[Kimera-Multi]ubuntu部署过程2

引入

最近重新安装了Kimera-Multi，发现又有一些新的问题（累）。

在看这篇文章之前，先参考之前的踩坑：[Kimera-Multi]ubuntu部署过程

前面的话

由于原仓库修改了 Kimera-VIO-ROS的分支为 master，故Kimera-VIO如果保持原来的分支，最后跑程序就会报段错误（私以为C++最恐怖的报错），因此 Kimera-VIO 需要修改分支为 master 分支，以下均为修改后的编译过程。

新的报错

1 OpenCL

Could NOT find OpenCL (missing: OpenCL_LIBRARY OpenCL_INCLUDE_DIR)
  (Required is at least version "2")
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.16/Modules/FindOpenCL.cmake:150 (find_package_handle_standard_args)
  CMakeLists.txt:22 (find_package)

按照kimi的方法，安装依赖：

sudo apt-get install opencl-headers ocl-icd-opencl-dev

2 gflags_*

CMake Error at /usr/lib/x86_64-linux-gnu/cmake/gflags/gflags-nonamespace-targets.cmake:37 (message):
  Some (but not all) targets in this export set were already defined.

  Targets Defined: gflags_shared;gflags_nothreads_shared

  Targets not yet defined: gflags_static;gflags_nothreads_static

直接用这个 Compilation error opencv3

修改 /usr/local/lib/cmake/Ceres/CeresConfig.cmake 里面的243行附近的为：

if (GFLAGS_WAS_BUILT_WITH_CMAKE)
      # set(gflags_DIR /usr/lib/x86_64-linux-gnu/cmake/gflags)
      set(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION TRUE)

github

fatal: unable to access 'https://github.com/yuluntian/ROPTLIB.git/': Failed to connect to github.com port 443: Connection timed out
CMake Error at /path/to/your/work/space/kimera_multi_ws/build/dpgo/roptlib-download/roptlib-prefix/tmp/roptlib-gitupdate.cmake:55 (message):
  Failed to fetch repository 'https://github.com/yuluntian/ROPTLIB.git'


make[3]: *** [CMakeFiles/roptlib.dir/build.make:97: roptlib-prefix/src/roptlib-stamp/roptlib-update] Error 1
make[2]: *** [CMakeFiles/Makefile2:76: CMakeFiles/roptlib.dir/all] Error 2
make[1]: *** [Makefile:84: all] Error 2
fatal: unable to access 'https://github.com/google/googletest.git/': Failed to connect to github.com port 443: Connection timed out
CMake Error at /path/to/your/work/space/kimera_multi_ws/build/dpgo/googletest-download/googletest-prefix/tmp/googletest-gitupdate.cmake:55 (message):
  Failed to fetch repository 'https://github.com/google/googletest.git'


make[3]: *** [CMakeFiles/googletest.dir/build.make:97: googletest-prefix/src/googletest-stamp/googletest-update] Error 1
make[2]: *** [CMakeFiles/Makefile2:76: CMakeFiles/googletest.dir/all] Error 2
make[1]: *** [Makefile:84: all] Error 2
CMake Error at /path/to/your/work/space/kimera_multi_ws/src/dpgo/CMakeLists.txt:142 (message):
  Build step for googletest failed: 2

网络问题，多试几遍，或者分别进入 ./src/dpgo/cmake/roptlib.cmake 和 ./src/dpgo/cmake/gtest.cmake，修改github网址为 ssh 克隆地址：git@github.com:，即：

GIT_REPOSITORY https://github.com/google/googletest.git

改为：

GIT_REPOSITORY git@github.com:google/googletest.git

另一个也类似。

最后顺利编译通过。
希望大家也都能顺利部署完成~