noetic 安装 ar_track_alvar /ar_track_alvar_msgs

问题复现

zed-ros-examples

In file included from /home/yunmubing/ros/ros_test/src/ar_track_alvar/ar_track_alvar/src/FileFormatUtils.cpp:24:0:
/home/yunmubing/ros/ros_test/src/ar_track_alvar/ar_track_alvar/include/ar_track_alvar/FileFormatUtils.h:35:10: fatal error: cv.h: 没有那个文件或目录
 #include "cv.h"
          ^~~~~~
compilation terminated.
make[2]: *** [ar_track_alvar/ar_track_alvar/CMakeFiles/ar_track_alvar.dir/build.make:216：ar_track_alvar/ar_track_alvar/CMakeFiles/ar_track_alvar.dir/src/FileFormatUtils.cpp.o] 错误 1
make[2]: *** 正在等待未完成的任务....
In file included from /home/yunmubing/ros/ros_test/src/ar_track_alvar/ar_track_alvar/include/ar_track_alvar/Rotation.h:36:0,
                 from /home/yunmubing/ros/ros_test/src/ar_track_alvar/ar_track_alvar/include/ar_track_alvar/Pose.h:28,
                 from /home/yunmubing/ros/ros_test/src/ar_track_alvar/ar_track_alvar/src/Pose.cpp:24:
/home/yunmubing/ros/ros_test/src/ar_track_alvar/ar_track_alvar/include/ar_track_alvar/Util.h:40:10: fatal error: cxcore.h: 没有那个文件或目录
 #include <cxcore.h>
          ^~~~~~~~~~
compilation terminated.
……
/usr/include/pcl-1.10/pcl/common/impl/copy_point.hpp:141:8: error: no match for call to ‘(pcl::detail::CopyPointHelper<pcl::PointXYZRGB, pcl::PointXYZRGB, void>) (const pcl::PointXYZRGB&, pcl::PointXYZRGB&)’
   copy (point_in, point_out);
   ~~~~~^~~~~~~~~~~~~~~~~~~~~
make[2]: *** [ar_track_alvar/ar_track_alvar/CMakeFiles/kinect_filtering.dir/build.make:76：ar_track_alvar/ar_track_alvar/CMakeFiles/kinect_filtering.dir/src/kinect_filtering.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:3148：ar_track_alvar/ar_track_alvar/CMakeFiles/kinect_filtering.dir/all] 错误 2
make: *** [Makefile:146：all] 错误 2
Invoking "make -j16 -l16" failed

ZED 相机 - ROS Noetic 教程和示例 安装包zed-ros-examples

noetic 没有这两个包 ar_track_alvar / ar_track_alvar_msgs

从git 安装 执行到catkin_make -DCMAKE_BUILD_TYPE=Release 报问题复现这里错误

解决方案

# cd ~ 安装colcon
sudo apt install python3-colcon-common-extensions

# 在ws/src目录下
git clone https://github.com/machinekoder/ar_track_alvar.git -b noetic-devel
# colcon
colcon build

# cd ..
catkin_make -DCMAKE_BUILD_TYPE=Release