编译Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight记录帖子

最新推荐文章于 2024-04-09 20:07:34 发布

Amazingren

最新推荐文章于 2024-04-09 20:07:34 发布

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分类专栏： ROS SLAM VIO 文章标签： pcl常见问题

本文链接：https://blog.csdn.net/Amazingren/article/details/82381801

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本文记录了在Ubuntu 16.04和ROS Kinectic环境下，编译Robust Stereo Visual Inertial Odometry (msckf_vio) 的过程。从Step1的基本依赖检查，到遇到的pcl相关错误，再到问题分析和解决方案，最后成功编译并通过添加cv_bridge完成编译。

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前言

看到泡泡机器人今天推送的一篇文章：
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
泡泡机器人推送链接：http://www.sohu.com/a/251757206_715754

自己还蛮感兴趣的，想要动手编译跑一下，不会写代码，好歹要会跑一些东西啊哈哈哈啊
github链接：https://github.com/KumarRobotics/msckf_vio

编译走起：

环境：Ubuntu16.04+ros Kinectic

Step1:

基本的依赖看起来还比较常规，都是Eigen, OpenCV, and Boost这些东西,
一看我都已经安装好了，按照readme走起：
执行：

catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release

出现报错（心里凉凉，吐槽一句，什么时候我可以一遍就过呢？？？）：

Base path: /home/hri/catkin_ws
Source space: /home/hri/catkin_ws/src
Build space: /home/hri/catkin_ws/build
Devel space: /home/hri/catkin_ws/devel
Install space: /home/hri/catkin_ws/install
####
#### Running command: "cmake /home/hri/catkin_ws/src -DCMAKE_BUILD_TYPE=Release -DCATKIN_DEVEL_PREFIX=/home/hri/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/hri/catkin_ws/install -G Unix Makefiles" in "/home/hri/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/hri/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/hri/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/hri/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/hri/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - msckf_vio
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'msckf_vio'
-- ==> add_subdirectory(msckf_vio)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "pcl_conversions"
  with any of the following names:

    pcl_conversionsConfig.cmake
    pcl_conversions-config.cmake

  Add the installation prefix of "pcl_conversions" to CMAKE_PREFIX_PATH or
  set "pcl_conversions_DIR" to a directory containing one of the above files.
  If "pcl_conversions" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  msckf_vio/CMakeLists.txt:9 (find_package)


-- Could not find the required component 'pcl_conversions'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "pcl_conversions"
  with any of the following names:

    pcl_conversionsConfig.cmake
    pcl_conversions-config.cmake

  Add the installation prefix of "pcl_conversions" to CMAKE_PREFIX_PATH or
  set "pcl_conversions_DIR" to a directory containing one of the above files.
  If "pcl_conversions" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  msckf_vio/CMakeLists.txt:9 (find_package)


-- Configurin