catkin_make error about racer HOT 5 OPEN

after changing c++11 to c++14 errors still occur
error message:
[ 97%] Linking CXX executable /home/yy/catkin_yyy/devel/lib/plan_manage/fast_planner_node
[ 97%] Linking CXX executable /home/yy/catkin_yyy/devel/lib/exploration_manager/exploration_node
[ 97%] Linking CXX executable /home/yy/catkin_yyy/devel/lib/exploration_manager/ground_node
/home/yy/catkin_yyy/devel/lib/libplan_env.so：对‘cv::Mat::Mat()’未定义的引用
collect2: error: ld returned 1 exit status
RACER/swarm_exploration/plan_manage/CMakeFiles/traj_server.dir/build.make:311: recipe for target '/home/yy/catkin_yyy/devel/lib/plan_manage/traj_server' failed
make[2]: *** [/home/yy/catkin_yyy/devel/lib/plan_manage/traj_server] Error 1
CMakeFiles/Makefile2:6650: recipe for target 'RACER/swarm_exploration/plan_manage/CMakeFiles/traj_server.dir/all' failed
make[1]: *** [RACER/swarm_exploration/plan_manage/CMakeFiles/traj_server.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
/home/yy/catkin_yyy/devel/lib/libplan_env.so：对‘cv::Mat::Mat()’未定义的引用
collect2: error: ld returned 1 exit status
RACER/swarm_exploration/exploration_manager/CMakeFiles/ground_node.dir/build.make:330: recipe for target '/home/yy/catkin_yyy/devel/lib/exploration_manager/ground_node' failed
make[2]: *** [/home/yy/catkin_yyy/devel/lib/exploration_manager/ground_node] Error 1
CMakeFiles/Makefile2:7237: recipe for target 'RACER/swarm_exploration/exploration_manager/CMakeFiles/ground_node.dir/all' failed
make[1]: *** [RACER/swarm_exploration/exploration_manager/CMakeFiles/ground_node.dir/all] Error 2
/home/yy/catkin_yyy/devel/lib/libplan_env.so：对‘cv::Mat::Mat()’未定义的引用
collect2: error: ld returned 1 exit status
RACER/swarm_exploration/plan_manage/CMakeFiles/fast_planner_node.dir/build.make:391: recipe for target '/home/yy/catkin_yyy/devel/lib/plan_manage/fast_planner_node' failed
make[2]: *** [/home/yy/catkin_yyy/devel/lib/plan_manage/fast_planner_node] Error 1
CMakeFiles/Makefile2:6582: recipe for target 'RACER/swarm_exploration/plan_manage/CMakeFiles/fast_planner_node.dir/all' failed
make[1]: *** [RACER/swarm_exploration/plan_manage/CMakeFiles/fast_planner_node.dir/all] Error 2
/home/yy/catkin_yyy/devel/lib/libplan_env.so：对‘cv::Mat::Mat()’未定义的引用
collect2: error: ld returned 1 exit status
RACER/swarm_exploration/exploration_manager/CMakeFiles/exploration_node.dir/build.make:346: recipe for target '/home/yy/catkin_yyy/devel/lib/exploration_manager/exploration_node' failed
make[2]: *** [/home/yy/catkin_yyy/devel/lib/exploration_manager/exploration_node] Error 1
CMakeFiles/Makefile2:7200: recipe for target 'RACER/swarm_exploration/exploration_manager/CMakeFiles/exploration_node.dir/all' failed
make[1]: *** [RACER/swarm_exploration/exploration_manager/CMakeFiles/exploration_node.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
I still dont know how to solve it

from racer.

I solve the catkin problem but when I run "source devel/setup.bash && roslaunch exploration_manager swarm_exploration.launch" . I don't even trigger the 2D Nav Goal tool in Rviz. the exloration node dies.
[exploration_node_2-9] process has died [pid 5704, exit code -6, cmd /home/yy/catkin_yyy/devel/lib/exploration_manager/exploration_node /odom_world:=/state_ukf/odom_2 /map_ros/pose:=/pcl_render_node/sensor_pose_2 /map_ros/depth:=/pcl_render_node/depth_2 /map_ros/cloud:=/pcl_render_node/cloud_2 /planning/replan:=/planning/replan_2 /planning/new:=/planning/new_2 /planning/bspline:=/planning/bspline_2 /swarm_expl/drone_state_send:=/swarm_expl/drone_state /swarm_expl/drone_state_recv:=/swarm_expl/drone_state /swarm_expl/pair_opt_send:=/swarm_expl/pair_opt /swarm_expl/pair_opt_recv:=/swarm_expl/pair_opt /swarm_expl/pair_opt_res_send:=/swarm_expl/pair_opt_res /swarm_expl/pair_opt_res_recv:=/swarm_expl/pair_opt_res /swarm_expl/grid_tour_send:=/swarm_expl/grid_tour /swarm_expl/hgrid_send:=/swarm_expl/hgrid /multi_map_manager/chunk_stamps_send:=/multi_map_manager/chunk_stamps /multi_map_manager/chunk_data_send:=/multi_map_manager/chunk_data /multi_map_manager/chunk_stamps_recv:=/multi_map_manager/chunk_stamps /multi_map_manager/chunk_data_recv:=/multi_map_manager/chunk_data /planning/swarm_traj_recv:=/planning/swarm_traj /planning/swarm_traj_send:=/planning/swarm_traj /planning_vis/trajectory:=/planning_vis/trajectory_2 /planning_vis/frontier:=/planning_vis/frontier_2 /planning_vis/viewpoints:=/planning_vis/viewpoints_2 /sdf_map/occupancy_all:=/sdf_map/occupancy_all_2 /sdf_map/occupancy_local:=/sdf_map/occupancy_local_2 /sdf_map/occupancy_local_inflate:=/sdf_map/occupancy_local_inflate_2 /sdf_map/unknown:=/sdf_map/unknown_2 /sdf_map/update_range:=/sdf_map/update_range_2 /sdf_map/basecoor:=/swarm_sim_tf/basecoor_2 __name:=exploration_node_2 __log:=/home/yy/.ros/log/38fa47fe-0050-11ee-a3fb-7470fd05bbe9/exploration_node_2-9.log].
log file: /home/yy/.ros/log/38fa47fe-0050-11ee-a3fb-7470fd05bbe9/exploration_node_2-9*.log

log file: /home/yy/.ros/log/38fa47fe-0050-11ee-a3fb-7470fd05bbe9/exploration_node_2-9*.log
[exploration_node_3-16] process has died [pid 5726, exit code -6, cmd /home/yy/catkin_yyy/devel/lib/exploration_manager/exploration_node /odom_world:=/state_ukf/odom_3 /map_ros/pose:=/pcl_render_node/sensor_pose_3 /map_ros/depth:=/pcl_render_node/depth_3 /map_ros/cloud:=/pcl_render_node/cloud_3 /planning/replan:=/planning/replan_3 /planning/new:=/planning/new_3 /planning/bspline:=/planning/bspline_3 /swarm_expl/drone_state_send:=/swarm_expl/drone_state /swarm_expl/drone_state_recv:=/swarm_expl/drone_state /swarm_expl/pair_opt_send:=/swarm_expl/pair_opt /swarm_expl/pair_opt_recv:=/swarm_expl/pair_opt /swarm_expl/pair_opt_res_send:=/swarm_expl/pair_opt_res /swarm_expl/pair_opt_res_recv:=/swarm_expl/pair_opt_res /swarm_expl/grid_tour_send:=/swarm_expl/grid_tour /swarm_expl/hgrid_send:=/swarm_expl/hgrid /multi_map_manager/chunk_stamps_send:=/multi_map_manager/chunk_stamps /multi_map_manager/chunk_data_send:=/multi_map_manager/chunk_data /multi_map_manager/chunk_stamps_recv:=/multi_map_manager/chunk_stamps /multi_map_manager/chunk_data_recv:=/multi_map_manager/chunk_data /planning/swarm_traj_recv:=/planning/swarm_traj /planning/swarm_traj_send:=/planning/swarm_traj /planning_vis/trajectory:=/planning_vis/trajectory_3 /planning_vis/frontier:=/planning_vis/frontier_3 /planning_vis/viewpoints:=/planning_vis/viewpoints_3 /sdf_map/occupancy_all:=/sdf_map/occupancy_all_3 /sdf_map/occupancy_local:=/sdf_map/occupancy_local_3 /sdf_map/occupancy_local_inflate:=/sdf_map/occupancy_local_inflate_3 /sdf_map/unknown:=/sdf_map/unknown_3 /sdf_map/update_range:=/sdf_map/update_range_3 /sdf_map/basecoor:=/swarm_sim_tf/basecoor_3 __name:=exploration_node_3 __log:=/home/yy/.ros/log/38fa47fe-0050-11ee-a3fb-7470fd05bbe9/exploration_node_3-16.log].
log file: /home/yy/.ros/log/38fa47fe-0050-11ee-a3fb-7470fd05bbe9/exploration_node_3-16*.log

[exploration_node_1-2] process has died [pid 5682, exit code -6, cmd /home/yy/catkin_yyy/devel/lib/exploration_manager/exploration_node /odom_world:=/state_ukf/odom_1 /map_ros/pose:=/pcl_render_node/sensor_pose_1 /map_ros/depth:=/pcl_render_node/depth_1 /map_ros/cloud:=/pcl_render_node/cloud_1 /planning/replan:=/planning/replan_1 /planning/new:=/planning/new_1 /planning/bspline:=/planning/bspline_1 /swarm_expl/drone_state_send:=/swarm_expl/drone_state /swarm_expl/drone_state_recv:=/swarm_expl/drone_state /swarm_expl/pair_opt_send:=/swarm_expl/pair_opt /swarm_expl/pair_opt_recv:=/swarm_expl/pair_opt /swarm_expl/pair_opt_res_send:=/swarm_expl/pair_opt_res /swarm_expl/pair_opt_res_recv:=/swarm_expl/pair_opt_res /swarm_expl/grid_tour_send:=/swarm_expl/grid_tour /swarm_expl/hgrid_send:=/swarm_expl/hgrid /multi_map_manager/chunk_stamps_send:=/multi_map_manager/chunk_stamps /multi_map_manager/chunk_data_send:=/multi_map_manager/chunk_data /multi_map_manager/chunk_stamps_recv:=/multi_map_manager/chunk_stamps /multi_map_manager/chunk_data_recv:=/multi_map_manager/chunk_data /planning/swarm_traj_recv:=/planning/swarm_traj /planning/swarm_traj_send:=/planning/swarm_traj /planning_vis/trajectory:=/planning_vis/trajectory_1 /planning_vis/frontier:=/planning_vis/frontier_1 /planning_vis/viewpoints:=/planning_vis/viewpoints_1 /sdf_map/occupancy_all:=/sdf_map/occupancy_all_1 /sdf_map/occupancy_local:=/sdf_map/occupancy_local_1 /sdf_map/occupancy_local_inflate:=/sdf_map/occupancy_local_inflate_1 /sdf_map/unknown:=/sdf_map/unknown_1 /sdf_map/update_range:=/sdf_map/update_range_1 /sdf_map/basecoor:=/swarm_sim_tf/basecoor_1 __name:=exploration_node_1 __log:=/home/yy/.ros/log/38fa47fe-0050-11ee-a3fb-7470fd05bbe9/exploration_node_1-2.log].
log file: /home/yy/.ros/log/38fa47fe-0050-11ee-a3fb-7470fd05bbe9/exploration_node_1-2*.log
[exploration_node_4-23] process has died [pid 5748, exit code -6, cmd /home/yy/catkin_yyy/devel/lib/exploration_manager/exploration_node /odom_world:=/state_ukf/odom_4 /map_ros/pose:=/pcl_render_node/sensor_pose_4 /map_ros/depth:=/pcl_render_node/depth_4 /map_ros/cloud:=/pcl_render_node/cloud_4 /planning/replan:=/planning/replan_4 /planning/new:=/planning/new_4 /planning/bspline:=/planning/bspline_4 /swarm_expl/drone_state_send:=/swarm_expl/drone_state /swarm_expl/drone_state_recv:=/swarm_expl/drone_state /swarm_expl/pair_opt_send:=/swarm_expl/pair_opt /swarm_expl/pair_opt_recv:=/swarm_expl/pair_opt /swarm_expl/pair_opt_res_send:=/swarm_expl/pair_opt_res /swarm_expl/pair_opt_res_recv:=/swarm_expl/pair_opt_res /swarm_expl/grid_tour_send:=/swarm_expl/grid_tour /swarm_expl/hgrid_send:=/swarm_expl/hgrid /multi_map_manager/chunk_stamps_send:=/multi_map_manager/chunk_stamps /multi_map_manager/chunk_data_send:=/multi_map_manager/chunk_data /multi_map_manager/chunk_stamps_recv:=/multi_map_manager/chunk_stamps /multi_map_manager/chunk_data_recv:=/multi_map_manager/chunk_data /planning/swarm_traj_recv:=/planning/swarm_traj /planning/swarm_traj_send:=/planning/swarm_traj /planning_vis/trajectory:=/planning_vis/trajectory_4 /planning_vis/frontier:=/planning_vis/frontier_4 /planning_vis/viewpoints:=/planning_vis/viewpoints_4 /sdf_map/occupancy_all:=/sdf_map/occupancy_all_4 /sdf_map/occupancy_local:=/sdf_map/occupancy_local_4 /sdf_map/occupancy_local_inflate:=/sdf_map/occupancy_local_inflate_4 /sdf_map/unknown:=/sdf_map/unknown_4 /sdf_map/update_range:=/sdf_map/update_range_4 /sdf_map/basecoor:=/swarm_sim_tf/basecoor_4 __name:=exploration_node_4 __log:=/home/yy/.ros/log/38fa47fe-0050-11ee-a3fb-7470fd05bbe9/exploration_node_4-23.log].
log file: /home/yy/.ros/log/38fa47fe-0050-11ee-a3fb-7470fd05bbe9/exploration_node_4-23*.log

from racer.

I have tried the method in unexpected crash. but it doesn't work. The problem above still exists.

from racer.

I also have unexpected crash problem,follow the author's steps and successfully solve it,it need a little adjustment,
we need delete nlopt in part of cmakelist

find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
visualization_msgs
plan_env
active_perception
cv_bridge
nlopt(delete this)
)
hope it can help you

from racer.

When the following problem occur：

devel/lib/libplan_env.so：对‘cv::Mat::Mat()’未定义的引用

try add ${OpenCV_LIBS} to RACER/swarm_exploration/plan_env/CMakeLists.txt like this：

target_link_libraries( plan_env
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${OpenCV_LIBS}
)

from racer.