ubuntu18.04系统中运行./build_ros.sh的时候遇到报错

看不懂一点代码

已于 2024-03-18 20:15:45 修改

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于 2024-03-11 22:16:27 首次发布

本文链接：https://blog.csdn.net/2301_81067921/article/details/136636905

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我的ros系统是用的小鱼的一键安装链接，参考：

ubuntu-18.04一键安装ros_ros18.04yijian-CSDN博客

我编译./build_ros.sh的时候遇到的问题，查遍csdn都没找到解决方法

问题一：

CMake Error at /opt/ros/melodic/share/ros/core/rosbuild/public.cmake:129 (message):

Failed to invoke rospack to get compile flags for package 'ORB_SLAM2'.
Look above for errors from rospack itself. Aborting. Please fix the
broken dependency!

Call Stack (most recent call first):
/opt/ros/melodic/share/ros/core/rosbuild/public.cmake:207 (rosbuild_invoke_rospack)
CMakeLists.txt:4 (rosbuild_init)

-- Configuring incomplete, errors occurred!
See also "/home/chenhaining/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
make: *** 没有指明目标并且找不到 makefile。停止。

CMake Error at /opt/ros/melodic/share/ros/core/rosbuild/public.cmake:129 (message):

  Failed to invoke rospack to get compile flags for package 'ORB_SLAM2'.
  Look above for errors from rospack itself.  Aborting.  Please fix the
  broken dependency!

Call Stack (most recent call first):
  /opt/ros/melodic/share/ros/core/rosbuild/public.cmake:207 (rosbuild_invoke_rospack)
  CMakeLists.txt:4 (rosbuild_init)


-- Configuring incomplete, errors occurred!
See also "/home/chenhaining/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
make: *** 没有指明目标并且找不到 makefile。 停止。

解决方法：

sudo rosdep init
rosdep update

即可，运行rosdep update的时候可能遇到rosdep update错误失败一直timeout的问题，如：The read operation timed out（包括ERROR: unable to process source，ERROR: error loading sources list

可参考解决方法：rosdep update错误失败一直timeout解决方法_rosdep update出错-CSDN博客（本人实测方法二有效）

问题二：

/home/chenhaining/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc: In member function ‘void ORB_SLAM2::ViewerAR::Run()’:
/home/chenhaining/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc:233:9: error: ‘usleep’ was not declared in this scope
233 | usleep(mT*1000);
| ^~~~~~
CMakeFiles/MonoAR.dir/build.make:190: recipe for target 'CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o' failed
make[2]: *** [CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o] Error 1
CMakeFiles/Makefile2:543: recipe for target 'CMakeFiles/MonoAR.dir/all' failed
make[1]: *** [CMakeFiles/MonoAR.dir/all] Error 2
Makefile:132: recipe for target 'all' failed
make: *** [all] Error 2

/home/chenhaining/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc: In member function ‘void ORB_SLAM2::ViewerAR::Run()’:
/home/chenhaining/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc:233:9: error: ‘usleep’ was not declared in this scope
  233 |         usleep(mT*1000);
      |         ^~~~~~
CMakeFiles/MonoAR.dir/build.make:190: recipe for target 'CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o' failed
make[2]: *** [CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o] Error 1
CMakeFiles/Makefile2:543: recipe for target 'CMakeFiles/MonoAR.dir/all' failed
make[1]: *** [CMakeFiles/MonoAR.dir/all] Error 2
Makefile:132: recipe for target 'all' failed
make: *** [all] Error 2

解决方法：

在orb_slam2文件夹中搜索：ViewerAR.cc，打开

引入头文件：