Carmen - Carnegie Mellon Robot Navigation Toolkit

CARMEN is an open-source collection of software for mobile robot control. CARMEN is modular software designed to provide basic navigation primatives including: base and sensor control, logging, obstacle avoidance, localization, path planning, and mapping.

Troubleshooting the errors encountered during the compilation:

The first one is
****************************************************************
* Module : LOGTOOLS
* Comment : Log tools, like the famous log2pic
****************************************************************

--> Starting make
---- Compiling utils.c to utils.o (C)
utils.c: In function ‘get_user_time’:
utils.c:307: error: ‘CLK_TCK’ undeclared (first use in this function)
utils.c:307: error: (Each undeclared identifier is reported only once
utils.c:307: error: for each function it appears in.)
cc1: warnings being treated as errors
utils.c:308: warning: control reaches end of non-void function
make[3]: *** [utils.o] Error 1
make[2]: *** [libraries] Error 255
make[1]: *** [phase1] Error 2
make: *** [phase1] Error 255

Looking at /usr/include/time.h tells that CLK_TCK is considered obsolete unless 'if !defined __STRICT_ANSI__ && !defined __USE_XOPEN2K'and that CLOCKS_PER_SEC is more correct.

I replaced CLK_TCK by CLOCKS_PER_SEC.

chitlesh(src)[0]$grep CLK_TCK /usr/include/sys/time.h
chitlesh(src)[0]$grep CLK_TCK /usr/include/time.h
# ifndef CLK_TCK
# define CLK_TCK CLOCKS_PER_SEC

It appears to be using an obsolete constant here.

'make' successfully continues.

In the end I fall on

****************************************************************
* Module : NAVIGATOR
* Comment : The motion planner!
****************************************************************

--> Starting make
---- Assigning dependencies in NAVIGATOR
---- Compiling navigator_interface.c to navigator_interface.o (C)
---- Archiving navigator_interface.o into libnavigator_interface.a (C)
---- Compiling conventional.c to conventional.o (C)
---- Compiling planner.c to planner.o (C)
---- Compiling trajectory.c to trajectory.o (C)
cc1: warnings being treated as errors
trajectory.c: In function ‘carmen_planner_util_test_trajectory’:
trajectory.c:74: warning: ‘point.r_vel’ is used uninitialized in this function
trajectory.c:74: warning: ‘point.t_vel’ is used uninitialized in this function
trajectory.c:74: warning: ‘point.theta’ is used uninitialized in this function
make[3]: *** [trajectory.o] Error 1
make[2]: *** [libraries] Error 255
make[1]: *** [phase1] Error 2
make: *** [phase1] Error 255

The only way to overcome this is to turn off the warnings as errors flag -Werror in Makefile.conf.