catkin_make lidar_align时报错解决

问题1：traceback（most recent call back）

在catkin_make lidar_align文件时出现了traceback（most recent call back）的报错，后面还伴随着attributeError:module"em" has no attribute "RAW_OPT"的错误

解决方法：

在这里给出参考的链接https://github.com/introlab/rtabmap_ros/issues/1081

解决方法为打开终端输入以下命令即可：

pip3 uninstall empy
pip3 install empy==3.3.4

问题2：By not providing "FindNLOPT.cmake"

在catkin_make lidar_align文件时出现了By not providing "FindNLOPT.cmake" in CMAKE_MODULE_PATH this project has  asked CMake to find a package configuration file provided by "NLOPT", but  CMake did not find one.
Could not find a package configuration file provided by "NLOPT" with any of   the following names:
    NLOPTConfig.cmake
    nlopt-config.cmake

的报错，我的解决方法是

第一步：安装NLOPT库：（安装可以参考这些链接：）

https://blog.csdn.net/moneymyone/article/details/122697580?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522170247093916800211572086%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=170247093916800211572086&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduend~default-1-122697580-null-null.142^v96^pc_search_result_base8&utm_term=ubuntu18.04%E5%AE%89%E8%A3%85nlopt&spm=1018.2226.3001.4187

或者

https://blog.csdn.net/slamer111/article/details/133753724?spm=1001.2014.3001.5502

安装好后查看 /usr/local/lib/cmake 目录下是否出现 nlopt 文件。

第二步：将/catkin_ws/src/lidar_align/NLOPTConfig.cmake文件放入/catkin_ws/src/目录下.

再打开/catkin_ws/src/lidar_align/CMakeLists.txt文件,设置路径如下:

list(APPEND CMAKE_FIND_ROOT_PATH ${PROJECT_SOURCE_DIR})
set (CMAKE_PREFIX_PATH "/usr/local/lib/cmake/nlopt")

重新编译catkin_make即可通过.