ros melodic下r3live编译与运行

运行环境：
docker、ubuntu18.04、ros melodic

此前，大家在github issues中反馈了较多关于opencv版本导致的编译和运行问题。作者建议opencv的版本要在3.3以上，基于opencv 3.3.1, 3.4.16, 4.2.1 and 4.5.3,作者做过测试，均能成功运行。ros melodic自带opencv3.2.0，确实如果不更换版本的话会遇到问题。

本文以3.3.1为例，介绍如何在上述运行环境下编译运行r3live。

1. 安装ros依赖

sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport*

2. 安装livox_ros_driver

mkdir -p ws_livox/src
cd ws_livox/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git 
cd ..
catkin_make
source ./devel/setup.sh(或者将其添加到.bashrc中，这样就不必每次执行source)

3. 安装CGAL and pcl_viewer (optional)

sudo apt-get install libcgal-dev pcl-tools

4. 安装配置opencv3.3.1

查看当前环境opencv版本：

pkg-config --modversion opencv

源码编译安装opencv3.3.1：

sudo apt-get update

1. 确保已安装必要的依赖项和库：
sudo apt-get install build-essential cmake pkg-config libjpeg-dev libtiff5-dev libjasper-dev libpng12-dev libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev libgtk-3-dev libatlas-base-dev gfortran python2.7-dev python3-dev
2. 下载OpenCV 3.3.1源代码：
cd ~
wget -O opencv.zip https://github.com/opencv/opencv/archive/3.3.1.zip
unzip opencv.zip

3. cd ~/opencv-3.3.1/
mkdir build
cd build

4. 运行CMake以配置OpenCV编译：
cmake -D CMAKE_BUILD_TYPE=RELEASE \
  -D CMAKE_INSTALL_PREFIX=/usr/local \
  -D INSTALL_C_EXAMPLES=ON \
  -D INSTALL_PYTHON_EXAMPLES=ON \
  -D BUILD_EXAMPLES=ON ..
或者直接cmake ..
5. 编译OpenCV：
make -j4

6. 安装OpenCV：
sudo make install
sudo ldconfig

7. 重启

修改cv_bridge配置：

ros默认安装的opencv路径在/usr/include,/usr/lib,/usr/share三个目录。从opencv官网源码编译安装的，opencv会默认安装到usr/local下对应的三个子目录。

cd /opt/ros/melodic/share/cv_bridge/cmake/
sudo gedit cv_bridgeConfig.cmake

在cv_bridgeConfig.cmake文件中分别搜索include和libraries，进行两处修改如下：

# if(NOT "include;/usr/include;/usr/include/opencv " STREQUAL " ")
if(NOT "include;/usr/local/include;/usr/local/include/opencv " STREQUAL " ")

# set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0;/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0")
set(libraries "cv_bridge;/usr/local/lib/libopencv_core.so.3.3.1;/usr/local/lib/libopencv_imgproc.so.3.3.1;/usr/local/lib/libopencv_imgcodecs.so.3.3.1")

5. 编译r3live并运行

mkdir -p r3live/src
cd r3live/src
git clone https://github.com/hku-mars/r3live.git
cd ../
catkin_make
source devel/setup.bash

roslaunch r3live r3live_bag.launch
rosbag play YOUR_DOWNLOADED.bag

6. 参考：

Ubuntu环境下ROS安装自己OPENCV版本_敢敢のwings的博客-CSDN博客

ROS中更改opencv的安装版本4.5.3_ros melodic升级opencv_咩咩的博客-CSDN博客