ROS报错处理（7）RLException: [cartographer_demo_rplidar.launch] is neither a launch file in package [carto

问题：

执行指令：

roslaunch cartographer_ros cartographer_demo_rplidar.launch

报错：

RLException: [cartographer_demo_rplidar.launch] is neither a launch file in package [cartographer_ros] nor is [cartographer_ros] a launch file name
The traceback for the exception was written to the log file

解决：

首先试图回到catkin_ws文件夹目录下终端重新编译工作变量：

catkin_make

报错：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "ecto" with any of
  the following names:

    ectoConfig.cmake
    ecto-config.cmake

  Add the installation prefix of "ecto" to CMAKE_PREFIX_PATH or set
  "ecto_DIR" to a directory containing one of the above files.  If "ecto"
  provides a separate development package or SDK, be sure it has been
  installed.

看报错是缺少ecto，试图下载sudo apt-get install ros-melodic-ecto，但是因为版本是melodic，不能这样下载。参考了这篇https://blog.csdn.net/ckkboy/article/details/99584987安装ecto：

先回到src文件夹：cd src，克隆代码：

git clone http://github.com/plasmodic/ecto.git

但是我这边网络不太好，于是就直接去GitHub上面下载、解压，然后复制放到src文件夹里面。完成之后继续catkin_make，又有包缺失，继续在GitHub上面下载。。。很多包缺失，重复这个操作。直到一个名为moveit-ros-perception缺失，报错如下：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "moveit_ros_perception" with any of the following names:

    moveit_ros_perceptionConfig.cmake
    moveit_ros_perception-config.cmake

  Add the installation prefix of "moveit_ros_perception" to CMAKE_PREFIX_PATH
  or set "moveit_ros_perception_DIR" to a directory containing one of the
  above files.  If "moveit_ros_perception" provides a separate development
  package or SDK, be sure it has been installed.

好像和其他包报错一样，但是没有这个包资源下载。执行指令：

sudo apt-get install ros-melodic-moveit-ros-perception

然后catkin_make,继续报错，但是报错变了：（一大段报错，红色部分：）

fatal error: boost/tr1/unordered_map.hpp: 没有那个文件或目录
 #include <boost/tr1/unordered_map.hpp>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~

参考https://blog.csdn.net/weixin_48120620/article/details/126681300?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522172180587716800207099371%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=172180587716800207099371&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~first_rank_ecpm_v1~rank_v31_ecpm-14-126681300-null-null.142^v100^pc_search_result_base5&utm_term=fatal%20error%3A%20boost%2Ftr1%2Funordered_map.hpp%3A%20%E6%B2%A1%E6%9C%89%E9%82%A3%E4%B8%AA%E6%96%87%E4%BB%B6%E6%88%96%E7%9B%AE%E5%BD%95%20%20%23include%20%3Cboost%2Ftr1%2Funordered_map.hpp%3E&spm=1018.2226.3001.4187中的第9个问题：ecto的目录下使用如下命令找到这两个文件src/lib/util.cpp（#include <boost/tr1/unordered_map.hpp>）和src/lib/plasm/impl.hpp（#include <boost/tr1/unordered_map.hpp>）在里面删除对应的tr1，同时把代码里的std::tr1::unordered_map字段改成boost::unordered_map

然后catkin_make，出现了/usr/bin/ld: 找不到 -lmsc的报错

《ROS机器人开发实践》书中介绍（科大讯飞那一块207页），将科大讯飞库文件拷贝到系统目录下，进入ＳＤＫ根目录下的libs文件夹，选择相应的架构平台x64/x86,使用命令拷贝。

sudo cp libmsc.so /usr/lib/libmsc.so

再次catkin_make，终于成功[100%] Built target ecto_test_ectomodule