（2）1_slam仿真 turtlebot/ cartographer 2020/8/18

以下亲测好使

（1）turtlebot仿真：

注意将模型改为burger、waffle或waffle_pi

1. https://www.ncnynl.com/archives/201707/1817.html

2. https://www.ncnynl.com/archives/201707/1788.html

（2）cartographer：

1.  https://www.ncnynl.com/archives/201612/1166.html  （好使，就是3D数据有点大）

https://www.cnblogs.com/hitcm/p/5939507.html

2D数据下载链接

https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag

3D数据下载链接

https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/b3-2016-04-05-14-14-00.bag

注意将路径改成自己的

 

 

错误汇总:

(1)  libGL.so或libEGL.so无法链接问题-The imported target “Qt5::Gui“ references the file 

https://blog.csdn.net/fb_941219/article/details/83549720

CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Qt5Gui/Qt5GuiConfig.cmake:27 (message):
  The imported target "Qt5::Gui" references the file

     "/usr/lib/x86_64-linux-gnu/libEGL.so"

  but this file does not exist.

ls /usr/lib/x86_64-linux-gnu | grep -i libegl

下面三个都存在，但是报错

libEGL.so
libEGL.so.1
libEGL.so.1.1.0

先删除再重建链接:   

sudo rm /usr/lib/x86_64-linux-gnu/libEGL.so   

sudo ln /usr/lib/x86_64-linux-gnu/libEGL.so.1   /usr/lib/x86_64-linux-gnu/libEGL.so

libgl同理:

ls /usr/lib/x86_64-linux-gnu | grep -i libegl

sudo rm /usr/lib/x86_64-linux-gnu/libGL.so   

sudo ln /usr/lib/x86_64-linux-gnu/libGL.so.1   /usr/lib/x86_64-linux-gnu/libGL.so

(2)   VTK6链接问题:   https://blog.csdn.net/weixin_45617478/article/details/104513572

libvtkRenderingPythonTkWidgets.so" but this file does not exist./"vtk" references the file "

建立软链接:

sudo ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.x86_64-linux-gnu.so /usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so

sudo ln -s /usr/bin/vtk6 /usr/bin/vtk

(3) OpenNI2安装:

https://blog.csdn.net/renhaofan/article/details/80991095