[Error Fix] Solved 'fatal error: fast_lio/Pose6D.h: No such file or directory #include <fast_lio/Pose6D.h> ^~~~~~~~~~~~~~~~~~~ compilation terminated.'(feat. FAST-LIO, FAST-LIO-LC)

# Problem

i am trying to build the FAST-LIO package, but when i write catkin_make it fails being unable to find Pose6D.h

[  8%] Building CXX object FAST_LIO/CMakeFiles/fastlio_mapping.dir/src/laserMapping.cpp.o 
In file included from /home/ramil/catkin_ws/src/FAST_LIO/src/IMU_Processing.hpp:11:0, 
from /home/ramil/catkin_ws/src/FAST_LIO/src/laserMapping.cpp:46: /home/ramil/catkin_ws/src/FAST_LIO/include/common_lib.h:8:10: 
fatal error: fast_lio/Pose6D.h: No such file or directory #include <fast_lio/Pose6D.h> ^~~~~~~~~~~~~~~~~~~ compilation terminated.

# Solution

After i build it for the second time i had same error, i have found discussions about creating custom ROS messages and found difference between their CMakeLists and this repo's. I have just added genmsg into find_package

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  nav_msgs
  sensor_msgs
  roscpp
  rospy
  std_msgs
  pcl_ros
  tf
  livox_ros_driver
  message_generation
  eigen_conversions
  genmsg
)

and also added new line(end of the CMakeLists file)

add_dependencies(fastlio_mapping fast_lio_generate_messages_cpp)

 

That worked for me

# Reference

[Github issue] Pose6D.h problem during catkin_make: https://github.com/hku-mars/FAST_LIO/issues/138