阿木实验室 ubuntu 20.04 Prometheus 系统 编译问题

已于 2022-04-19 21:51:31 修改
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文章标签： c++
于 2022-04-18 17:56:08 首次发布
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本文链接：https://blog.csdn.net/Sherry__C/article/details/124255143
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1. ./compile_detection.sh

error:

make[2]: *** [CMakeFiles/darknet_ros_lib.dir/build.make:2017：CMakeFiles/darknet_ros_lib.dir/src/darknet_ros/src/YoloObjectDetector.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:946：CMakeFiles/darknet_ros_lib.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j16 -l16" failed
[INFO] SUBMODULE object_detection_landing NOT EXIST, Skip it!
[INFO] SUBMODULE object_detection_yolov5openvino NOT EXIST, Skip it!

2. ./compile_ego.sh 

error:

/usr/include/gazebo-11/gazebo/msgs/wrench_stamped.pb.h:12:2: error: #error This file was generated by a newer version of protoc which is
 #error This file was generated by a newer version of protoc which is
  ^~~~~
In file included from /usr/include/gazebo-11/gazebo/msgs/MessageTypes.hh:136,
                 from /usr/include/gazebo-11/gazebo/msgs/msgs.hh:35,
                 from /usr/include/gazebo-11/gazebo/physics/Entity.hh:28,
                 from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
                 from /usr/include/gazebo-11/gazebo/physics/Actor.hh:27,
                 from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
                 from /home/weipengcheng/Prometheus/Simulator/gazebo_simulator/include/RealSensePlugin.h:23,
                 from /home/weipengcheng/Prometheus/Simulator/gazebo_simulator/include/gazebo_ros_realsense.h:4,
                 from /home/weipengcheng/Prometheus/Simulator/gazebo_simulator/gazebo_plugin/gazebo_ros_realsense.cpp:1:
/usr/include/gazebo-11/gazebo/msgs/wrench_stamped.pb.h:12:2: error: #error This file was generated by a newer version of protoc which is
 #error This file was generated by a newer version of protoc which is
  ^~~~~
/usr/include/gazebo-11/gazebo/msgs/wrench_stamped.pb.h:13:2: error: #error incompatible with your Protocol Buffer headers. Please update
 #error incompatible with your Protocol Buffer headers.  Please update
  ^~~~~
/usr/include/gazebo-11/gazebo/msgs/wrench_stamped.pb.h:13:2: error: #error incompatible with your Protocol Buffer headers. Please update
 #error incompatible with your Protocol Buffer headers.  Please update
  ^~~~~
/usr/include/gazebo-11/gazebo/msgs/wrench_stamped.pb.h:14:2: error: #error your headers.
 #error your headers.
  ^~~~~
/usr/include/gazebo-11/gazebo/msgs/wrench_stamped.pb.h:14:2: error: #error your headers.
 #error your headers.
  ^~~~~
make[2]: *** [CMakeFiles/realsense_gazebo_plugin.dir/build.make:63：CMakeFiles/realsense_gazebo_plugin.dir/gazebo_plugin/RealSensePlugin.cpp.o] 错误 1
make[2]: *** 正在等待未完成的任务....
make[2]: *** [CMakeFiles/realsense_gazebo_plugin.dir/build.make:76：CMakeFiles/realsense_gazebo_plugin.dir/gazebo_plugin/gazebo_ros_realsense.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:299：CMakeFiles/realsense_gazebo_plugin.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j16 -l16" failed
 

3. ./compile_experiment.sh 

error:

/usr/include/opencv4/opencv2/core/types_c.h:327:1: note:   candidate expects 0 arguments, 1 provided
/usr/include/opencv4/opencv2/core/types_c.h:327:1: note: candidate: ‘constexpr _IplImage::_IplImage(const _IplImage&)’
/usr/include/opencv4/opencv2/core/types_c.h:327:1: note:   no known conversion for argument 1 from ‘cv::Mat’ to ‘const _IplImage&’
/usr/include/opencv4/opencv2/core/types_c.h:327:1: note: candidate: ‘constexpr _IplImage::_IplImage(_IplImage&&)’
/usr/include/opencv4/opencv2/core/types_c.h:327:1: note:   no known conversion for argument 1 from ‘cv::Mat’ to ‘_IplImage&&’
make[2]: *** [CMakeFiles/darknet_ros_lib.dir/build.make:2017：CMakeFiles/darknet_ros_lib.dir/src/darknet_ros/src/YoloObjectDetector.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:946：CMakeFiles/darknet_ros_lib.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j16 -l16" failed
 

4.  ./compile_gazebo.sh 

error:

In file included from /usr/include/gazebo-11/gazebo/msgs/MessageTypes.hh:136,
                 from /usr/include/gazebo-11/gazebo/msgs/msgs.hh:35,
                 from /usr/include/gazebo-11/gazebo/physics/Entity.hh:28,
                 from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
                 from /usr/include/gazebo-11/gazebo/physics/Actor.hh:27,
                 from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
                 from /home/weipengcheng/Prometheus/Simulator/gazebo_simulator/include/RealSensePlugin.h:23,
                 from /home/weipengcheng/Prometheus/Simulator/gazebo_simulator/gazebo_plugin/RealSensePlugin.cpp:17:
/usr/include/gazebo-11/gazebo/msgs/wrench_stamped.pb.h:12:2: error: #error This file was generated by a newer version of protoc which is
 #error This file was generated by a newer version of protoc which is
  ^~~~~
/usr/include/gazebo-11/gazebo/msgs/wrench_stamped.pb.h:13:2: error: #error incompatible with your Protocol Buffer headers. Please update
 #error incompatible with your Protocol Buffer headers.  Please update
  ^~~~~
/usr/include/gazebo-11/gazebo/msgs/wrench_stamped.pb.h:14:2: error: #error your headers.
 #error your headers.
  ^~~~~
make[2]: *** [CMakeFiles/realsense_gazebo_plugin.dir/build.make:63：CMakeFiles/realsense_gazebo_plugin.dir/gazebo_plugin/RealSensePlugin.cpp.o] 错误 1
make[2]: *** 正在等待未完成的任务....
make[2]: *** [CMakeFiles/realsense_gazebo_plugin.dir/build.make:76：CMakeFiles/realsense_gazebo_plugin.dir/gazebo_plugin/gazebo_ros_realsense.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:299：CMakeFiles/realsense_gazebo_plugin.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j16 -l16" failed
 

解决：

卸载gazebo11，改为9。问题来了，ubuntu20.04 的 gazebo-pkg 之类连接ros的包，只支持gazebo11。我在考虑是否重新装个18.04的ubuntu

5. ./compile_planning.sh 

error:

/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
         const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
                   ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
         Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
make[2]: *** [hybrid_astar/CMakeFiles/hybrid_astar.dir/build.make:102：hybrid_astar/CMakeFiles/hybrid_astar.dir/src/occupy_map.cpp.o] 错误 1
make[2]: *** [hybrid_astar/CMakeFiles/hybrid_astar.dir/build.make:89：hybrid_astar/CMakeFiles/hybrid_astar.dir/src/kinodynamic_astar.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:4807：hybrid_astar/CMakeFiles/hybrid_astar.dir/all] 错误 2
[ 57%] Linking CXX executable /home/weipengcheng/Prometheus/devel/lib/arc_utilities/test_hierarchical_clustering
[ 57%] Built target test_hierarchical_clustering
[ 58%] Linking CXX executable /home/weipengcheng/Prometheus/devel/lib/arc_utilities/test_arc_utilities
[ 58%] Built target test_arc_utilities
[ 59%] Linking CXX shared library /home/weipengcheng/Prometheus/Modules/planning/FastPlanner/plan_env/ThirdParty/sdf_tools/lib/libsdf_tools.so
[ 59%] Built target sdf_tools
make: *** [Makefile:141：all] 错误 2
Invoking "make -j16 -l16" failed
 

6. ./compile_slam.sh 

error:

./compile_slam.sh: 第 5 行： cd: Modules/slam/config/Vocabulary: 没有那个文件或目录
tar: ORBvoc.txt.tar.gz：无法 open: 没有那个文件或目录
tar: Error is not recoverable: exiting

解决：

把ORBSLAM2中的Vocabulary文件夹，复制到Modules/slam/config/下

error：

/usr/include/c++/8/bits/predefined_ops.h:283:11: error: no match for call to ‘(pcl::getFieldIndex(const string&, const std::vector<pcl::PCLPointField>&) [with PointT = pcl::PointXYZ; std::__cxx11::string = std::__cxx11::basic_string<char>]::<lambda(const int&)>) (const pcl::PCLPointField&)’
  { return bool(_M_pred(*__it)); }
           ^~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/pcl-1.12/pcl/common/io.h:538,
                 from /usr/local/include/pcl-1.12/pcl/io/impl/pcd_io.hpp:48,
                 from /usr/local/include/pcl-1.12/pcl/io/pcd_io.h:789,
                 from /opt/ros/noetic/include/pcl_conversions/pcl_conversions.h:70,
                 from /home/weipengcheng/Prometheus/Modules/slam/src/stereo_matching/elas_stereo_node.cpp:28:
/usr/local/include/pcl-1.12/pcl/common/impl/io.hpp:77:38: note: candidate: ‘pcl::getFieldIndex(const string&, const std::vector<pcl::PCLPointField>&) [with PointT = pcl::PointXYZ; std::__cxx11::string = std::__cxx11::basic_string<char>]::<lambda(const int&)>’
       [&field_name](const auto& field) { return field.name == field_name; });
                                      ^
/usr/local/include/pcl-1.12/pcl/common/impl/io.hpp:77:38: note:   no known conversion for argument 1 from ‘const pcl::PCLPointField’ to ‘const int&’
make[2]: *** [CMakeFiles/prometheus_slam_node.dir/build.make:63：CMakeFiles/prometheus_slam_node.dir/src/stereo_matching/elas_stereo_node.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:543：CMakeFiles/prometheus_slam_node.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j16 -l16" failed
Uncompress vocabulary ...
 

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