segmap重新安装protobuf还是遇到了版本问题This program requires version 3.5.0 of the Protocol Buffer runtime

1.问题描述

编译好segmap后，满心欢喜的去跑了一下程序

roslaunch segmapper kitti_localization.launch

没想到碰到了protobuf的版本问题

[libprotobuf FATAL google/protobuf/stubs/common.cc:61] This program requires version 3.5.0 of the Protocol Buffer runtime library, but the installed version is 2.6.1.  Please update your library.  If you compiled the program yourself, make sure that your headers are from the same version of Protocol Buffers as your link-time library.  (Version verification failed in "external/protobuf_archive/src/google/protobuf/any.pb.cc".)
terminate called after throwing an instance of 'google::protobuf::FatalException'
  what():  This program requires version 3.5.0 of the Protocol Buffer runtime library, but the installed version is 2.6.1.  Please update your library.  If you compiled the program yourself, make sure that your headers are from the same version of Protocol Buffers as your link-time library.  (Version verification failed in "external/protobuf_archive/src/google/protobuf/any.pb.cc".)
[segmapper-4] process has died

它说程序要求的版本是3.5.0，但是我安装的是2.6.1

所以我从源码安装了protobuf 3.5.0版本

可以看到protobuf 3.5.0的版本已经安装好了，且库文件在
/usr/local/lib/libprotobuf.so.15

但是我重新segmap程序的时候还是报了上述的问题，为什么呢？

2.问题分析

查看kitti_localization.launch启动文件

...
<!-- segmapper node -->
<include file="$(find segmapper)/launch/segmapper.launch">
  <arg name="icp_configuration_file" value="$(find segmapper)/launch/kitti/icp_dynamic_outdoor.yaml"/>
  <arg name="icp_input_filters_file" value="$(find segmapper)/launch/kitti/input_filters_outdoor.yaml"/>
  <arg name="enable_callgrind" value="$(arg enable_callgrind)"/>
</include>
...

可以看到segmapper的节点在segmapper.launch中启动，那我们再去看segmapper.launch文件

<!-- segmapper node -->
<node name="segmapper" pkg="segmapper" type="segmapper_node" output="screen" respawn="false" launch-prefix="$(arg launch_prefix)">
  <param name="icp_configuration_file" value="$(arg icp_configuration_file)"/>
  <param name="icp_input_filters_file" value="$(arg icp_input_filters_file)"/>
</node>

这个节点的可执行文件叫做segmapper_node，它的存放路径在

devel/lib/segmapper

通过ldd命令查看程序所需要的依赖库

libprotobuf.so.11 => /usr/lib/x86_64-linux-gnu/libprotobuf.so.11 (0x00007fa7bb8d9000)

奥，原来它依赖的动态库不是我安装的那一个，那么我重新指定一下

3.解决方案

方法1

通过ll查看/usr/lib/x86_64-linux-gnu/libprotobuf.so.11的链接

这里可以选择直接更改/usr/lib/x86_64-linux-gnu/libprotobuf.so.11的链接，让他指向/usr/local/lib/libprotobuf.so.15.0.0

sudo ln -s /usr/local/lib/libprotobuf.so.15.0.0 /usr/lib/x86_64-linux-gnu/libprotobuf.so.11

方法2

不更改/usr/lib/x86_64-linux-gnu/libprotobuf.so.11的链接,自己在/usr/local/lib下创建新的软链接
将libprotobuf.so.15.0.0链接给libprotobuf.so.11
(libprotobuf.so.15链接的也是libprotobuf.so.15.0.0)

sudo ln -s /usr/local/lib/libprotobuf.so.15.0.0 /usr/local/lib/libprotobuf.so.11

然后在每次跑segmap程序时，将/usr/local/lib添加到Linux查找共享库环境中

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

但是这样子比较麻烦，也可以直接写在环境变量中，这样不用每次开一个终端在敲一遍

sudo gedit ~/.bashrc

添加一行

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH