r3live安装踩坑记录

报错1：ERROR: cannot launch node of type [r3live/r3live_LiDAR_front_end]: can’t locate node [r3live_LiDAR_front_end] in package [r3live] ERROR: cannot launch node of type [r3live/r3live_mapping]: can’t locate node [r3live_mapping] in package [r3live]

解决办法：opencv版本不对，Ubuntu18.04的ros自带3.2.0跑不动的，再安装一个opencv3.4.16版本。将系统opencv默认版本改成opencv3.4.16。

1、修改系统默认opencv路径：

sudo gedit ~/.zshrc
#在文件末尾添加写入, 注意路径修改。注释别的opencv
export PATH="源码路径/opencv-3.4.16/build/bin:$PATH"
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/include/opencv3.4.16/lib/pkgconfig 
export LD_LIBRARY_PATH="/usr/local/include/opencv3.4.16/lib:$LD_LIBRARY_PATH"
#执行更新
source ~/.zshrc
sudo updatedb

我的打开是这样的

## 4.5.4
#PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig 
#export LD_LIBRARY_PATH="/usr/local/lib:$LD_LIBRARY_PATH"

## 3.4.16
export PATH="源码路径/opencv-3.4.16/build/bin:$PATH"
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/include/opencv3.4.16/lib/pkgconfig 
export LD_LIBRARY_PATH="/usr/local/include/opencv3.4.16/lib:$LD_LIBRARY_PATH"

2、增加lib

sudo gedit /etc/ld.so.conf.d/opencv.conf
#在文件末尾添加下面语句
/usr/local/include/opencv3.4.3/lib

pkg-config --modversion opencv 可以查看当前系统 opencv

3、改r3live的cmakelist里面opencv库指向

set(OpenCV_DIR  /usr/local/include/opencv3.4.16/share/OpenCV)
find_package(OpenCV REQUIRED)

报错2：r3live运行时rviz界面的image不显示，后台打印image帧数量始终为0

修改cmakelist文件，改为debug模式，发现打印报错OpenCV Error: Unspecified error (The function is not implemented. Rebuild the library with Windows, GTK+ 2.x or Carbon support. If you are on Ubuntu or Debian, install libgtk2.0-dev and pkg-config, then re-run cmake or configure script) in cvNamedWindow, file我的路径/OpenCV-3.4.16/modules/highgui/src/window.cpp,
解决办法：安装opencv的时候，没有考虑到一些额外的依赖：libgtk2.0-dev、pkg-config
解决步骤：
1、卸载之前安装的opencv
进入安装 opencv的build目录下，进入build目录，执行卸载命令

sudo make uninstall

执行完毕之后，你需要清空 /usr中有关 opencv的东西，路径改为你的安装路径

sudo rm -r /usr/local/include/opencv2 /usr/local/include/opencv /usr/include/opencv /usr/include/opencv2 /usr/local/share/opencv /usr/local/share/OpenCV /usr/share/opencv /usr/share/OpenCV /usr/local/bin/opencv* /usr/local/lib/libopencv*

2、安装依赖

sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg-dev libswscale-dev libtiff5-dev
sudo apt-get install libgtk2.0-dev
sudo apt-get install pkg-config

3、重新安装

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/include/opencv3.4.16 ..sudo make -j8
sudo make install

成功运行界面