fast-livo运行及报错解决办法

运行：

source ~/code/diver/ws_livox/devel/setup.bash

catkin_make

source ./devel/setup.bash

运行数据集：

roslaunch fast_livo mapping_avia.launch

roslaunch fast_livo mapping_avia_ntu.launch

rosbag play YOUR_DOWNLOADED.bag

修改参数：cam_d0到cam_d3是相机畸变参数

报错：

1、对'Sophus::SE3::xxx'未定义的引用

解决办法：在rpg_vikit/vikit_common的CmakeLists.txt里添加SET(Sophus_LIBRARIES libSophus.so)

2、error：缺少point6D.h这个文件

解决办法：将livox驱动的/setup.bash路径设置到全局环境中，即

终端输入

sudo gedit ~/.bashrc

在文章最后面加上livox_ros_driver_ws的setup.bash的位置(我把它放code里了)，即

livox_ros_driver_ws的setup.bash

3、fatal error: fast_livo/States.h: 没有那个文件或目录

解决办法：注释掉

4、error: invalid conversion from ‘const char*’ to ‘int’ [-fpermissive]

             omp_set_num_threads(MP_PROC_NUM);

解决办法：好像是将它换成数字（我好像是写的2）就行了

5、roslaunch出错：republish-4]  process has died

解决办法：sudo apt install ros-melodic-image-transport-plugins

6、roslaunch fast_livo mapping_avia.launch时报错：

laserMapping-1]  process has died

解决办法：同5