Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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+1:搭建lio-sam所需要gtsam 依赖已经放在depends文件夹里面
+    wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip   
+    cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/   
+    cd ~/Downloads/gtsam-4.0.2/   
+    mkdir build && cd build   
+    cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..   
+    sudo make instal
+
+    如果出现以下错误:
+        -- Found TBB: /usr/include (found suitable version "2020.1", minimum required is "4.4") found components: tbb tbbmalloc 
+        -- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES) 
+        -- Found OpenMP_C: -fopenmp (found version "4.5") 
+        -- Found OpenMP_CXX: -fopenmp (found version "4.5") 
+        -- Found OpenMP: TRUE (found version "4.5")  
+        -- Found Eigen version: 3.3.7
+        CMake Error at wrap/CMakeLists.txt:32 (target_link_libraries):
+        The "debug" argument must be followed by a library.
+        
+        
+        -- Configuring incomplete, errors occurred!
+        See also "/opt/ykcnnc/libs/libs/gtsam-4.0.2/build/CMakeFiles/CMakeOutput.log".
+        See also "/opt/ykcnnc/libs/libs/gtsam-4.0.2/build/CMakeFiles/CMakeError.log".
+
+    1. 找到gtsam/wrap/CMakeLists.txt文件，注释掉debug部分
+
+        set(WRAP_BOOST_LIBRARIES
+        optimized
+            ${Boost_FILESYSTEM_LIBRARY_RELEASE}
+            ${Boost_SYSTEM_LIBRARY_RELEASE}
+            ${Boost_THREAD_LIBRARY_RELEASE}
+            #  debug
+            #${Boost_FILESYSTEM_LIBRARY_DEBUG}
+            #${Boost_SYSTEM_LIBRARY_DEBUG}
+            #${Boost_THREAD_LIBRARY_DEBUG}
+        )
+
+    2. 找到gtsam/CMakeLists.txt文件，注释掉debug部分
+
+        if (GTSAM_DISABLE_NEW_TIMERS)
+            message("WARNING:  GTSAM timing instrumentation manually disabled")
+            list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
+        else()
+            if(Boost_TIMER_LIBRARY)
+            list(APPEND GTSAM_BOOST_LIBRARIES
+                optimized ${Boost_TIMER_LIBRARY_RELEASE}
+                optimized ${Boost_CHRONO_LIBRARY_RELEASE}
+                #debug ${Boost_TIMER_LIBRARY_DEBUG}
+                #debug ${Boost_CHRONO_LIBRARY_DEBUG}
+                )
+            else()
+            list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
+            message("WARNING:  GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
+            endif()
+        endif()
+    
+    3: 重新编译
+
+2: 出现以下错误时 
+    Could not find a package configuration file provided by "tf2_sensor_msgs"
+    with any of the following names:
+
+        tf2_sensor_msgsConfig.cmake
+        tf2_sensor_msgs-config.cmake
+    
+    执行如下操作:
+        sudo apt-get install ros-noetic-tf2-sensor-msgs
+
+3:出现以下错误时
+    Could not find a package configuration file provided by "costmap_converter"
+    with any of the following names:
+
+        costmap_converterConfig.cmake
+        costmap_converter-config.cmake
+    
+    执行如下操作:
+        sudo apt-get install ros-noetic-costmap-converter
+
+4: 出现以下错误时
+    Could not find a package configuration file provided by "mbf_costmap_core"
+    with any of the following names:
+
+        mbf_costmap_coreConfig.cmake
+        mbf_costmap_core-config.cmake
+    
+    执行如下操作：
+        sudo apt-get install ros-noetic-mbf-costmap-core
+
+5: 出现如下错误时：
+    Could not find a package configuration file provided by "mbf_msgs" with any
+    of the following names:
+
+        mbf_msgsConfig.cmake
+        mbf_msgs-config.cmake
+    
+    执行如下操作:
+        sudo apt-get install ros-noetic-mbf-msgs 
+
+6: 出现如下错误时：
+        CMake Error at ros_navigation_ws/teb_local_planner/cmake_modules/FindSUITESPARSE.cmake:131 (MESSAGE):
+    Unable to find SuiteSparse
+    Call Stack (most recent call first):
+    ros_navigation_ws/teb_local_planner/CMakeLists.txt:35 (find_package)
+
+    执行如下操作：
+        sudo apt-get install libsuitesparse-dev
+
+7: 出现如下错误时：
+    CMake Error at ros_navigation_ws/teb_local_planner/cmake_modules/FindG2O.cmake:85 (message):
+    Could not find libg2o!
+    Call Stack (most recent call first):
+    ros_navigation_ws/teb_local_planner/CMakeLists.txt:36 (find_package)
+
+    执行如下操作：
+        sudo apt-get install ros-noetic-libg2o
+
+8: 出现如下错误时
+    fatal error: geodesy/utm.h: No such file or directory
+    #include <geodesy/utm.h>
+
+    执行如下操作:
+        sudo apt-get install ros-noetic-geodesy