘void FaceNormalizer::create_DM(cv::Mat&, cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1312:3: error: ‘medianBlur’ is not a member of ‘cv’
   cv::medianBlur(DM,DM,5);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::projectPoint(cv::Point3f&, cv::Point2f&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1324:5: error: ‘projectPoints’ is not a member of ‘cv’
     cv::projectPoints(m_xyz,rot,trans,cam_mat_,dist_coeffs_,m_uv);
     ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::projectPointCloud(cv::Mat&, cv::Mat&, cv::Mat&, cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1353:4: error: ‘projectPoints’ is not a member of ‘cv’
    cv::projectPoints(pc_xyz,rot,trans,cam_mat_,dist_coeffs_,pc_proj);
    ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp: In member function ‘bool FaceNormalizer::interpolate_head(cv::Mat&, cv::Mat&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1526:3: error: ‘imshow’ is not a member of ‘cv’
   cv::imshow("Z",xyz_vec[2]);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1527:3: error: ‘imshow’ is not a member of ‘cv’
   cv::imshow("RGB",RGB);
   ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_normalizer.cpp:1529:3: error: ‘waitKey’ is not a member of ‘cv’
   cv::waitKey(0);
   ^

I'm investigating on this, any guess about it is very welcome :)

[pierrekilly]

Ok, I got over this one too but again, it fails later.
In common/include/cob_people_detection/face_normalizer.h
replace

#include <opencv/cv.h>
#include <opencv/cvaux.h>
#include <opencv/highgui.h>
#include <opencv/ml.h>

lines 1 to 4, by

#include <opencv2/opencv.hpp>

The new error is now:

In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:0:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:229:6: error: ‘SVM’ in namespace ‘cv’ does not name a type
  cv::SVM m_face_classifier; ///< classifier for the identity of a person
      ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp: In member function ‘virtual long unsigned int ipa_PeopleDetector::FaceRecognizer::loadRecognitionModel(std::vector<std::__cxx11::basic_string<char> >&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:373:14: error: ‘string’ was not declared in this scope
  std::vector<string> temp_face_labels;
              ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:373:14: note: suggested alternatives:
In file included from /usr/include/c++/5/string:39:0,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/cvstd.hpp:58,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/base.hpp:58,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core.hpp:54,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/types_c.h:101,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/core_c.h:48,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv/cv.h:63,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/abstract_face_recognizer.h:70,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:65,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/c++/5/bits/stringfwd.h:74:33: note:   ‘std::__cxx11::string’
   typedef basic_string<char>    string;   
                                 ^
/usr/include/c++/5/bits/stringfwd.h:74:33: note:   ‘std::__cxx11::string’
In file included from /usr/include/boost/lexical_cast/detail/converter_lexical.hpp:51:0,
                 from /usr/include/boost/lexical_cast/try_lexical_convert.hpp:34,
                 from /usr/include/boost/lexical_cast.hpp:32,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/container/container_fwd.hpp:179:1: note:   ‘boost::container::string’
 string;
 ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:373:20: error: template argument 1 is invalid
  std::vector<string> temp_face_labels;
                    ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:373:20: error: template argument 2 is invalid
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:391:22: error: request for member ‘push_back’ in ‘temp_face_labels’, which is of non-class type ‘int’
     temp_face_labels.push_back(*it);
                      ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:426:19: error: no match for ‘operator=’ (operand types are ‘std::vector<std::__cxx11::basic_string<char> >’ and ‘int’)
     m_face_labels = temp_face_labels;
                   ^
In file included from /usr/include/c++/5/vector:69:0,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/types.hpp:53,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core.hpp:58,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/types_c.h:101,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/core_c.h:48,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv/cv.h:63,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/abstract_face_recognizer.h:70,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:65,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/c++/5/bits/vector.tcc:167:5: note: candidate: std::vector<_Tp, _Alloc>& std::vector<_Tp, _Alloc>::operator=(const std::vector<_Tp, _Alloc>&) [with _Tp = std::__cxx11::basic_string<char>; _Alloc = std::allocator<std::__cxx11::basic_string<char> >]
     vector<_Tp, _Alloc>::
     ^
/usr/include/c++/5/bits/vector.tcc:167:5: note:   no known conversion for argument 1 from ‘int’ to ‘const std::vector<std::__cxx11::basic_string<char> >&’
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp: In member function ‘virtual long unsigned int ipa_PeopleDetector::FaceRecognizer::saveTrainingData(std::vector<cv::Mat>&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:618:75: error: ‘string’ was not declared in this scope
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                           ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:618:75: note: suggested alternatives:
In file included from /usr/include/c++/5/string:39:0,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/cvstd.hpp:58,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/base.hpp:58,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core.hpp:54,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/types_c.h:101,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/core_c.h:48,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv/cv.h:63,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/abstract_face_recognizer.h:70,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:65,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/c++/5/bits/stringfwd.h:74:33: note:   ‘std::__cxx11::string’
   typedef basic_string<char>    string;   
                                 ^
/usr/include/c++/5/bits/stringfwd.h:74:33: note:   ‘std::__cxx11::string’
In file included from /usr/include/boost/lexical_cast/detail/converter_lexical.hpp:51:0,
                 from /usr/include/boost/lexical_cast/try_lexical_convert.hpp:34,
                 from /usr/include/boost/lexical_cast.hpp:32,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/container/container_fwd.hpp:179:1: note:   ‘boost::container::string’
 string;
 ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:618:84: error: no matching function for call to ‘lexical_cast(int&)’
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:37:19: note: candidate: template<class Target, class Source> Target boost::lexical_cast(const Source&)
     inline Target lexical_cast(const Source &arg)
                   ^
/usr/include/boost/lexical_cast.hpp:37:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:618:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:49:19: note: candidate: template<class Target> Target boost::lexical_cast(const char*, std::size_t)
     inline Target lexical_cast(const char* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:49:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:618:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:57:19: note: candidate: template<class Target> Target boost::lexical_cast(const unsigned char*, std::size_t)
     inline Target lexical_cast(const unsigned char* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:57:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:618:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:65:19: note: candidate: template<class Target> Target boost::lexical_cast(const signed char*, std::size_t)
     inline Target lexical_cast(const signed char* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:65:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:618:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:74:19: note: candidate: template<class Target> Target boost::lexical_cast(const wchar_t*, std::size_t)
     inline Target lexical_cast(const wchar_t* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:74:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:618:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp: In member function ‘virtual long unsigned int ipa_PeopleDetector::FaceRecognizer::saveTrainingData(std::vector<cv::Mat>&, std::vector<cv::Mat>&)’:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:666:75: error: ‘string’ was not declared in this scope
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                           ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:666:75: note: suggested alternatives:
In file included from /usr/include/c++/5/string:39:0,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/cvstd.hpp:58,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/base.hpp:58,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core.hpp:54,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/types_c.h:101,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/core_c.h:48,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv/cv.h:63,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/abstract_face_recognizer.h:70,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:65,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/c++/5/bits/stringfwd.h:74:33: note:   ‘std::__cxx11::string’
   typedef basic_string<char>    string;   
                                 ^
/usr/include/c++/5/bits/stringfwd.h:74:33: note:   ‘std::__cxx11::string’
In file included from /usr/include/boost/lexical_cast/detail/converter_lexical.hpp:51:0,
                 from /usr/include/boost/lexical_cast/try_lexical_convert.hpp:34,
                 from /usr/include/boost/lexical_cast.hpp:32,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/container/container_fwd.hpp:179:1: note:   ‘boost::container::string’
 string;
 ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:666:84: error: no matching function for call to ‘lexical_cast(int&)’
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:37:19: note: candidate: template<class Target, class Source> Target boost::lexical_cast(const Source&)
     inline Target lexical_cast(const Source &arg)
                   ^
/usr/include/boost/lexical_cast.hpp:37:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:666:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:49:19: note: candidate: template<class Target> Target boost::lexical_cast(const char*, std::size_t)
     inline Target lexical_cast(const char* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:49:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:666:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:57:19: note: candidate: template<class Target> Target boost::lexical_cast(const unsigned char*, std::size_t)
     inline Target lexical_cast(const unsigned char* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:57:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:666:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:65:19: note: candidate: template<class Target> Target boost::lexical_cast(const signed char*, std::size_t)
     inline Target lexical_cast(const signed char* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:65:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:666:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:74:19: note: candidate: template<class Target> Target boost::lexical_cast(const wchar_t*, std::size_t)
     inline Target lexical_cast(const wchar_t* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:74:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:666:84: error: template argument 1 is invalid
    boost::filesystem::path img_path = path / "img" / (boost::lexical_cast<string>(i) + img_ext);
                                                                                    ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:690:77: error: ‘string’ was not declared in this scope
     boost::filesystem::path dm_path = path / "depth" / (boost::lexical_cast<string>(i) + ".xml");
                                                                             ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:690:77: note: suggested alternatives:
In file included from /usr/include/c++/5/string:39:0,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/cvstd.hpp:58,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/base.hpp:58,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core.hpp:54,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/types_c.h:101,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv2/core/core_c.h:48,
                 from /opt/ros/lunar/include/opencv-3.2.0-dev/opencv/cv.h:63,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/abstract_face_recognizer.h:70,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:65,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/c++/5/bits/stringfwd.h:74:33: note:   ‘std::__cxx11::string’
   typedef basic_string<char>    string;   
                                 ^
/usr/include/c++/5/bits/stringfwd.h:74:33: note:   ‘std::__cxx11::string’
In file included from /usr/include/boost/lexical_cast/detail/converter_lexical.hpp:51:0,
                 from /usr/include/boost/lexical_cast/try_lexical_convert.hpp:34,
                 from /usr/include/boost/lexical_cast.hpp:32,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/container/container_fwd.hpp:179:1: note:   ‘boost::container::string’
 string;
 ^
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:690:86: error: no matching function for call to ‘lexical_cast(unsigned int&)’
     boost::filesystem::path dm_path = path / "depth" / (boost::lexical_cast<string>(i) + ".xml");
                                                                                      ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:37:19: note: candidate: template<class Target, class Source> Target boost::lexical_cast(const Source&)
     inline Target lexical_cast(const Source &arg)
                   ^
/usr/include/boost/lexical_cast.hpp:37:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:690:86: error: template argument 1 is invalid
     boost::filesystem::path dm_path = path / "depth" / (boost::lexical_cast<string>(i) + ".xml");
                                                                                      ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:49:19: note: candidate: template<class Target> Target boost::lexical_cast(const char*, std::size_t)
     inline Target lexical_cast(const char* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:49:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:690:86: error: template argument 1 is invalid
     boost::filesystem::path dm_path = path / "depth" / (boost::lexical_cast<string>(i) + ".xml");
                                                                                      ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:57:19: note: candidate: template<class Target> Target boost::lexical_cast(const unsigned char*, std::size_t)
     inline Target lexical_cast(const unsigned char* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:57:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:690:86: error: template argument 1 is invalid
     boost::filesystem::path dm_path = path / "depth" / (boost::lexical_cast<string>(i) + ".xml");
                                                                                      ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:65:19: note: candidate: template<class Target> Target boost::lexical_cast(const signed char*, std::size_t)
     inline Target lexical_cast(const signed char* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:65:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:690:86: error: template argument 1 is invalid
     boost::filesystem::path dm_path = path / "depth" / (boost::lexical_cast<string>(i) + ".xml");
                                                                                      ^
In file included from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_normalizer.h:4:0,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/include/cob_people_detection/face_recognizer.h:66,
                 from /home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:62:
/usr/include/boost/lexical_cast.hpp:74:19: note: candidate: template<class Target> Target boost::lexical_cast(const wchar_t*, std::size_t)
     inline Target lexical_cast(const wchar_t* chars, std::size_t count)
                   ^
/usr/include/boost/lexical_cast.hpp:74:19: note:   template argument deduction/substitution failed:
/home/pierre/catkin_ws/src/cob_people_perception/cob_people_detection/common/src/face_recognizer.cpp:690:86: error: template argument 1 is invalid
     boost::filesystem::path dm_path = path / "depth" / (boost::lexical_cast<string>(i) + ".xml");
                                                                                      ^

I'm a bit confused by the first error:

‘SVM’ in namespace ‘cv’ does not name a type

because SVM is declared in /usr/include/opencv2/ml/ml.hpp as following:

namespace cv
{

typedef CvStatModel StatModel;
typedef CvParamGrid ParamGrid;
typedef CvNormalBayesClassifier NormalBayesClassifier;
typedef CvKNearest KNearest;
typedef CvSVMParams SVMParams;
typedef CvSVMKernel SVMKernel;
typedef CvSVMSolver SVMSolver;
typedef CvSVM SVM;
typedef CvDTreeParams DTreeParams;
typedef CvMLData TrainData;
typedef CvDTree DecisionTree;
typedef CvForestTree ForestTree;
typedef CvRTParams RandomTreeParams;
typedef CvRTrees RandomTrees;
typedef CvERTreeTrainData ERTreeTRainData;
typedef CvForestERTree ERTree;
typedef CvERTrees ERTrees;
typedef CvBoostParams BoostParams;
typedef CvBoostTree BoostTree;
typedef CvBoost Boost;
typedef CvANN_MLP_TrainParams ANN_MLP_TrainParams;
typedef CvANN_MLP NeuralNet_MLP;
typedef CvGBTreesParams GradientBoostingTreeParams;
typedef CvGBTrees GradientBoostingTrees;

template<> CV_EXPORTS void Ptr<CvDTreeSplit>::delete_obj();

CV_EXPORTS bool initModule_ml(void);

}

This whole file is enclosed by a #ifdef __cplusplus block. Is it possible that this evaluates to false?

[ipa-rmb]

Hi, thanks for your efforts in running the package with Lunar.

The OpenCV problem could be connected with the installed OpenCV version. Do you have OpenCV 3.x or 2.4.x installed? On some other repositories I received some OpenCV errors like this as well on a Travis build, but did not have the time to investigate them deeper.
But now I found something: try to use cv::ml::SVM instead of cv::SVM.
(found here: http://answers.opencv.org/question/65634/opencv-30-not-longer-recognises-cvsvm/)

The std::vectorerror should vanish with using std::vectorstd::string.

Can you be so kind and send a pull request if you can run it successfully in the end?

[pierrekilly]

Yes, I have OpenCV 3.2 installed. I'll investigate this today, or in the next few days.
It will be a pleasure to contribute! Should I create a lunar-devel branch? Or do you want to create it and I create another one to make a PR?
Just tell me your preferred way and I'll do it :)

[ipa-rmb]

Thanks for your assistance! I would prefer a version that works with both, so in the best case you contribute to the indigo_dev branch. It is ok for me if you send us a pull request with the modifications that make it work with Lunar. We will then take care that these modifications still work with indigo. Only if it is getting too messy, then we will split the branches.

[pierrekilly]

I have made it to compile!
BTW this GH issue has been very helpfull: wg-perception/people#44
I now prepare th PR and send it to you.

[pierrekilly]

A PR is available: #72
It's not finished yet, but it compiles! 🎉

[ipa-rmb]

Should be solved by #72 and #74 .