Ubuntu16安装+ROS安装VINS编译错误解决

关于ROS安装VINS的文章，已经有很多，例如：

https://blog.csdn.net/CGJustDoIT/article/details/100055755

由于Eigen和Ceres版本更新，在安装默认版本之后（Ceres 2.0.0），会由于版本不匹配出现VINS编译错误。

error: ‘integer_sequence’ is not a member of ‘std‘错误

/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:16: error: ‘integer_sequence’ is not a member of ‘std’
 struct SumImpl<std::integer_sequence<T, N, Ns...>> {
                ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:16: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:46: error: wrong number of template arguments (3, should be 1)
 struct SumImpl<std::integer_sequence<T, N, Ns...>> {
                                              ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
 struct SumImpl;
        ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:49: error: expected unqualified-id before ‘>’ token
 struct SumImpl<std::integer_sequence<T, N, Ns...>> {
                                                 ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:70:16: error: ‘integer_sequence’ is not a member of ‘std’
 struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> 

原因是2.0.0版本的Ceres使用了C++14的新特性，与VINS不兼容，因此报错。

 因此回退到Ceres1.14.0版本

删除之前的ceres-solver

sudo rm -r /usr/local/lib/cmake/Ceres
sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a

下载并解压ceres-solver-1.14.0。

下载地址：http://www.ceres-solver.org/

按流程安装编译ceres-solver，依旧报错：

/home/seivl/Download/ceres-solver-1.14.0/internal/ceres/gtest/gtest.h:10445:35: error: variable or field ‘it’ declared void
   for (typename C::const_iterator it = container.begin();
                                   ^
internal/ceres/CMakeFiles/residual_block_test.dir/build.make:81: recipe for target 'internal/ceres/CMakeFiles/residual_block_test.dir/residual_block_test.cc.o' failed

问题原因是Eigen版本是3.3，ceres-solver-1.14依赖eigen3.2.9，需要同步回退到eigen3.2.9

下载地址：http://eigen.tuxfamily.org/index.php?title=Main_Page

按指引安装eigen3.2.9

再次编译和安装ceres-solver，编译成功。

再次catkin_make VINS工程，编译依然有问题：

Could not find a configuration file for package "Eigen3" that is compatible with requested version

VINS依赖了Eigen3.3，重新安装Eigen3.3即可

sudo apt-get install libeigen3-dev

 再次catkin_make VINS工程，编译成功，大功告成。