NVIDIA Jetson TX2 安装ORB-SLAM3 ROS 错误总结

背景：
NVIDIA Jetson TX2 用RealSense T265 跑 ORB-SLAM3 ros
下载：

git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git

这时 Examples 里面没有ROS

├── Examples
│   ├── Calibration
│   ├── Monocular
│   ├── Monocular-Inertial
│   ├── REAMDME.md
│   ├── RGB-D
│   ├── RGB-D-Inertial
│   ├── Stereo
│   └── Stereo-Inertial
├── Examples_old
│   ├── Monocular
│   ├── Monocular-Inertial
│   ├── REAMDME.md
│   ├── RGB-D
│   ├── RGB-D-Inertial
│   ├── ROS
│   ├── Stereo
│   └── Stereo-Inertial
...

参考 https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/442
将Examples_old文件夹下ROS文件夹复制到Examples文件夹下

sudo jtop

jetson TX2 刷机时，OpenCV 4.1.1 已安装，可以用这个版本的
修改 xxx/ORB_SLAM3/CMakeLists.txt

find_package(OpenCV 4.1.1)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 4.4 not found.")
   endif()

还有 xxx/ORB_SLAM3/Examples/ROS/ORB_SLAM3/CMakeLists.txt

find_package(OpenCV 4.1.1 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

错误1. No module named ‘rospkg’

File "/opt/ros/melodic/share/rosunit/cmake/../scripts/test_results_dir.py", line 43, in <module>
    import rospkg
ModuleNotFoundError: No module named 'rospkg'
CMake Error at /opt/ros/melodic/share/ros/core/rosbuild/public.cmake:356 (message):
  Failed to invoke
  '/opt/ros/melodic/share/rosunit/cmake/../scripts/test_results_dir.py'
Call Stack (most recent call first):
  CMakeLists.txt:4 (rosbuild_init)

当前在 conda base 环境中，Python 3.9.7

$ conda env list
# conda environments:
#
base                  *  /home/wx/newdisk/3rdparty/mambaforge
imu_b9                   /home/wx/newdisk/3rdparty/mambaforge/envs/imu_b9

退出conda base 环境

conda deactivate

此时：

$ pip list
Package                       Version
----------------------------- -------------------
...
rosparam                      1.14.12
rospkg                        1.3.0
rospy                         1.14.12
rosservice                    1.14.12
rostest                       1.14.12
rostopic                      1.14.12
rosunit                       1.14.9
roswtf                        1.14.12
...
rtabmap-ros                   0.20.18
rviz                          1.13.21
...

错误2. fatal error: sophus/se3.hpp: No such file or directory

ImuTypes.h:29:10: fatal error: sophus/se3.hpp: No such file or directory
 #include <sophus/se3.hpp>
          ^~~~~~~~~~~~~~~~
compilation terminated.
CMakeFiles/MonoAR.dir/build.make:198: recipe for target 'CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o' failed
make[2]: *** [CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....

参考：在ubuntu18.04系统上使用ROS跑ORB-SLAM3时遇到的问题总结 在
xxx/Examples/ROS/ORB_SLAM3/CMakeLists.txt 的 include_directories

${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus

如下：

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${PROJECT_SOURCE_DIR}/../../../include/CameraModels
${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus
${Pangolin_INCLUDE_DIRS}
)

错误3. error: conversion from ‘Sophus::SE3f {aka Sophus::SE3}’ to non-scalar type ‘cv::Mat’ requested

/home/wxf/newdisk/ros/ORB_SLAM3/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc:151:41: error: conversion from ‘Sophus::SE3f {aka Sophus::SE3<float>}’ to non-scalar type ‘cv::Mat’ requested
     cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
                   ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

参考：buildros.sh

错误4. error while loading shared libraries: libpango_core.so

error while loading shared libraries: libpango_core.so: cannot open shared object file: No such file or directory

参考 error while loading shared libraries: libpango_windowing.so: cannot open shared object file: No such

 sudo ldconfig

错误5. Gtk-Message: 14:43:08.216: Failed to load module “canberra-gtk-module”

Gtk-Message: 14:43:08.216: Failed to load module "canberra-gtk-module"

参考：解决 Failed to load module canberra-gtk-module

sudo apt-get install libcanberra-gtk-module