octovisan安装

安装

git clone https://github.com/OctoMap/octomap
cd octomap
git checkout v1.6.9
mkdir build
cd build
cmake ..
make
sudo make install

如果报错

...

CMakeFiles/octovis.dir/src/ViewerGui.cpp.o: In function `octomap::OcTreeBaseImpl<octomap::ColorOcTreeNode, octomap::AbstractOccupancyOcTree>::writeData(std::ostream&) const':

ViewerGui.cpp:(.text._ZNK7octomap14OcTreeBaseImplINS_15ColorOcTreeNodeENS_23AbstractOccupancyOcTreeEE9writeDataERSo[_ZNK7octomap14OcTreeBaseImplINS_15ColorOcTreeNodeENS_23AbstractOccupancyOcTreeEE9writeDataERSo]+0xe): undefined reference to `octomap::ColorOcTreeNode::writeValue(std::ostream&) const'

...

解决办法

cd octomap
git checkout v1.6.9

重新安装一次。