dyn_small_obs_avoidance编译报错，eigen版本问题

dyn_small_obs_avoidance编译报错，eigen版本问题

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问题描述

编译dyn_small_obs_avoidance时，catkin_make出现报错

/home/xcs/catkin_ws_dyn/src/dyn_small_obs_avoidance/path_searching/src/kinodynamic_astar.cpp:919:61: error: ‘const class Eigen::ArrayWrapper<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op<double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> > > >’ has no member named ‘floor’
   Vector3i idx = ((pt - origin_) * inv_resolution_).array().floor().cast<int>();
                                                             ^~~~~
/home/xcs/catkin_ws_dyn/src/dyn_small_obs_avoidance/path_searching/src/kinodynamic_astar.cpp:919:74: error: expected primary-expression before ‘int’
   Vector3i idx = ((pt - origin_) * inv_resolution_).array().floor().cast<int>();
   dyn_small_obs_avoidance/path_searching/CMakeFiles/path_searching.dir/build.make:62: recipe for target 'dyn_small_obs_avoidance/path_searching/CMakeFiles/path_searching.dir/src/kinodynamic_astar.cpp.o' failed
make[2]: *** [dyn_small_obs_avoidance/path_searching/CMakeFiles/path_searching.dir/src/kinodynamic_astar.cpp.o] Error 1
CMakeFiles/Makefile2:1260: recipe for target 'dyn_small_obs_avoidance/path_searching/CMakeFiles/path_searching.dir/all' failed
make[1]: *** [dyn_small_obs_avoidance/path_searching/CMakeFiles/path_searching.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed                                                 

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原因分析：

通过修改报错出现的位置，发现错误依然存在，判断错误与代码本身无关。
参考的其他帖子，发现之前安装的eigen版本为 eigen3.2.1，可能有版本过低的问题。
尝试升级eigen版本。

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解决方案：

1、卸载之前的eigen

sudo updatedb  
locate eigen3 
sudo rm -rf /usr/include/eigen3 /usr/lib/cmake/eigen3 /usr/share/doc/libeigen3-dev /usr/share/pkgconfig/eigen3.pc /var/lib/dpkg/info/libeigen3-dev.list /var/lib/dpkg/info/libeigen3-dev.md5sums

2、安装依赖

sudo apt-get install libopenblas-dev
sudo apt-get install --no-install-recommends libboost1.58-all-dev
sudo apt-get install libx11-dev
sudo apt-get install libgl1-mesa-dev 
sudo apt-get install libglu1-mesa-dev 
sudo apt-get install freeglut3-dev
sudo apt-get install doxygen
sudo apt-get install cmake
sudo wget https://nchc.dl.sourceforge.net/project/glew/glew/2.1.0/glew-2.1.0.tgz --no-check-certificate
sudo tar -xzvf glew-2.1.0.tgz
cd glew-2.1.0/
sudo make 
sudo make install
sudo ldconfig -v

有的可能无法安装，我直接忽略掉，继续下面的步骤。

3、下载eigen3.3.7，并且解压到主目录。
下载地址：eigen3.3.7

4、安装eigen3.3.7

mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig -v

5、将eigen3的路径映射到/usr/include路径下。

sudo cp -r /usr/local/include/eigen3 /usr/include/eigen3 
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

6、重新进入dyn_small_obs_avoidance工作空间进行 catkin_make，成功编译。

[ 79%] Building CXX object dyn_small_obs_avoidance/path_planning/CMakeFiles/goal_transform.dir/src/goalpoint_transformer.cpp.o
[ 81%] Building CXX object dyn_small_obs_avoidance/path_planning/CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o
[ 93%] Built target livox_ros_driver_node
[ 95%] Linking CXX executable /home/xcs/catkin_ws_dyn/devel/lib/path_planning/goal_transform
[ 95%] Built target goal_transform
[ 97%] Linking CXX executable /home/xcs/catkin_ws_dyn/devel/lib/path_planning/path_planning_node
[ 97%] Built target path_planning_node
[100%] Linking CXX executable /home/xcs/catkin_ws_dyn/devel/lib/fast_lio/loam_laserMapping

参考帖子：
https://blog.csdn.net/me1171115772/article/details/105114903