Error When Compiling with Kimera RPGO, BOOST_CONCEPT_ASSERT

[Bud-Spud]

Description:
Upgraded to Ubuntu 20.04 to fix my previous issues when compiling. I did not need to do the fix this time for gtsam which was good news. I have run into a new error when starting Kimera RPGO though. It is pointing towards BOOST_CONCEPT_ASSERT as the problem but I am not able find any related issues so I believe it is something on my end. Looking for help, thank you!

Command:

catkin build

Console output:

...............................................................................
Finished  <<< gtsam                                        [ 2 minutes and 53.6 seconds ]
Starting  >>> kimera_rpgo                                                      
Starting  >>> opengv_catkin                                                    
_______________________________________________________________________________
Errors     << kimera_rpgo:make /home/adm-eng-cdp21e/catkin_ws/logs/kimera_rpgo/build.make.000.log
In file included from /home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:36,
                 from /home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/src/RobustSolver.cpp:22:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h: In function ‘const size_t KimeraRPGO::getRotationDim()’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:29:45: error: expected primary-expression before ‘)’ token
   29 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |                                             ^
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:29:3: error: there are no arguments to ‘BOOST_CONCEPT_ASSERT’ that depend on a template parameter, so a declaration of ‘BOOST_CONCEPT_ASSERT’ must be available [-fpermissive]
   29 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |   ^~~~~~~~~~~~~~~~~~~~
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:29:3: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h: In function ‘const size_t KimeraRPGO::getTranslationDim()’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:37:45: error: expected primary-expression before ‘)’ token
   37 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |                                             ^
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:37:3: error: there are no arguments to ‘BOOST_CONCEPT_ASSERT’ that depend on a template parameter, so a declaration of ‘BOOST_CONCEPT_ASSERT’ must be available [-fpermissive]
   37 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |   ^~~~~~~~~~~~~~~~~~~~
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h: In function ‘const size_t KimeraRPGO::getDim()’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:45:45: error: expected primary-expression before ‘)’ token
   45 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |                                             ^
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:45:3: error: there are no arguments to ‘BOOST_CONCEPT_ASSERT’ that depend on a template parameter, so a declaration of ‘BOOST_CONCEPT_ASSERT’ must be available [-fpermissive]
   45 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/src/RobustSolver.cpp:22:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h: In constructor ‘KimeraRPGO::Pcm<poseT, T>::Pcm(KimeraRPGO::PcmParams, KimeraRPGO::MultiRobotAlignMethod, double, const std::vector<char>&)’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:72:51: error: expected primary-expression before ‘)’ token
   72 |     BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<poseT>));
      |                                                   ^
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:72:5: error: there are no arguments to ‘BOOST_CONCEPT_ASSERT’ that depend on a template parameter, so a declaration of ‘BOOST_CONCEPT_ASSERT’ must be available [-fpermissive]
   72 |     BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<poseT>));
      |     ^~~~~~~~~~~~~~~~~~~~
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h: In instantiation of ‘KimeraRPGO::Pcm<poseT, T>::Pcm(KimeraRPGO::PcmParams, KimeraRPGO::MultiRobotAlignMethod, double, const std::vector<char>&) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithCovariance]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/TypeUtils.h:63:29:   required from ‘std::unique_ptr<_Tp> KimeraRPGO::make_unique(Args&& ...) [with T = KimeraRPGO::Pcm<gtsam::Pose2, KimeraRPGO::PoseWithCovariance>; Args = {const KimeraRPGO::PcmParams&, const KimeraRPGO::MultiRobotAlignMethod&, const double&, const std::vector<char, std::allocator<char> >&}]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/src/RobustSolver.cpp:45:63:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:72:52: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   72 |     BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<poseT>));
      |                                                    ^
      |                                                    BOOST_CONCEPT_USAGE
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h: In instantiation of ‘KimeraRPGO::Pcm<poseT, T>::Pcm(KimeraRPGO::PcmParams, KimeraRPGO::MultiRobotAlignMethod, double, const std::vector<char>&) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithCovariance]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/TypeUtils.h:63:29:   required from ‘std::unique_ptr<_Tp> KimeraRPGO::make_unique(Args&& ...) [with T = KimeraRPGO::Pcm<gtsam::Pose3, KimeraRPGO::PoseWithCovariance>; Args = {const KimeraRPGO::PcmParams&, const KimeraRPGO::MultiRobotAlignMethod&, const double&, const std::vector<char, std::allocator<char> >&}]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/src/RobustSolver.cpp:52:63:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:72:52: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   72 |     BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<poseT>));
      |                                                    ^
      |                                                    BOOST_CONCEPT_USAGE
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h: In instantiation of ‘KimeraRPGO::Pcm<poseT, T>::Pcm(KimeraRPGO::PcmParams, KimeraRPGO::MultiRobotAlignMethod, double, const std::vector<char>&) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithNode]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/TypeUtils.h:63:29:   required from ‘std::unique_ptr<_Tp> KimeraRPGO::make_unique(Args&& ...) [with T = KimeraRPGO::Pcm<gtsam::Pose2, KimeraRPGO::PoseWithNode>; Args = {const KimeraRPGO::PcmParams&, const KimeraRPGO::MultiRobotAlignMethod&, const double&, const std::vector<char, std::allocator<char> >&}]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/src/RobustSolver.cpp:59:69:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:72:52: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   72 |     BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<poseT>));
      |                                                    ^
      |                                                    BOOST_CONCEPT_USAGE
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h: In instantiation of ‘KimeraRPGO::Pcm<poseT, T>::Pcm(KimeraRPGO::PcmParams, KimeraRPGO::MultiRobotAlignMethod, double, const std::vector<char>&) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithNode]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/TypeUtils.h:63:29:   required from ‘std::unique_ptr<_Tp> KimeraRPGO::make_unique(Args&& ...) [with T = KimeraRPGO::Pcm<gtsam::Pose3, KimeraRPGO::PoseWithNode>; Args = {const KimeraRPGO::PcmParams&, const KimeraRPGO::MultiRobotAlignMethod&, const double&, const std::vector<char, std::allocator<char> >&}]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/src/RobustSolver.cpp:66:69:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:72:52: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   72 |     BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<poseT>));
      |                                                    ^
      |                                                    BOOST_CONCEPT_USAGE
In file included from /home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:36,
                 from /home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/src/RobustSolver.cpp:22:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h: In instantiation of ‘const size_t KimeraRPGO::getRotationDim() [with T = gtsam::Pose3; size_t = long unsigned int]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:228:40:   required from ‘KimeraRPGO::PoseWithNode<T>::PoseWithNode(const gtsam::BetweenFactor<VALUE>&) [with T = gtsam::Pose3]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:528:14:   required from ‘void KimeraRPGO::Pcm<poseT, T>::updateOdom(const shared_ptr&, const gtsam::Values&) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithNode; gtsam::NonlinearFactor::shared_ptr = std::shared_ptr<gtsam::NonlinearFactor>]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:205:11:   required from ‘bool KimeraRPGO::Pcm<poseT, T>::removeOutliers(const gtsam::NonlinearFactorGraph&, const gtsam::Values&, gtsam::NonlinearFactorGraph*, gtsam::Values*) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:148:8:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:29:46: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   29 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |                                              ^
      |                                              BOOST_CONCEPT_USAGE
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h: In instantiation of ‘const size_t KimeraRPGO::getDim() [with T = gtsam::Pose3; size_t = long unsigned int]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:1096:31:   required from ‘poseT KimeraRPGO::Pcm<poseT, T>::gncRobustPoseAveraging(const std::vector<_RealType>&, const double&, const double&) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:1060:29:   required from ‘gtsam::Values KimeraRPGO::Pcm<poseT, T>::multirobotValueInitialization(const gtsam::Values&) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:263:24:   required from ‘bool KimeraRPGO::Pcm<poseT, T>::removeOutliers(const gtsam::NonlinearFactorGraph&, const gtsam::Values&, gtsam::NonlinearFactorGraph*, gtsam::Values*) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:148:8:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:45:46: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   45 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |                                              ^
      |                                              BOOST_CONCEPT_USAGE
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h: In instantiation of ‘const size_t KimeraRPGO::getTranslationDim() [with T = gtsam::Pose3; size_t = long unsigned int]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:1098:44:   required from ‘poseT KimeraRPGO::Pcm<poseT, T>::gncRobustPoseAveraging(const std::vector<_RealType>&, const double&, const double&) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:1060:29:   required from ‘gtsam::Values KimeraRPGO::Pcm<poseT, T>::multirobotValueInitialization(const gtsam::Values&) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:263:24:   required from ‘bool KimeraRPGO::Pcm<poseT, T>::removeOutliers(const gtsam::NonlinearFactorGraph&, const gtsam::Values&, gtsam::NonlinearFactorGraph*, gtsam::Values*) [with poseT = gtsam::Pose3; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:148:8:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:37:46: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   37 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |                                              ^
      |                                              BOOST_CONCEPT_USAGE
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h: In instantiation of ‘const size_t KimeraRPGO::getRotationDim() [with T = gtsam::Pose2; size_t = long unsigned int]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:228:40:   required from ‘KimeraRPGO::PoseWithNode<T>::PoseWithNode(const gtsam::BetweenFactor<VALUE>&) [with T = gtsam::Pose2]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:528:14:   required from ‘void KimeraRPGO::Pcm<poseT, T>::updateOdom(const shared_ptr&, const gtsam::Values&) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithNode; gtsam::NonlinearFactor::shared_ptr = std::shared_ptr<gtsam::NonlinearFactor>]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:205:11:   required from ‘bool KimeraRPGO::Pcm<poseT, T>::removeOutliers(const gtsam::NonlinearFactorGraph&, const gtsam::Values&, gtsam::NonlinearFactorGraph*, gtsam::Values*) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:148:8:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:29:46: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   29 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |                                              ^
      |                                              BOOST_CONCEPT_USAGE
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h: In instantiation of ‘const size_t KimeraRPGO::getDim() [with T = gtsam::Pose2; size_t = long unsigned int]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:1096:31:   required from ‘poseT KimeraRPGO::Pcm<poseT, T>::gncRobustPoseAveraging(const std::vector<_RealType>&, const double&, const double&) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:1060:29:   required from ‘gtsam::Values KimeraRPGO::Pcm<poseT, T>::multirobotValueInitialization(const gtsam::Values&) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:263:24:   required from ‘bool KimeraRPGO::Pcm<poseT, T>::removeOutliers(const gtsam::NonlinearFactorGraph&, const gtsam::Values&, gtsam::NonlinearFactorGraph*, gtsam::Values*) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:148:8:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:45:46: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   45 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |                                              ^
      |                                              BOOST_CONCEPT_USAGE
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h: In instantiation of ‘const size_t KimeraRPGO::getTranslationDim() [with T = gtsam::Pose2; size_t = long unsigned int]’:
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:1098:44:   required from ‘poseT KimeraRPGO::Pcm<poseT, T>::gncRobustPoseAveraging(const std::vector<_RealType>&, const double&, const double&) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:1060:29:   required from ‘gtsam::Values KimeraRPGO::Pcm<poseT, T>::multirobotValueInitialization(const gtsam::Values&) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:263:24:   required from ‘bool KimeraRPGO::Pcm<poseT, T>::removeOutliers(const gtsam::NonlinearFactorGraph&, const gtsam::Values&, gtsam::NonlinearFactorGraph*, gtsam::Values*) [with poseT = gtsam::Pose2; T = KimeraRPGO::PoseWithNode]’
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/outlier/Pcm.h:148:8:   required from here
/home/adm-eng-cdp21e/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h:37:46: error: ‘BOOST_CONCEPT_ASSERT’ was not declared in this scope; did you mean ‘BOOST_CONCEPT_USAGE’?
   37 |   BOOST_CONCEPT_ASSERT((gtsam::IsLieGroup<T>));
      |                                              ^
      |                                              BOOST_CONCEPT_USAGE
make[2]: *** [CMakeFiles/KimeraRPGO.dir/build.make:76: CMakeFiles/KimeraRPGO.dir/src/RobustSolver.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:220: CMakeFiles/KimeraRPGO.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/adm-eng-cdp21e/catkin_ws/build/kimera_rpgo; catkin build --get-env kimera_rpgo | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

...............................................................................
Failed     << kimera_rpgo:make                             [ Exited with code 2 ]
Failed    <<< kimera_rpgo                                  [ 7.5 seconds ]     
Abandoned <<< kimera_vio                                   [ Unrelated job failed ]
Abandoned <<< kimera_vio_ros                               [ Unrelated job failed ]
_______________________________________________________________________________
Warnings   << opengv_catkin:make /home/adm-eng-cdp21e/catkin_ws/logs/opengv_catkin/build.make.000.log
Cloning into 'opengv_src'...
Already on 'master'
Submodule 'python/pybind11' (https://github.com/pybind/pybind11.git) registered for path 'python/pybind11'
Cloning into '/home/adm-eng-cdp21e/catkin_ws/build/opengv_catkin/opengv_src-prefix/src/opengv_src/python/pybind11'...
Submodule 'tools/clang' (https://github.com/wjakob/clang-cindex-python3) registered for path 'python/pybind11/tools/clang'
Cloning into '/home/adm-eng-cdp21e/catkin_ws/build/opengv_catkin/opengv_src-prefix/src/opengv_src/python/pybind11/tools/clang'...
make[3]: warning: -j8 forced in submake: resetting jobserver mode.
make[3]: warning: jobserver unavailable: using -j1.  Add '+' to parent make rule.
cd /home/adm-eng-cdp21e/catkin_ws/build/opengv_catkin; catkin build --get-env opengv_catkin | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

...............................................................................
Finished  <<< opengv_catkin                                [ 54.6 seconds ]    
[build] Summary: 11 of 14 packages succeeded.                                  
[build]   Ignored:   None.                                                     
[build]   Warnings:  7 packages succeeded with warnings.                       
[build]   Abandoned: 2 packages were abandoned.                                
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 3 minutes and 48.3 seconds total.

Additional files:
Please attach all the files needed to reproduce the error.

Please give also the following information:

• KimeraVIO branch, tag or commit used
• GTSAM version used:
• OpenGV version used:
• OpenCV version used: type opencv_version
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 20.04
• Did you change the source code? (yes / no): No

[Zhangenboo]

I encountered the same issue. Have you resolved it?

[tills98]

Facing the same issue. Is there a solution available?

Edit:
I solved it by manually adding the following includes to "/catkin_ws/src/Kimera-RPGO/include/KimeraRPGO/utils/GeometryUtils.h":

#include <boost/concept/assert.hpp>
#include <boost/concept_check.hpp>

[Bud-Spud]

Hi sorry for the late update:
Thanks a bunch as adding the following includes was able to fix the problem for me as well!

I did run into another problem that seems to be an older problem but is springing up again with GTSAM and Eigan
Example: MIT-SPARK/Hydra#42

By following an older example I was able to solve the new issue and finish building: #12

catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=ON