#依赖环境
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
#
sudo apt-get install ros-melodic-novatel-msgs
#下载源码
mkdir -p ~/GraphGNSSLib/src
cd ~/GraphGNSSLib/src
mkdir result
git clone https://github.com/weisongwen/GraphGNSSLib.git
#安装ceres-solver(源码中存在)
cd ~/GraphGNSSLib/support_files
#手动解压ceres-solver.tar.gz(忘了命令了)
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver
sudo make -j4
sudo make test
sudo make install
**重要的事情说三遍**
把ceres-solver.tar.gz和解压的文件删掉不然在编译graphgnsslib的时候会报错。!!
把ceres-solver.tar.gz和解压的文件删掉不然在编译graphgnsslib的时候会报错。!!
把ceres-solver.tar.gz和解压的文件删掉不然在编译graphgnsslib的时候会报错。!!
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:100bulabula
#编译
cd ~/GraphGNSSLib
source ~/GraphGNSSLib/devel/setup.bash
catkin_make
#运行检验rtk
在rtklib.h中将RTK FGO值设置为1;
保存重新编译
source /home/knight/GraphGNSSLib/devel/setup.bash
roslaunch global_fusion dataublox_TST20190428.launch
重新打开一个终端
source /home/knight/GraphGNSSLib/devel/setup.bash
roslaunch global_fusion psr_doppler_car_rtk.launch
RTK graphgnsslib环境配置 ubuntu18.04
于 2022-01-13 21:02:07 首次发布