COVINS编译运行

m0_49066914

已于 2023-11-23 15:19:57 修改

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分类专栏： SLAM 文章标签：笔记

于 2023-08-10 20:34:38 首次发布

本文链接：https://blog.csdn.net/m0_49066914/article/details/132077850

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记录自己的学习过程，编译运行基本没遇到什么困难，很惊喜

配置环境

安装依赖

sudo apt-get install libpthread-stubs0-dev build-essential cmake git doxygen libsuitesparse-dev libyaml-cpp-dev libvtk6-dev python3-wstool libomp-dev libglew-dev

catkin_tools (from the catkin_tools manual)

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install python3-catkin-tools

Set up your workspace

cd ~/covins_ws
catkin init
catkin config --extend /opt/ros/noetic/
catkin config --merge-devel
catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

COVINS安装

cd ~/covins_ws/src
git clone https://github.com/VIS4ROB-lab/covins.git
cd ~/covins_ws
chmod +x src/covins/install_file.sh
./src/covins/install_file.sh 8

最好科学上网一下，因为要git很多东西
编译opengv：c++: fatal error: 已杀死 signal terminated program cc1plus
把线程改大一点，结果opengv由于线程太少编译不过，于是改为6线程，编译通过；
如果电脑卡死，可以放在那等程序跑完，一般会恢复正常；也可以强制关机（不太好）
Could not find a package configuration file provided by “pcl_ros“ with any of the following names:

sudo apt-get install ros-noetic-pcl-ros

然后就安装好了很惊讶

为ORBSLAM3安装ROS支持

cd ~/ws/covins_ws/src
git clone https://github.com/ros-perception/vision_opencv.git
git checkout noetic

打开~/covins_ws/src/vision_opencv/cv_bridge/CMakeLists.txt
将
find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs)
改为
find_package(catkin REQUIRED COMPONENTS rosconsole sensor_msgs opencv3_catkin)

运行

roscore
rosrun covins_backend covins_backend_node
roslaunch covins_backend tf.launch
rviz -d ~/covins_ws/src/covins/covins_backend/config/covins.rviz
roslaunch ORB_SLAM3 launch_ros_euroc.launch
rosbag play MH_01_easy.bag（去数据集所在的路径下）