RoboRTS编译

环境：Ubuntu18.04、opencv3.2.0

RoboRTS编译

打开终端，依次输入

mkdir -p RoboRTS_ws
cd RoboRTS_ws/src
git clone https://github.com/RoboMaster/RoboRTS
cd ..
catkin_make

RoboRTS编译报错

libg2o

-- Searching for g2o ...
CMake Error at RoboRTS/roborts_planning/cmake_module/FindG2O.cmake:85 (message):
  Could not find libg2o!
Call Stack (most recent call first):
  RoboRTS/roborts_planning/CMakeLists.txt:22 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/wade/RoboRTS_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wade/RoboRTS_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

解决方法：
安装libg20：

sudo apt-get install ros-melodic-libg2o

Glog

-- ==> add_subdirectory(RoboRTS/roborts_base)
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find Glog (missing: GLOG_INCLUDE_DIR GLOG_LIBRARY)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  RoboRTS/roborts_base/cmake_module/FindGlog.cmake:40 (find_package_handle_standard_args)
  RoboRTS/roborts_base/CMakeLists.txt:7 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/wade/RoboRTS_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wade/RoboRTS_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

解决方法：
安装Glog：

sudo apt-get install libgoogle-glog-dev

GLOG_LIBRARY

-- Found OpenCV: /usr/local (found version "3.4.0") 
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GLOG_LIBRARY (ADVANCED)
    linked by target "global_planner_node" in directory /home/wade/RoboRTS_ws/src/RoboRTS/roborts_planning/global_planner

-- Configuring incomplete, errors occurred!
See also "/home/wade/RoboRTS_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wade/RoboRTS_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

解决办法：
再catkin_make一次。