SLAM最新算法编译debug总结

    一、python版本冲突问题    

        首先，根据此博客下载对应SLAM算法的代码包，也可自行在Github中下载相应的代码包，

博客连接（点击直达）：

https://blog.csdn.net/gwplovekimi/article/details/119711762

在Github中可根据README.md文件配置相应依赖包，在catkin_make或catkin_make_isolated过程中若编译出现下面状况：

解决方法为：

        在终端继续输入如下两行命令

unset PYTHONPATH

source /opt/ros/melodic/setup.bash

        然后继续执行编译命令即可：

catkin_make

*******************or************************

catkin_make_isolated

二、Lego-loam激光SLAM配置

步骤一、在ROS下配置环境

 gtsam (Georgia Tech Smoothing and Mapping library, 4.0.0-alpha2)将其放在src中，配置好后一定要将其删掉，否则影响catkin_make编译。

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install

 步骤二、在Github下载代码

cd ~/catkin_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make -j1

步骤三、catkin_make编译问题

此时可能会出现如下错误：

[mapOptmization-7] process has died [pid 19619, exit code -11, cmd /home/dfg/catkin_ws/devel/lib/lego_loam/mapOptmization __name:=mapOptmization __log:=/home/dfg/.ros/log/02ab6d3e-7e3d-11e9-ad23-000babd9c1eb/mapOptmization-7.log].
log file: /home/dfg/.ros/log/02ab6d3e-7e3d-11e9-ad23-000babd9c1eb/mapOptmization-7*.log

解决方法（安装两个依赖包）：可能是libmetis 库没有安装，安装libparmetis-dev可以解决

1.sudo apt-get update -y
2.sudo apt-get install -y libparmetis-dev

三、LVI-SAM激光-相机SLAM配置

步骤一、在ROS下配置环境

1、环境1     gtsam (Georgia Tech Smoothing and Mapping library)

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.2/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j4

2、环境2      Ceres (C++ library for modeling and solving large, complicated optimization problems)

注意此环境配置需要安装两个依赖包，否则会报错：

sudo apt-get install -y libgoogle-glog-dev
sudo apt-get install -y libatlas-base-dev

原配置过程：

sudo apt-get install -y libgoogle-glog-dev
sudo apt-get install -y libatlas-base-dev
wget -O ~/Downloads/ceres.zip https://github.com/ceres-solver/ceres-solver/archive/1.14.0.zip
cd ~/Downloads/ && unzip ceres.zip -d ~/Downloads/
cd ~/Downloads/ceres-solver-1.14.0
mkdir ceres-bin && cd ceres-bin
cmake ..
sudo make install -j4

步骤二、工程代码下载编译

cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/LVI-SAM.git
cd ..
catkin_make

步骤三、catkin_make编译问题

        catkin_make编译结束后若出现如下问题：

        原因及解决方法： 少了个依赖包，然后安装这个包就解决了

sudo apt-get install ros-kinetic-industrial-robot-client

步骤四、测试