Vision-based topological mapping and localization methods: A surve学习及代码运行

https://github.com/ethz-asl/mav_voxblox_planning
readme遇到的问题
首先在科学上网环境下运行，我的是ros melodic

第一个错误：
Could not find a package configuration file provided by “protobuf_catkin” with any of the following names:
protobuf_catkinConfig.cmake
protobuf_catkin-config.cmake
解决方法：
参考：https://github.com/ethz-asl/hand_eye_calibration/issues/97

cd src
git clone https://github.com/ethz-asl/protobuf_catkin

在mav_voxblox_planning的CMakeLists里添加find_package(protobuf_catkin REQUIRED)

第二个错误：
Could not find a package configuration file provided by “ompl” with any of the following names:
omplConfig.cmake
ompl-config.cmake
解决方法：
参考：https://github.com/windelbouwman/move-base-ompl/issues/7

sudo apt install libompl-dev

第三个错误：
/home/zhw/voxblox_ws/src/mav_voxblox_planning/voxblox_skeleton/src/io/skeleton_io.cpp:72:75: error: cannot convert ‘uint32_t* {aka unsigned int*}’ to ‘uint64_t* {aka long unsigned int*}’ for argument ‘3’ to ‘bool voxblox::utils::readProtoMsgFromStream(std::istream*, google::protobuf::Message*, uint64_t*)’
if (!utils::readProtoMsgFromStream(&proto_file, &proto, &tmp_byte_offset)) {
解决方法：
进入这个文件
/home/zhw/voxblox_ws/src/mav_voxblox_planning/voxblox_skeleton/src/io/skeleton_io.cpp
69行 uint32_t tmp_byte_offset = 0; 改为uint64_t tmp_byte_offset = 0;

第四个错误：
安装rotors过程中，ImportError: No module named future
解决方法：

python -m pip install future -i https://pypi.tuna.tsinghua.edu.cn/simple

第五个错误：
Could not find a package configuration file provided by “catkin_boost_python_buildtool” with any of the following names:
catkin_boost_python_buildtoolConfig.cmake
catkin_boost_python_buildtool-config.cmake
解决方法：
参考：https://github.com/ethz-asl/volumetric_mapping/issues/86

cd src
git clone https://github.com/ethz-asl/catkin_boost_python_buildtool

第六个错误：
Could not find a package configuration file provided by “numpy_eigen” with any of the following names:
numpy_eigenConfig.cmake
numpy_eigen-config.cmake
解决方法：
参考：https://stackoverflow.com/questions/63283151/error-in-catkin-build-couldnt-find-package-numpy-eigen

cd src
git clone https://github.com/ethz-asl/numpy_eigen.git

第七个错误：
Could not find a package configuration file provided by “mavros” with any of the following names:
mavrosConfig.cmake
mavros-config.cmake
解决方法：

sudo apt-get install ros-melodic-mavros

第八个错误：
Could not find a package configuration file provided by “octomap_msgs” with any of the following names:
octomap_msgsConfig.cmake
octomap_msgs-config.cmake
解决方法：
参考：https://github.com/ros/ros_comm/issues/1774

sudo apt install ros-melodic-octomap-ros

第九个错误：
Resource not found: mav_nonlinear_mpc
解决方法：
参考：https://github.com/ethz-asl/mav_voxblox_planning/issues/29

cd src
https://github.com/ethz-asl/mav_control_rw
sudo apt-get install liblapacke-dev

未完待续