LIO-SAM编译问题

compile error:

/usr/bin/ld: cannot find -lBoost::timer
collect2: error: ld returned 1 exit status
LIO-SAM-master/CMakeFiles/lio_sam_imuPreintegration.dir/build.make:759: recipe for target '/home/kyle/ros/kyle_ws/devel/lib/lio_sam/lio_sam_imuPreintegration' failed
make[2]: *** [/home/kyle/ros/kyle_ws/devel/lib/lio_sam/lio_sam_imuPreintegration] Error 1
CMakeFiles/Makefile2:10000: recipe for target 'LIO-SAM-master/CMakeFiles/lio_sam_imuPreintegration.dir/all' failed
make[1]: *** [LIO-SAM-master/CMakeFiles/lio_sam_imuPreintegration.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

solution

change the CMakeLists.txt

find_package(OpenMP REQUIRED)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(GTSAM REQUIRED QUIET)

as:

find_package(OpenMP REQUIRED)
find_package(GTSAM REQUIRED QUIET)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)

编译通过，但是启动时mapOptmization节点会发生崩溃，一般时GTSAM库的问题，解决方法是按照他的README.md重新编译一次，尤其注意编译GTSAM的编译要求：

cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..