ros branch build failure

[shubhamwagh]

I am using Ubuntu 20.04, ROS Noetic. Looks like the ros branch has build issues. I get the following error on catkin_make:

/home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc: In member function ‘void openvslam_ros::system::publish_pointcloud(const ros::Time&)’:
/home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc:77:46: error: cannot convert ‘std::vector<openvslam::data::landmark*>’ to ‘std::vector<std::shared_ptr<openvslam::data::landmark> >&’
   77 |     SLAM_.get_map_publisher()->get_landmarks(landmarks, local_landmarks);
      |                                              ^~~~~~~~~
      |                                              |
      |                                              std::vector<openvslam::data::landmark*>
In file included from /home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc:2:
/usr/local/include/openvslam/publish/map_publisher.h:78:78: note:   initializing argument 1 of ‘unsigned int openvslam::publish::map_publisher::get_landmarks(std::vector<std::shared_ptr<openvslam::data::landmark> >&, std::set<std::shared_ptr<openvslam::data::landmark> >&)’
   78 |     unsigned int get_landmarks(std::vector<std::shared_ptr<data::landmark>>& all_landmarks,
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc: In member function ‘void openvslam_ros::system::publish_keyframes(const ros::Time&)’:
/home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc:102:46: error: cannot convert ‘std::vector<openvslam::data::keyframe*>’ to ‘std::vector<std::shared_ptr<openvslam::data::keyframe> >&’
  102 |     SLAM_.get_map_publisher()->get_keyframes(all_keyfrms);
      |                                              ^~~~~~~~~~~
      |                                              |
      |                                              std::vector<openvslam::data::keyframe*>
In file included from /home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc:2:
/usr/local/include/openvslam/publish/map_publisher.h:70:78: note:   initializing argument 1 of ‘unsigned int openvslam::publish::map_publisher::get_keyframes(std::vector<std::shared_ptr<openvslam::data::keyframe> >&)’
   70 |     unsigned int get_keyframes(std::vector<std::shared_ptr<data::keyframe>>& all_keyfrms);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc: In member function ‘void openvslam_ros::system::publish_pointcloud(const ros::Time&)’:
/home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc:77:46: error: cannot convert ‘std::vector<openvslam::data::landmark*>’ to ‘std::vector<std::shared_ptr<openvslam::data::landmark> >&’
   77 |     SLAM_.get_map_publisher()->get_landmarks(landmarks, local_landmarks);
      |                                              ^~~~~~~~~
      |                                              |
      |                                              std::vector<openvslam::data::landmark*>
In file included from /home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc:2:
/usr/local/include/openvslam/publish/map_publisher.h:78:78: note:   initializing argument 1 of ‘unsigned int openvslam::publish::map_publisher::get_landmarks(std::vector<std::shared_ptr<openvslam::data::landmark> >&, std::set<std::shared_ptr<openvslam::data::landmark> >&)’
   78 |     unsigned int get_landmarks(std::vector<std::shared_ptr<data::landmark>>& all_landmarks,
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc: In member function ‘void openvslam_ros::system::publish_keyframes(const ros::Time&)’:
/home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc:102:46: error: cannot convert ‘std::vector<openvslam::data::keyframe*>’ to ‘std::vector<std::shared_ptr<openvslam::data::keyframe> >&’
  102 |     SLAM_.get_map_publisher()->get_keyframes(all_keyfrms);
      |                                              ^~~~~~~~~~~
      |                                              |
      |                                              std::vector<openvslam::data::keyframe*>
In file included from /home/shubham/catkin_ws/src/openvslam_ros/src/openvslam_ros.cc:2:
/usr/local/include/openvslam/publish/map_publisher.h:70:78: note:   initializing argument 1 of ‘unsigned int openvslam::publish::map_publisher::get_keyframes(std::vector<std::shared_ptr<openvslam::data::keyframe> >&)’
   70 |     unsigned int get_keyframes(std::vector<std::shared_ptr<data::keyframe>>& all_keyfrms);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
make[2]: *** [openvslam_ros/src/CMakeFiles/run_localization.dir/build.make:76: openvslam_ros/src/CMakeFiles/run_localization.dir/openvslam_ros.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:3985: openvslam_ros/src/CMakeFiles/run_localization.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [openvslam_ros/src/CMakeFiles/run_slam.dir/build.make:76: openvslam_ros/src/CMakeFiles/run_slam.dir/openvslam_ros.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:4094: openvslam_ros/src/CMakeFiles/run_slam.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed