1. 安装Ubuntu20的Ros版本,把Cart2.0版本编译一下,遇到点小问题
问题:
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:
GMOCK_LIBRARY (ADVANCED)
linked by target "time_conversion_test" in directory /home/wishchin/catkin_ws/src/cartographer_ros/cartographer_ros
.......................
linked by target "msg_conversion_test" in directory /home/wishchin/catkin_ws/src/cartographer_ros/cartographer_ros
-- Configuring incomplete, errors occurred!
See also "/home/wishchin/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wishchin/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
解决方法:sudo apt install libgmock-dev,安装了一个新版本,catkin_make编译成功;
2.Ros版本的Slam模式源代码
问题:在node.cc和node.h中
void Node::PublishLocalTrajectoryData(const ::ros::TimerEvent& timer_event) {
absl::MutexLock lock(&mutex_);
这个函数有问题,参数错了
修改为
void Node::PublishLocalTrajectoryData(const ::ros::WallTimerEvent& & timer_event) {
absl::MutexLock lock(&mutex_);
则可以使用Slam模式