21/12/18 仿真错误记录

catkin_make报错

解决方法

sudo chown $USER: -R /home/frany/catkin_ws

然后重新catkin_make。

pcl_conversions报错

问题原因

在PCL1.8中，没有pcl_ros 和pcl_conversions库，（PCL1.7中应该是有的），而代码中又需要用到这两个库，因此需要自己下载并进行安装。

解决方法

sudo apt install libvtk6-jni libvtk6-java libvtk6-dev libvtk6-qt-dev libpcl-dev
sudo apt-get install ros-melodic-navigation
sudo apt-get install ros-melodic-pcl-conversions
sudo apt-get install ros-melodic-pcl-ros

eigen_conversions报错

解决方法

sudo apt-get install ros-melodic-eigen-conversions

Abseil报错

解决方法

1.更改cartographer_ros的CMakeList.txt文件

 sudo gedit CMakeLists.txt 
find_package(Abseil REQUIRED) --> 

find_package(absl REQUIRED)

2.同样的，更改cartographer_rviz的CMakeList.txt文件

 sudo gedit CMakeLists.txt 
find_package(Abseil REQUIRED) -->

 find_package(absl REQUIRED)

3.更改cartographer的CMakeList.txt文件(改两处)
第一处：

 sudo gedit CMakeLists.txt 
find_package(Abseil REQUIRED) --> 

find_package(absl REQUIRED)

第二处：

target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} standalone_absl)  -->

target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} 
  absl::algorithm
  absl::base
  absl::debugging
  absl::flat_hash_map
  absl::memory
  absl::meta
  absl::numeric
  absl::str_format
  absl::strings
  absl::synchronization
  absl::time
  absl::utility 
)

4.更改cartographer的cartographer-config.cmake.in 文件

sudo gedit cartographer-config.cmake.in 
find_package(Abseil REQUIRED) --> 

find_package(absl REQUIRED)