cartographer安装出现的问题及解决
首先要吐槽一下,这个东西安装太困难了,真的是很搞人心态。
相信很多人都会集中在下面我讲的几个问题
1.rosdep问题
参考网上及官网的安装过程中安装完proto后会进行
sudo rosdep init
以及
rosdep update
我去!就这一步卡了我一下午加半个上午的时间。肯定会出现这个错误:
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
上网查了各种方法,什么各种编辑文件啊,ip地址啊,wget啊,不加证书啊,甚至还要有说让我升级系统的,,,升级完之前的东西不都没了么,我才不干!因为这毕竟是ros的问题,于是我就去查找了ros滴神“古月居”,他文章里正好写了如何解决!真的很感谢!!
第一步:
sudo gedit /etc/hosts
第二步:
在打开的文件里最后面添加:
199.232.28.133 raw.githubusercontent.com
151.101.228.133 raw.github.com;
修改完后,保存,再次执行:
sudo rosdep init
rosdep update
就是这么简单的一个操作,让一些人搞了半天,比如我。。。
2.cartographer
接下来是重头戏了,编译!!
最后进行catkin_make_isolated --install --use-ninja的时候,肯定会有人遇到下面这个问题(由于我没截图,就从网上找了个图片):
其实,问题不在这!!你再往上翻一下,会提示error:
-- Found GMock: gmock_main;-lpthread
CMake Error at CMakeLists.txt:32 (find_package):
By not providing "Findabsl.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "absl", but
CMake did not find one.
Could not find a package configuration file provided by "absl" with any of
the following names:
abslConfig.cmake
absl-config.cmake
Add the installation prefix of "absl" to CMAKE_PREFIX_PATH or set
"absl_DIR" to a directory containing one of the above files. If "absl"
provides a separate development package or SDK, be sure it has been
installed.
找了半天才找到解决办法:
sudo apt-get install stow
sudo chmod +x ~/cartographer_ws/src/cartographer/scripts/install_abseil.sh
cd ~/cartographer_ws/src/cartographer/scripts
./install_abseil.sh
这个路径要自己修改!
3.ceres-solver
终于再次编译的时候就没有这个问题了。但是到后面又出现cere的问题:
error: variable or field ‘it’ declared void
for (typename C::const_iterator it = container.begin();
^
ninja: build stopped: subcommand failed.
<== Failed to process package 'ceres-solver':
Command '['/home/fzc/catkin_google_ws/install_isolated/env.sh', 'ninja', '-j4', '-l4']' returned non-zero exit status 1
问题解决:
你原来肯定有安装过cere。所以只需将src工程目录下的cere-solver文件夹删除即可!!!
运行:
参考文章:
链接: https://www.guyuehome.com/12640.
链接: https://wenda.ncnynl.com/article/4.
链接: https://blog.csdn.net/feng_zhengchao/article/details/105792719.
加油兄弟们!坚持就是胜利!