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/home/lsc/catkin_Runbased_segment/src/Run_based_segmentation-master/nodes/clustering/scanlinerun.cpp:26:10: fatal error: velodyne_pointcloud/point_types.h: 没有那个文件或目录
26 | #include <velodyne_pointcloud/point_types.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [Run_based_segmentation-master/CMakeFiles/scanlinerun.dir/build.make:63：Run_based_segmentation-master/CMakeFiles/scanlinerun.dir/nodes/clustering/scanlinerun.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:326：Run_based_segmentation-master/CMakeFiles/scanlinerun.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务…
/home/lsc/catkin_Runbased_segment/src/Run_based_segmentation-master/nodes/ground_filter/groundplanfit.cpp:28:10: fatal error: velodyne_pointcloud/point_types.h: 没有那个文件或目录
28 | #include <velodyne_pointcloud/point_types.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [Run_based_segmentation-master/CMakeFiles/groundplanfit.dir/build.make:63：Run_based_segmentation-master/CMakeFiles/groundplanfit.dir/nodes/ground_filter/groundplanfit.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1865：Run_based_segmentation-master/CMakeFiles/groundplanfit.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking “make -j8 -l8” failed
遇到错误
这是我的cmakelist文件
cmake_minimum_required(VERSION 2.8.3)
project(points_preprocessor_usi)

find_package(catkin REQUIRED COMPONENTS
roscpp
velodyne_pointcloud
std_msgs
pcl_ros
pcl_conversions
)

catkin_package(CATKIN_DEPENDS
sensor_msgs
CATKIN_DEPENDS
velodyne_pointcloud
pcl_ros
pcl_conversions
)

###########

Build

###########

include_directories(
${catkin_INCLUDE_DIRS}
)

find_package(Eigen3 REQUIRED)
find_package(catkin REQUIRED COMPONENTS velodyne_pointcloud)
#SET(CMAKE_CXX_FLAGS “-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}”)
SET(CMAKE_CXX_FLAGS “-std=c++14 -O2 -g -Wall ${CMAKE_CXX_FLAGS}”)

link_directories(${PCL_LIBRARY_DIRS})

#Ground Plane Fitter
find_package(PCL 1.10 REQUIRED)
add_definitions(${PCL_DEFINITIONS})
find_package(velodyne_pointcloud REQUIRED)
include_directories(
include
${catkin_INCLUDE_DIRS}
)

add_executable(groundplanfit
nodes/ground_filter/groundplanfit.cpp
)
target_include_directories(groundplanfit PRIVATE
${PCL_INCLUDE_DIRS}
)
target_include_directories(groundplanfit PRIVATE
${velodyne_pointcloud_INCLUDE_DIRS}
)

target_link_libraries(groundplanfit
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${velodyne_pointcloud_INCLUDE_LIBRARIES}
)

#Scan Line Run
add_executable(scanlinerun
nodes/clustering/scanlinerun.cpp
)

target_include_directories(scanlinerun PRIVATE
${PCL_INCLUDE_DIRS}
)
target_include_directories(scanlinerun PRIVATE
${velodyne_pointcloud_INCLUDE_DIRS}
)

target_link_libraries(scanlinerun
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${velodyne_pointcloud_INCLUDE_LIBRARIES}
)

解决方案：
set(VELODYNE_POINTCLOUD_INCLUDE_DIRS “/opt/ros/melodic/share/velodyne_pointcloud/include/”)
include_directories(${VELODYNE_POINTCLOUD_INCLUDE_DIRS})
cmake_minimum_required(VERSION 2.8.3)
project(points_preprocessor_usi)

find_package(catkin REQUIRED COMPONENTS
roscpp
velodyne_pointcloud
std_msgs
pcl_ros
pcl_conversions
)

catkin_package(CATKIN_DEPENDS
sensor_msgs
CATKIN_DEPENDS
velodyne_pointcloud
pcl_ros
pcl_conversions
)

###########

Build

###########

include_directories(
${catkin_INCLUDE_DIRS}
)

find_package(Eigen3 REQUIRED)
find_package(catkin REQUIRED COMPONENTS velodyne_pointcloud)
#SET(CMAKE_CXX_FLAGS “-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}”)
SET(CMAKE_CXX_FLAGS “-std=c++14 -O2 -g -Wall ${CMAKE_CXX_FLAGS}”)

link_directories(${PCL_LIBRARY_DIRS})

#Ground Plane Fitter
find_package(PCL 1.10 REQUIRED)
add_definitions(${PCL_DEFINITIONS})
find_package(velodyne_pointcloud REQUIRED)
include_directories(
include
$catki{n}_{I}NCLUD{E}_{D}IRS)set(VELODYN{E}_{P}OINTCLOU{D}_{I}NCLUD{E}_{D}IRS"/opt/ros/noetic/share/velodyn{e}_{p}ointcloud")includ{e}_{d}irectories(${VELODYNE_POINTCLOUD_INCLUDE_DIRS})
add_executable(groundplanfit
nodes/ground_filter/groundplanfit.cpp
)
target_include_directories(groundplanfit PRIVATE
${PCL_INCLUDE_DIRS}
)
target_include_directories(groundplanfit PRIVATE
${velodyne_pointcloud_INCLUDE_DIRS}
)

target_link_libraries(groundplanfit
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${velodyne_pointcloud_INCLUDE_LIBRARIES}
)

#Scan Line Run
add_executable(scanlinerun
nodes/clustering/scanlinerun.cpp
)

target_include_directories(scanlinerun PRIVATE
${PCL_INCLUDE_DIRS}
)
target_include_directories(scanlinerun PRIVATE
${velodyne_pointcloud_INCLUDE_DIRS}
)

target_link_libraries(scanlinerun
${catkin_LIBRARIES}
${PCL_LIBRARIES}
${velodyne_pointcloud_INCLUDE_LIBRARIES}
)
显示结果：
libpcl-dev: /usr/include/pcl-1.10/pcl/impl/point_types.hpp
libpcl-dev: /usr/include/pcl-1.10/pcl/point_types.h
libpcl-dev: /usr/include/pcl-1.10/pcl/recognition/point_types.h
libpdal-dev: /usr/include/pdal/io/point_types.hpp

PCL

find_package(PCL REQUIRED COMPONENTS common io visualization)
include_directories($PC{L}_{I}NCLUD{E}_{D}IRS)lin{k}_{d}irectories(${PCL_LIBRARY_DIRS})
add_definitions($PC{L}_{D}EFINITIONS)lin{k}_{d}irectories(${PCL_LIBRARY_DIRS} ${velodyne_pointcloud_LIBRARY_DIRS})

cmake_minimum_required(VERSION 2.8.3)
project(points_preprocessor_usi)

find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
pcl_ros
pcl_conversions
velodyne_pointcloud
)

catkin_package(CATKIN_DEPENDS
sensor_msgs
velodyne_pointcloud
)

###########

Build

###########

include_directories(
${catkin_INCLUDE_DIRS}
)

find_package(Eigen3 REQUIRED)

#SET(CMAKE_CXX_FLAGS “-std=c++11 -O2 -g -Wall ${CMAKE_CXX_FLAGS}”)
SET(CMAKE_CXX_FLAGS “-std=c++14 -O2 -g -Wall ${CMAKE_CXX_FLAGS}”)

link_directories(${PCL_LIBRARY_DIRS})

#Ground Plane Fitter
find_package(PCL 1.10 REQUIRED)
add_definitions(${PCL_DEFINITIONS})

add_executable(groundplanfit
nodes/ground_filter/groundplanfit.cpp
)

target_include_directories(groundplanfit PRIVATE
${PCL_INCLUDE_DIRS}
)

target_link_libraries(groundplanfit
${catkin_LIBRARIES}
${PCL_LIBRARIES}
)

#Scan Line Run
add_executable(scanlinerun
nodes/clustering/scanlinerun.cpp
)

target_include_directories(scanlinerun PRIVATE
${PCL_INCLUDE_DIRS}
)

target_link_libraries(scanlinerun
${catkin_LIBRARIES}
${PCL_LIBRARIES}
)
这个问题出现的原因可能是在不同的ROS版本中，包的依赖关系发生了变化，从而导致了构建问题。特别是在ROS的较新版本中，一些常见的依赖包可能会被分成更小的子包，需要在CMakeLists.txt文件中手动添加这些子包。

find_package(catkin REQUIRED COMPONENTS
velodyne_pointcloud
)
include_directories(
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)
最后，如果这些更改不起作用，您可能需要手动添加依赖项，类似于以下内容
catkin_package(
CATKIN_DEPENDS
pcl_ros
velodyne_pointcloud
)

4月10号遇到问题：
ERROR: Command errored out with exit status 1:
command: /usr/bin/python3 -u -c ‘import sys, setuptools, tokenize; sys.argv[0] = ‘"’"’/tmp/pip-install-oo0myjc4/python-lzf/setup.py’“'”‘; file=’“'”‘/tmp/pip-install-oo0myjc4/python-lzf/setup.py’“'”‘;f=getattr(tokenize, ‘"’“‘open’”’“‘, open)(file);code=f.read().replace(’”‘"’\r\n’“'”‘, ‘"’"’\n’“'”‘);f.close();exec(compile(code, file, ‘"’“‘exec’”’"‘))’ bdist_wheel -d /tmp/pip-wheel-s451643f
cwd: /tmp/pip-install-oo0myjc4/python-lzf/
Complete output (16 lines):
running bdist_wheel
running build
running build_ext
building ‘lzf’ extension
creating build
creating build/temp.linux-x86_64-cpython-38
x86_64-linux-gnu-gcc -pthread -Wno-unused-result -Wsign-compare -DNDEBUG -g -fwrapv -O2 -Wall -g -fstack-protector-strong -Wformat -Werror=format-security -g -fwrapv -O2 -fPIC -I. -I/usr/include/python3.8 -c lzf_c.c -o build/temp.linux-x86_64-cpython-38/lzf_c.o -Wall
x86_64-linux-gnu-gcc -pthread -Wno-unused-result -Wsign-compare -DNDEBUG -g -fwrapv -O2 -Wall -g -fstack-protector-strong -Wformat -Werror=format-security -g -fwrapv -O2 -fPIC -I. -I/usr/include/python3.8 -c lzf_d.c -o build/temp.linux-x86_64-cpython-38/lzf_d.o -Wall
x86_64-linux-gnu-gcc -pthread -Wno-unused-result -Wsign-compare -DNDEBUG -g -fwrapv -O2 -Wall -g -fstack-protector-strong -Wformat -Werror=format-security -g -fwrapv -O2 -fPIC -I. -I/usr/include/python3.8 -c lzf_module.c -o build/temp.linux-x86_64-cpython-38/lzf_module.o -Wall
In file included from /usr/include/python3.8/Python.h:8,
from lzf_module.c:3:
/usr/include/python3.8/pyconfig.h:3:12: fatal error: /usr/include/x86_64-linux-gnu/x86_64-linux-gnu/python3.8/pyconfig.h: 符号连接的层数过多
3 | # include <x86_64-linux-gnu/python3.8/pyconfig.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
error: command ‘/usr/bin/x86_64-linux-gnu-gcc’ failed with exit code 1

ERROR: Failed building wheel for python-lzf
执行命令：
sudo apt-get update
sudo apt-get install python3-pip
sudo pip3 install pypcd
import pypcd
遇到错误：
[alaserPGO-5] process has died [pid 11088, exit code -11, cmd /home/lsc/A-LOAM/devel/lib/aloam_velodyne/alaserPGO /velodyne_points:=/velodyne_points __name:=alaserPGO __log:=/home/lsc/.ros/log/20c48b3e-2a8c-11ee-aef2-7c2a318553ea/alaserPGO-5.log].
log file: /home/lsc/.ros/log/20c48b3e-2a8c-11ee-aef2-7c2a318553ea/alaserPGO-5*.log