运行lego—loam遇到的问题以及解决方案

问题 1 ：

The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.3/VTKTargets.cmake"
but not all the files it references.

这个问题是因为缺少链接，创建以下就好了。

1.  

sudo ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.x86_64-linux-gnu.so /usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so

2.

sudo ln -s /usr/bin/vtk6 /usr/bin/vtk

此问题解决

第二个问题是节点被杀死

[mapOptmization-9] process has died [pid 4124, exit code 127, cmd /home/wangtao/catkin_legoloam_ws/devel/lib/lego_loam/mapOptmization __name:=mapOptmization __log:=/home/wangtao/.ros/log/b74bf5a2-b099-11eb-a698-2cf05d9e6567/mapOptmization-9.log].
log file: /home/wangtao/.ros/log/b74bf5a2-b099-11eb-a698-2cf05d9e6567/mapOptmization-9*.log

 

解决方法好像就是添加一个环境变量，用这句就可以

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

接下来应该是可以成功运行了。