ubuntu 18.04 编译octomap

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最新推荐文章于 2024-01-07 16:32:47 发布

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分类专栏： robotics 机器视觉机器人文章标签： octomap

本文链接：https://blog.csdn.net/huyaoyu/article/details/105964310

版权

本文档详细记录了在Ubuntu 18.04系统上，如何编译Octomap及其依赖libQGLViewer的过程。在遇到编译错误和OpenGL警告时，提供了相应的解决办法，包括指定自定义安装位置和修复pointcloud测试问题。最终成功运行octovis并展示了octomap的可视化效果。

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源码位置

https://github.com/OctoMap/octomap/blob/devel/octovis/README.md

commit 74c48ae on Apr 26, 2020.

本机系统Ubuntu 18.04，qt5，cmake 3.14.6。

编译

libQGLViewer for octovis

直接cmake configure octomap会报出无法编译libQGLViewer的错误，忽略该错误会导致octovis不能编译，尝试手工编译libQGLViewer。具体报错信息如下

-- QGLViewer includes found in /home/yaoyu/Libraries/octomap/octovis/src/extern/QGLViewer
-- QGLViewer library not found.
-- Trying to build libQGLViewer from source in /home/yaoyu/Libraries/octomap/octovis/src/extern/QGLViewer
-- 	 generating Makefile using qmake
-- 	 building library (this may take some time...)
make: *** No targets specified and no makefile found.  Stop.
CMake Warning at octovis/CMakeModules/FindQGLViewer.cmake:111 (MESSAGE):
  Could not find libQGLViewer.so, failed to build?
Call Stack (most recent call first):
  octovis/CMakeLists.txt:79 (FIND_PACKAGE)

libQGLViewer could not be found or generated.
Unfortunately, the viewer (octovis) can not be built because some requirements are missing.
This will not affect the compilation of the stand-alone library and tools (octomap)
See README.txt or http://octomap.sf.net for further information.

进入octomap/octovis/src/extern/QGLViewer，执行qmake和make。成功生成了libQGLViewer.so。最后sudo make install。

OpenGL

cmake configure octomap时还有关于OpenGL的警告，需要用户手工指定OpenGL_GL_PREFERENCE。

CMake Warning (dev) at /usr/local/share/cmake-3.14/Modules/FindOpenGL.cmake:275 (message):
  Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
  available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
  cmake_policy command to set the policy and suppres