catkin_make error

[tegg89]

I am using Ubuntu 16.04 and kinetic for ROS version.
As the documents, I cloned it and catkin_make.
At first, it recommends using catkin_make_isolated command instead.
The followings are error messages:

Base path: /media/tegg/Another_Disk/catkin_ws
Source space: /media/tegg/Another_Disk/catkin_ws/src
Build space: /media/tegg/Another_Disk/catkin_ws/build_isolated
Devel space: /media/tegg/Another_Disk/catkin_ws/devel_isolated
Install space: /media/tegg/Another_Disk/catkin_ws/install_isolated
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~  traversing 9 packages in topological order:
~~  - cartographer_ros_msgs
~~  - ceres-solver (plain cmake)
~~  - cartographer (plain cmake)
~~  - cartographer_ros
~~  - cartographer_rviz
~~  - ethzasl_ptam
~~  - ptam_com
~~  - ptam
~~  - rqt_ptam
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

==> Processing catkin package: 'cartographer_ros_msgs'
==> cmake /media/tegg/Another_Disk/catkin_ws/src/cartographer_ros/cartographer_ros_msgs -DCATKIN_DEVEL_PREFIX=/media/tegg/Another_Disk/catkin_ws/devel_isolated/cartographer_ros_msgs -DCMAKE_INSTALL_PREFIX=/media/tegg/Another_Disk/catkin_ws/install_isolated -G Unix Makefiles in '/media/tegg/Another_Disk/catkin_ws/build_isolated/cartographer_ros_msgs'
CMake Error: Error: generator : Unix Makefiles
Does not match the generator used previously: Ninja
Either remove the CMakeCache.txt file and CMakeFiles directory or choose a different binary directory.
<== Failed to process package 'cartographer_ros_msgs': 
  Command '['cmake', '/media/tegg/Another_Disk/catkin_ws/src/cartographer_ros/cartographer_ros_msgs', '-DCATKIN_DEVEL_PREFIX=/media/tegg/Another_Disk/catkin_ws/devel_isolated/cartographer_ros_msgs', '-DCMAKE_INSTALL_PREFIX=/media/tegg/Another_Disk/catkin_ws/install_isolated', '-G', 'Unix Makefiles']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /media/tegg/Another_Disk/catkin_ws/build_isolated/cartographer_ros_msgs && cmake /media/tegg/Another_Disk/catkin_ws/src/cartographer_ros/cartographer_ros_msgs -DCATKIN_DEVEL_PREFIX=/media/tegg/Another_Disk/catkin_ws/devel_isolated/cartographer_ros_msgs -DCMAKE_INSTALL_PREFIX=/media/tegg/Another_Disk/catkin_ws/install_isolated -G 'Unix Makefiles'

Command failed, exiting.

Inside of `catkin_ws/build/CMakeFiles/CMakeError.log', following messages are written:

Determining if the pthread_create exist failed with the following output:
Change Dir: /media/tegg/Another_Disk/catkin_ws/build/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_3365a/fast"
/usr/bin/make -f CMakeFiles/cmTC_3365a.dir/build.make CMakeFiles/cmTC_3365a.dir/build
make[1]: Entering directory '/media/tegg/Another_Disk/catkin_ws/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_3365a.dir/CheckSymbolExists.c.o
/usr/bin/cc     -o CMakeFiles/cmTC_3365a.dir/CheckSymbolExists.c.o   -c /media/tegg/Another_Disk/catkin_ws/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c
Linking C executable cmTC_3365a
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_3365a.dir/link.txt --verbose=1
/usr/bin/cc       CMakeFiles/cmTC_3365a.dir/CheckSymbolExists.c.o  -o cmTC_3365a -rdynamic 
CMakeFiles/cmTC_3365a.dir/CheckSymbolExists.c.o: In function `main':
CheckSymbolExists.c:(.text+0x16): undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
CMakeFiles/cmTC_3365a.dir/build.make:97: recipe for target 'cmTC_3365a' failed
make[1]: *** [cmTC_3365a] Error 1
make[1]: Leaving directory '/media/tegg/Another_Disk/catkin_ws/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_3365a/fast' failed
make: *** [cmTC_3365a/fast] Error 2

File /media/tegg/Another_Disk/catkin_ws/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c:
/* */
#include <pthread.h>

int main(int argc, char** argv)
{
  (void)argv;
#ifndef pthread_create
  return ((int*)(&pthread_create))[argc];
#else
  (void)argc;
  return 0;
#endif
}

Determining if the function pthread_create exists in the pthreads failed with the following output:
Change Dir: /media/tegg/Another_Disk/catkin_ws/build/CMakeFiles/CMakeTmp

Run Build Command:"/usr/bin/make" "cmTC_43c8c/fast"
/usr/bin/make -f CMakeFiles/cmTC_43c8c.dir/build.make CMakeFiles/cmTC_43c8c.dir/build
make[1]: Entering directory '/media/tegg/Another_Disk/catkin_ws/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_43c8c.dir/CheckFunctionExists.c.o
/usr/bin/cc    -DCHECK_FUNCTION_EXISTS=pthread_create   -o CMakeFiles/cmTC_43c8c.dir/CheckFunctionExists.c.o   -c /usr/share/cmake-3.5/Modules/CheckFunctionExists.c
Linking C executable cmTC_43c8c
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_43c8c.dir/link.txt --verbose=1
/usr/bin/cc   -DCHECK_FUNCTION_EXISTS=pthread_create    CMakeFiles/cmTC_43c8c.dir/CheckFunctionExists.c.o  -o cmTC_43c8c -rdynamic -lpthreads 
/usr/bin/ld: cannot find -lpthreads
collect2: error: ld returned 1 exit status
CMakeFiles/cmTC_43c8c.dir/build.make:97: recipe for target 'cmTC_43c8c' failed
make[1]: *** [cmTC_43c8c] Error 1
make[1]: Leaving directory '/media/tegg/Another_Disk/catkin_ws/build/CMakeFiles/CMakeTmp'
Makefile:126: recipe for target 'cmTC_43c8c/fast' failed
make: *** [cmTC_43c8c/fast] Error 2

I am a novice to SLAM and ROS. Is there any solution for this issue?

Thanks in advance.

[horcham]

I meet the same problem.