Fast-planner-for-ubuntu20.04

安装nlopt依赖库

git clone https://github.com/stevengj/nlopt.git
cd nlopt
mkdir build
cd build
cmake ..
make
sudo make install

fatal error: nlopt.hpp: No such file or directory
#include <nlopt.hpp>

sudo apt-get --reinstall libnlopt-dev 
sudo apt install libnlopt-cxx-dev

libnlopt-dev is not enough .

编译fast-planner-for-ubuntu20.04功能包

  sudo apt-get install libarmadillo-dev
  cd ${YOUR_WORKSPACE_PATH}/src
  git clone https://github.com/Junking1/Fast-Planner-for-ubuntu20.04.git
  cd ../ 
  catkin_make

error PCL requires C++14 or above
运行带有PCL库的文件时报错#error PCL requires C++14 or above
解决办法：找到工程里所有依赖于PCL的功能包，改它们对应的CMakelists.txt文件
具体修改方法，在
add_compile_options(-std=c++11)
这行代码下加一行代码
set(CMAKE_CXX_STANDARD 14)

set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall")
set(CMAKE_CXX_STANDARD 14)

add_compile_options(-std=c++11)
set(CMAKE_CXX_STANDARD 14)

set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_STANDARD 14)

undefined reference to cv::Mat::Mat() 在使用catkin_make编译ROS项目时出现了如下的有关OpenCV未定义引用的错误。 undefined reference to cv::Mat::updateContinuityFlag()这是因为找不到对应版本的OpenCV导致

在 target_link_libraries(calibration_publisher	${catkin_LIBRARIES} 后面添加
${OpenCV_LIBS} 
# 注意opencv大小写

例如

target_link_libraries( plan_env
    ${catkin_LIBRARIES} 
    ${PCL_LIBRARIES}
    ${OpenCV_LIBS}
    )  

/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /home/bitcq/Desktop/faster-lio_ws/devel/lib/libplan_env.so, may conflict with libopencv_core.so.4.5
opencv版本冲突造成的
查看opencv版本

pkg-config --modversion opencv

bitcq@bitcq-desktop:~/Desktop/faster-lio_ws$ pkg-config --modversion opencv
4.5.4

修改cmakelist中的opencv引用
原来是

find_package(OpenCV  REQUIRED)

改为

find_package(OpenCV 4.5 REQUIRED)