kimera-vio-ros编译记录

非常重要！！！使用Eigen3.3.7以上版本，我用的是3.3.9，能解决很多问题

我的系统是ubuntu18.04.5

https://github.com/MIT-SPARK

编译过程：

一、各种依赖

sudo apt-get install ros-melodic-image-geometry ros-melodic-pcl-ros ros-melodic-cv-bridge

sudo apt-get install -y --no-install-recommends apt-utils

sudo apt-get install -y cmake build-essential unzip pkg-config autoconf libboost-all-dev libjpeg-dev libpng-dev libtiff-dev libvtk6-dev libgtk-3-dev libatlas-base-dev gfortran libparmetis-dev python-wstool python-catkin-tools

sudo apt-get install libtbb-dev

二、配置工作空间，下载文件包

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/

catkin init

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release

catkin config --merge-devel

echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc

cd ~/catkin_ws/