安装voxblox构建稠密地图踩坑:

安装voxblox:

参照链接:https://voxblox.readthedocs.io/en/latest/pages/Installation.html

依赖包github下载会很慢，博主已经下载放在了https://download.csdn.net/download/neptune4751/13144410

sudo apt-get install python-wstool python-catkin-tools ros-kinetic-cmake-modules protobuf-compiler autoconf

报错:

gzip: stdout: No space left on device
E: mkinitramfs failure find 141 cpio 141 gzip 1
update-initramfs: failed for /boot/initrd.img-4.13.0-36-generic with 1.

解决办法:

df -h

 查看哪个空间内有空余:

可以看到boot空间几乎已经满了，但是/ 空间还有很多，所以就将这个空间挂载到/boot中，问题可以解决

sudo mount /dev/sda8 /boot/

注意:

git clone https://github.com/ethz-asl/voxblox.git

最近从github下载会速度会非常慢，博主将下载的依赖包上传到了CSDN的资源https://download.csdn.net/download/neptune4751/13144410可以提供下载多有依赖包，下载放入src中，就可以直接进行

cd ~/voblox_ws/src
catkin build voxblox_ros 

记录错误:

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

 报错原因:setup.bash 文件没有说明包的来源，解决办法为:

source voxblox_ws/devel/setup.bash

voxblox和 rviz连接起来 显示结果:

rosmake voxblox_rviz插件:

source voxblox_ws/devel/setup.bash
rosmake voxblox_rviz_plugin

在cow_and_lady_dataset.launch中修改bag_file:将路径修改为绝对路径:

<launch>
  <arg name="play_bag" default="true" />
  <arg name="bag_file" default="/home/zoe/dataset/voxblox/data.bag"/>
  <arg name="voxel_size" default="0.05"/>

1、打开一个终端

roscore

2、配置rviz

source voxblox_ws/devel/setup.bash
rosrun rviz rviz

打开是这样的，点击左下角add

rosmake voxblox_rviz_plugin完成以后，配置完成如下图，会出现有voxbloxmesh"小狐狸"的头像，直接选上就行。

再按下图配置，其中Fixed Frame 默认为"map"而且下拉菜单没有其它选项可选，需要手动写入修改为world，Voxblox Mesh将Topic下拉选择/voxblox_node/mesh.

roslaunch

source voxblox_ws/devel/setup.bash
roslaunch voxblox_ros cow_and_lady_dataset.launch

运行结果如下图:

参考:

https://voxblox.readthedocs.io/en/latest/pages/Installation.html

https://blog.csdn.net/qq_39441784/article/details/108612146

https://blog.csdn.net/crp997576280/article/details/74605766

https://blog.csdn.net/qq_41953012/article/details/106876686