Build Error: Static assertion failed #12
Description
I have gtsam 4.0.3 & gpmp2 both installed on my home directory.
When I try to $ catkin_make -DBUILD_ALL_INTERFACE:OPTION=ON, I get the error below.
dlee640@dlee640-T580:~/piper_ws$ catkin_make -DBUILD_ALL_INTERFACE:OPTION=ON
Base path: /home/dlee640/piper_ws
Source space: /home/dlee640/piper_ws/src
Build space: /home/dlee640/piper_ws/build
Devel space: /home/dlee640/piper_ws/devel
Install space: /home/dlee640/piper_ws/install
Creating symlink "/home/dlee640/piper_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/dlee640/piper_ws/src -DBUILD_ALL_INTERFACE:OPTION=ON -DCATKIN_DEVEL_PREFIX=/home/dlee640/piper_ws/devel -DCMAKE_INSTALL_PREFIX=/home/dlee640/piper_ws/install -G Unix Makefiles" in "/home/dlee640/piper_ws/build"
####
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/dlee640/piper_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/dlee640/champ_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/dlee640/champ_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /home/dlee640/.pyenv/shims/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /home/dlee640/.pyenv/shims/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/dlee640/piper_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /home/dlee640/.pyenv/shims/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - piper
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'piper'
-- ==> add_subdirectory(piper)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- serialization
-- system
-- filesystem
-- thread
-- program_options
-- date_time
-- timer
-- chrono
-- regex
-- atomic
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include
-- gpmp2 include directory: /usr/local/lib/cmake/gpmp2/../../../include
-- Configuring done
-- Generating done
-- Build files have been written to: /home/dlee640/piper_ws/build
####
#### Running command: "make -j8 -l8" in "/home/dlee640/piper_ws/build"
####
Scanning dependencies of target piperbase
[ 12%] Building CXX object piper/CMakeFiles/piperbase.dir/piper/base/traj.cpp.o
[ 37%] Building CXX object piper/CMakeFiles/piperbase.dir/piper/base/robot.cpp.o
[ 37%] Building CXX object piper/CMakeFiles/piperbase.dir/piper/base/problem.cpp.o
In file included from /usr/include/boost/math/policies/policy.hpp:20:0,
from /usr/include/boost/math/policies/error_handling.hpp:21,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/melodic/include/ros/time.h:58,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/dlee640/piper_ws/src/piper/piper/base/robot.h:13,
from /home/dlee640/piper_ws/src/piper/piper/base/robot.cpp:8:
/usr/include/boost/optional/detail/optional_reference_spec.hpp: In instantiation of ‘void boost::detail::prevent_binding_rvalue() [with From = const Eigen::Matrix<double, -1, 1>&&]’:
/usr/include/boost/optional/detail/optional_reference_spec.hpp:165:81: required from ‘boost::optional<T&>::optional(T&&) [with T = const Eigen::Matrix<double, -1, 1>]’
/home/dlee640/piper_ws/src/piper/piper/base/robot.cpp:63:125: required from here
/usr/include/boost/optional/detail/optional_reference_spec.hpp:32:5: error: static assertion failed: binding rvalue references to optional lvalue references is disallowed
BOOST_STATIC_ASSERT_MSG(boost::is_lvalue_reference<From>::value,
^
piper/CMakeFiles/piperbase.dir/build.make:86: recipe for target 'piper/CMakeFiles/piperbase.dir/piper/base/robot.cpp.o' failed
make[2]: *** [piper/CMakeFiles/piperbase.dir/piper/base/robot.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:516: recipe for target 'piper/CMakeFiles/piperbase.dir/all' failed
make[1]: *** [piper/CMakeFiles/piperbase.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
Where is this error coming from and how do I solve it?