Missing requested Ceres components: [SuiteSparse]

最新推荐文章于 2023-11-09 21:27:50 发布

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最新推荐文章于 2023-11-09 21:27:50 发布

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分类专栏： ros2 文章标签： smac_planner cartographer suitesparse ceres nav2

本文链接：https://blog.csdn.net/shanpenghui/article/details/116893685

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编译nav2的源码时候，在编译smac_planner的时候出现找不到ceres里面的SuiteSparse，具体提示如下：

Starting >>> smac_planner
--- stderr: smac_planner                                                       
CMake Error at /usr/local/lib/cmake/Ceres/CeresConfig.cmake:88 (message):
  Failed to find Ceres - Missing requested Ceres components: [SuiteSparse]
  (components requested: [SuiteSparse]).  Detected Ceres version: 1.14.0
  installed in: /usr/local with components: [EigenSparse,
  SparseLinearAlgebraLibrary, LAPACK, SchurSpecializations, OpenMP,
  Multithreading].
Call Stack (most recent call first):
  /usr/local/lib/cmake/Ceres/CeresConfig.cmake:390 (ceres_report_not_found)
  CMakeLists.txt:22 (find_package)
CMake Error at CMakeLists.txt:22 (find_package):
  Found package configuration file:
    /usr/local/lib/cmake/Ceres/CeresConfig.cmake
  but it set Ceres_FOUND to FALSE so package "Ceres" is considered to be NOT
  FOUND.
---
Failed   <<< smac_planner [7.03s, exited with code 1]

找了一圈没有合适的答案，后来自己尝试把ceres重新安装一遍就可以了。解决步骤是：

git clone https://github.com/ceres-solver/ceres-solver.git 
cd ceres-solver
git check out 1.14.0 && mkdir build && cd build && cmake .. && make -j16
sudo make install