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