cartographer与cartographer_ros源码ninja编译采坑及解决办法

在cartographer及cartograper_ros联合源码安装时，使用ninja在x64平台上进行编译会出现如下问题，

问题1

问题描述

提示" 无法添加符号: DSO missing from command line
collect2: error: ld returned 1 exit status",如下：

al/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && :
/usr/bin/ld: /usr/local/lib/liblua.a(loadlib.o): undefined reference to symbol 'dlclose@@GLIBC_2.2.5'
//lib/x86_64-linux-gnu/libdl.so.2: 无法添加符号: DSO missing from command line
collect2: error: ld returned 1 exit status
[270/384] Building CXX object CMakeFiles/cartographer.mapping.map_builder_test.dir/cartographer/mapping/map_builder_test.cc.o
ninja: build stopped: subcommand failed.
<== Failed to process package 'cartographer': 
  Command '['ninja', '-j8', '-l8']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/nie/cartographer_detailed_comments_ws/build_isolated/cartographer && ninja -j8 -l8

解决办法

修改src/cartographer下的CMakelists.txt文件，在find_package(LuaGoogle REQUIRED)后面添加
set(LUA_LIBRARIES “/usr/local/lib/liblua.a;/usr/lib/x86_64-linux-gnu/libdl.so”)，如下：

find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS})
find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
find_package(Eigen3 REQUIRED)
find_package(LuaGoogle REQUIRED)
set(LUA_LIBRARIES "/usr/local/lib/liblua.a;/usr/lib/x86_64-linux-gnu/libdl.so")

问题2

问题描述

当解决好问题1后，编译到cartographer_rviz时提示"lua_newstate’ can not be used when making a shared object; recompile with -fPIC"的问题，如下：

absl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && :
/usr/bin/ld: /usr/local/lib/liblua.a(lstate.o): relocation R_X86_64_PC32 against symbol `lua_newstate' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: 最后的链结失败: 错误的值
collect2: error: ld returned 1 exit status
ninja: build stopped: subcommand failed.
<== Failed to process package 'cartographer_rviz': 
  Command '['/home/nie/cartographer_detailed_comments_ws/install_isolated/env.sh', 'ninja', '-j8', '-l8']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/nie/cartographer_detailed_comments_ws/build_isolated/cartographer_rviz && /home/nie/cartographer_detailed_comments_ws/install_isolated/env.sh ninja -j8 -l8

解决办法

解决办法，重新安装lua5.3

curl -R -O http://www.lua.org/ftp/lua-5.3.0.tar.gz
tar zxf lua-5.3.0.tar.gz
cd lua-5.3.0
make linux CFLAGS=-fPIC
sudo make install

注意，如果要二次编译lua5.3，记得要删除src下已经编译好的.o对象文件，再进行编译

cd lua-5.3.0/src
rm *.o