cartographer安装教程链接
Compiling Cartographer ROS — Cartographer ROS documentation
问题
sudo apt-get install libpcl-dev
出现
下列软件包有未满足的依赖关系: libpcl-dev : 依赖: libvtk6-qt-dev 但是它将不会被安装 E: 无法修正错误,因为您要求某些软件包保持现状,就是它们破坏了软件包间的依赖关系。
解决方法
sudo apt-get install aptitude
sudo aptitude install libpcl-dev
运行第二句之后,先选择n,等到降级再选择y。【但是这个解决方法会删除一些东西,目前还不知道有什么影响】。降级结束后,再重新运行
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
然后缺什么重新下载。
然后编译
catkin_make_isolated --install --use-ninja
编译时又遇到问题2,cmake版本太低,需要升级版本
CMake Error at CMakeLists.txt:32 (cmake_minimum_required): CMake 3.16...3.27 or higher is required. You are running version 3.10.2
-- Configuring incomplete, errors occurred! <== Failed to process package 'ceres-solver': Command '['/home/dyj/cart_ws/install_isolated/env.sh', 'cmake', '/home/dyj/cart_ws/src/ceres-solver', '-DCMAKE_INSTALL_PREFIX=/home/dyj/cart_ws/install_isolated', '-G', 'Ninja']' returned non-zero exit status 1
Reproduce this error by running: ==> cd /home/dyj/cart_ws/build_isolated/ceres-solver && /home/dyj/cart_ws/install_isolated/env.sh cmake /home/dyj/cart_ws/src/ceres-solver -DCMAKE_INSTALL_PREFIX=/home/dyj/cart_ws/install_isolated -G Ninja
Command failed, exiting.
终端进入下载目录
tar xf cmake-3.18.4.tar.gz
cd cmake-3.18.4
./configure
make
sudo make install
cmake --version
再重新编译
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash
结束。
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运行
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag
roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag
若下载的很慢,可以直接从下面链接下载b3-2016-04-05-14-14-00.bag,放到主目录下的Downloads中,然后运行上面的roslaunch。
Public Data — Cartographer ROS documentation
这个链接也可以参考
【已解决】sudo apt-get install下列软件包有未满足的依赖关系:...无法安装E: 无法修正错误,因为您要求某些软件包保持现状,就是它们破坏了软件包间的依赖关系-CSDN博客