path_optimizer 复现

参考： LiJiangnanBit/path_optimizer_2

感谢作者贡献的很好的开源项目，记录一下复现过程中的问题

一. 安装依赖

1. package依赖

首先 clone 下来放到 src 中，这两个 package 也需要 clone 下来放到 src 中

• ros_viz_tools
• tinyspline_ros

2. cmake 版本问题

需要 3.8 以上的版本，我的电脑是3.5的，需要先卸载，之后安装，参考我的博客：

• cmake 升级

3. eigen 版本问题

由于通过终端命令行安装的电脑里的 eigen 版本是 3.2.9 不满足要求，编译会报错：

CMake Error at cmake/OsqpEigenDependencies.cmake:12 (find_package):
  Could not find a configuration file for package "Eigen3" that is compatible
  with requested version "3.2.92".

  The following configuration files were considered but not accepted:

    /usr/lib/cmake/eigen3/Eigen3Config.cmake, version: unknown

Call Stack (most recent call first):
  CMakeLists.txt:75 (include)

-- Configuring incomplete, errors occurred!
See also "/home/seivl/my_lib/osqp-eigen/build/CMakeFiles/CMakeOutput.log".

先卸载了，再安装高版本的：

• 卸载 eigen
• 添加链接描述

卸载：

sudo rm -rf /usr/include/eigen3
sudo rm -rf /usr/lib/cmake/eigen3

安装：从这里下载：eigen 下载

mkdir build
cd build
cmake ..
sudo make
sudo make install

安装在这个目录：

/usr/local/include/eigen3/

要修改到这里：

usr/local/include

执行：

sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include

4. 安装osqp和osqp-eigen

需要依赖osqp-eigen，又要首先安装osqp，没安装的话也是会编译报错：

seivl@seivl-Default-string:~/my_lib/osqp-eigen/build$ cmake ..
CMake Error at cmake/OsqpEigenDependencies.cmake:13 (find_package):
  By not providing "Findosqp.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "osqp", but
  CMake did not find one.

  Could not find a package configuration file provided by "osqp" with any of
  the following names:

    osqpConfig.cmake
    osqp-config.cmake

  Add the installation prefix of "osqp" to CMAKE_PREFIX_PATH or set
  "osqp_DIR" to a directory containing one of the above files.  If "osqp"
  provides a separate development package or SDK, be sure it has been
  installed.
Call Stack (most recent call first):
  CMakeLists.txt:75 (include)

它们的安装参考这里，很详细了：

• osqp和osqp-eigen

5. gflags安装

正常编译会报错：

CMake Error at path_optimizer_2/CMakeLists.txt:27 (find_package):
  By not providing "Findgflags.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "gflags", but
  CMake did not find one.

  Could not find a package configuration file provided by "gflags" with any
  of the following names:

    gflagsConfig.cmake
    gflags-config.cmake

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


-- Configuring incomplete, errors occurred!
See also "/home/seivl/pnc_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/seivl/pnc_ws/build/CMakeFiles/CMakeError.log".
Makefile:870: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1

亲测直接使用终端命令行安装还是会报错，需要自己下载源码安装：

• gtest 和 gflags 安装使用

编译会遇到以下错误：

[ 92%] Linking CXX shared library /home/seivl/pnc_ws/devel/lib/libpath_optimizer_2.so
/usr/bin/ld: /usr/local/lib/libgflags.a(gflags.cc.o): relocation R_X86_64_32 against `.rodata.str1.1' can not be used when making a shared object; recompile with -fPIC
/usr/local/lib/libgflags.a: 无法添加符号: 错误的值
collect2: error: ld returned 1 exit status
path_optimizer_2/CMakeFiles/path_optimizer_2.dir/build.make:412: recipe for target '/home/seivl/pnc_ws/devel/lib/libpath_optimizer_2.so' failed
make[2]: *** [/home/seivl/pnc_ws/devel/lib/libpath_optimizer_2.so] Error 1
CMakeFiles/Makefile2:1633: recipe for target 'path_optimizer_2/CMakeFiles/path_optimizer_2.dir/all' failed
make[1]: *** [path_optimizer_2/CMakeFiles/path_optimizer_2.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

问题解决：

• 遇到libgflags.a(gflags.cc.o): relocation R_X86_64_32 against `.rodata.str1.1’ ca时

mkdir build 
cd build 
cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_SHARED_LIBS=ON -DGFLAGS_NAMESPACE=google -G "Unix Makefiles" ../ 
make
sudo make install 
sudo ldconfig 

二. 运行结果