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