浙大开源lidar_imu_calib源码安装过程实测详解
Github官方流程
安装依赖:sudo apt-get install ros-melodic-pcl-ros ros-melodic-velodyne-msgs
1、建立工作空间(init ROS workspace)
mkdir -p ~/catkin_li_calib/src
cd ~/catkin_li_calib/src
catkin_init_workspace
2、在github中下载源码(Clone the source code for the project and build it.)
git clone https://github.com/APRIL-ZJU/lidar_IMU_calib
3、仍然是在src文件夹的终端中执行下列指令(下载ndt_omp)
wstool init
wstool merge lidar_IMU_calib/depend_pack.rosinstall
wstool update
4、安装Pangolin
cd lidar_imu_calib(进入下载好的源码文件夹中)
./build_submodules.sh
5、编译
cd …/…
catkin_make
source ./devel/setup.bash (设置变量环境)
按照上述过程进行编译遇到的问题
1、注意最好在ubuntu18.04下进行安装,不然会存在python库文件找不到的情况
2、需要安装ceres1.14
链接:博客:Ubuntu18.04安装Ceres.
3、ERROR1:conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’
解决:
终端输入:
sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak
sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
4、ERROR2:Could NOT find GLEW’
解决:
终端输入:
sudo apt-get install libx11-dev libxmu-dev libglu1-mesa-dev libgl2ps-dev libxi-dev g++ libzip-dev libpng12-dev libcurl4-gnutls-dev libfontconfig1-dev libsqlite3-dev libglew*-dev libssl-dev
如果出现安装不上的问题,执行sudo apt install libglew-dev
第一次写博客,可能存在记忆有误/缺失的情况,有问题/纰漏之处,请大家多多担待,可以交流,共同进步