复现fast-livo2中遇到的问题以及解决办法

一，如何复现fast-livo2

github链接：https://github.com/hku-mars/FAST-LIVO2?tab=readme-ov-file

gitee链接：Fast-livo2-native: 原生版fast-livo2

根据这下面的说明来即可，一般不会出现大的问题

二，问题

1，报错error: lvalue required as left operand of assignment    32 |   unit_complex_.real() = 1.;

/home/cp/Sophus/sophus/so2.cpp:32:26: error: lvalue required as left operand of assignment    32 |   unit_complex_.real() = 1.;

解决办法：

找到Sophus/sophus目录下的so2.cpp文件

将：

SO2::SO2()
  {
    unit_complex_.real() = 1.;
    unit_complex_.img() = 0.;
  }

改为：

SO2::SO2()
  {
    unit_complex_.real(1.);
    unit_complex_.img(0.);
  }

就解决了。

2，报错：ModuleNotFoundError: No module named 'netifaces'

如果的python很新，和我一样达到了3.9左右，建议你不要直接这样下载：

sudo apt-get install python3-netifaces

因为这个版本太低了，我写文章的这个时间，应该下载的是(0.10.4-1ubuntu4)，不适配python3.9

解决办法：

你可以重新输入命令

pip install netifaces==0.11.0

也可去往netifaces · PyPI找到合适自己的版本。

3，报错

terminate called after throwing an instance of 'image_transport::TransportLoadException'
  what():  Unable to load plugin for transport 'compressed', error string:
According to the loaded plugin descriptions the class image_transport/compressed_sub with base class type image_transport::SubscriberPlugin does not exist. Declared types are  image_transport/raw_sub
[republish-4] process has died [pid 7640, exit code -6, cmd /opt/ros/noetic/lib/image_transport/republish compressed in:=/left_camera/image raw out:=/left_camera/image __name:=republish __log:=/home/cp/.ros/log/7b0e0cb0-f366-11ef-a5fb-0be71178afff/republish-4.log].
log file: /home/cp/.ros/log/7b0e0cb0-f366-11ef-a5fb-0be71178afff/republish-4*.log
[republish-4] restarting process
process[republish-4]: started with pid [7656]

从错误信息来看，image_transport 插件加载失败，特别是 compressed 传输类型的插件无法加载。错误指出加载插件描述时，image_transport/compressed_sub 插件类不存在，而系统只能找到 image_transport/raw_sub 插件类。

解决办法：

安装 image_transport_plugins 包

sudo apt-get install ros-noetic-image-transport-plugins