ROS loam_velodyne catkin_make Error: By not providing "FineEigen3.cmake" in CMAKE_MODULE_PATH

最近在学习 Ji Zhang 大神的3D LIdar-SLAM: load_velodyne, 参考paper: 

J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time. Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014. (PDF) (Video)

github code 传送门

在编译安装的时候出现如下问题,是Eigen3的Cmake依赖问题, 已经安装eigen3,但在项目的find_package(Eigen3 QUERIED)中,无法找到FindEigen3.Cmake. 

CMake Error at loam_velodyne/CMakeLists.txt:13 (find_package):

  By not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Eigen3", but
  CMake did not find one.

  Could not find a package configuration file provided by "Eigen3" with any
  of the following names:

    Eigen3Config.cmake
    eigen3-config.cmake

  Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set
  "Eigen3_DIR" to a directory containing one of the above files.  If "Eigen3"
  provides a separate development package or SDK, be sure it has been
  installed.

解决方案:

1. 找到 FindEigen3.cmake, 使用 locate FindEigen3.cmake 命令

2. 复制到项目文件夹下面,或者文件夹中的cmake 文件夹内

3. 修改项目 CMakeLists.txt

set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}) //添加此句

find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)

如果放在新建的cmake文件夹下,则添加此句:

set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

That's Done, then re catkin_make

Reference:

1. https://answers.ros.org/question/250727/error-findeigen3cmake-during-install-kinetic-on-rpi/

2. CMake Error: not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH

3. Ubuntu14.04 ：By not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH