It seems that a cpp file to "SegmentedPlanesSignedDistanceField.h" is missing in ocs2_robotic_examples/ocs2_perceptive_anymal/segmented_planes_terrain_model/src

[Mayflyday]

In OCS2 V12.0
Errors
/home/user/ocsws/src/ocs2/ocs2_robotic_examples/ocs2_perceptive_anymal/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h: In constructor ‘switched_model::SegmentedPlanesSignedDistanceField::SegmentedPlanesSignedDistanceField(const grid_map::GridMap&, const string&, double, double)’:
/home/user/ocsws/src/ocs2/ocs2_robotic_examples/ocs2_perceptive_anymal/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesSignedDistanceField.h:23:59: error: no matching function for call to ‘grid_map::SignedDistanceField::SignedDistanceField(const grid_map::GridMap&, const string&, double&, double&)’
23 | : sdf_(gridMap, elevationLayer, minHeight, maxHeight) {}

[NmBoyd]

Looks like this is a dependency from elveation_mapping_cupy. Which makes some sense since grid map is very closely related to elevation_mapping. Also seems to be an issue with packages missing grid_map_filters_rsl
Try adding this package and rebuilding:
https://github.com/leggedrobotics/elevation_mapping_cupy/tree/main/plane_segmentation

[JunJieChenpete]

The Errors shows that the class grid_map::SignedDistanceField corresponding to sdf_ does not have the grid_map::SignedDistanceField::SignedDistanceField(const grid_map::GridMap&, const string&, double&, double&) method. I guess that the grid_map library you are using comes from the command like sudo apt install ros-noetic-grid-map*, the libraries inside have not been updated. I specifically went to the source file to view it, and you can see that there is indeed no construction method mentioned above.

however, when you go to github to find the source code, you will find that this piece of code has been updated.

So, you should remove the grid_map library with the command sudo apt remove ros-noetic-grid-map* , then clone source code from github directly with command git clone [email protected]:ANYbotics/grid_map.git into your src folder, and re catkin build.

[Dicer-J]

The Errors shows that the class grid_map::SignedDistanceField corresponding to sdf_ does not have the grid_map::SignedDistanceField::SignedDistanceField(const grid_map::GridMap&, const string&, double&, double&) method. I guess that the grid_map library you are using comes from the command like sudo apt install ros-noetic-grid-map*, the libraries inside have not been updated. I specifically went to the source file to view it, and you can see that there is indeed no construction method mentioned above. however, when you go to github to find the source code, you will find that this piece of code has been updated. So, you should remove the grid_map library with the command sudo apt remove ros-noetic-grid-map* , then clone source code from github directly with command git clone [email protected]:ANYbotics/grid_map.git into your src folder, and re catkin build.

Very helpful！