HKUST-Aerial-Robotics/VINS-Mono 测试过程中遇到的问题

Posted 2022-12-08 Kris_u

ubuntu18.04

1、sudo apt-get update 失败: GPG error: http://packages.ros.org/ros/ubuntu bionic InRelease:

详细错误信息：

The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <[e-mail]>
W: Failed to fetch http://packages.ros.org/ros/ubuntu/dists/bionic/InRelease  The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics 

解决办法参考：

apt update fails / cannot install pkgs: key not working? - ROS Answers: Open Source Q&A Forum

Solution

Refer to New GPG keys deployed for packages.ros.org for the full write-up, but as a summary these are the commands for Ubuntu (and Debian):

Remove the old key

• on Ubuntu 16.04 and newer (with ROS Kinetic, Melodic, etc):

  sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

• on Ubuntu 15.10 and older (ie: 14.04, from here):

  sudo apt-key del B01FA116

Import the new key

This command should work on all versions of Ubuntu:

# add the new key
sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

Final step

At this point make sure to run sudo apt clean && sudo apt update. You should receive no errors and subsequent sudo apt install commands should also now work.

2、catkin_make ：【异常处理】 Could NOT find jsk_recognition_msgs

GitHub - HKUST-Aerial-Robotics/VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator 错误信息：

  "jsk_recognition_msgs" with any of the following names:

    jsk_recognition_msgsConfig.cmake
    jsk_recognition_msgs-config.cmake

jsk_recognition是用于JSK实验室的感知包的堆栈，说到底就是jsk_recognition这个package没有装

sudo apt-get install ros-melodic-jsk-recognition-msgs 
sudo apt-get install ros-melodic-jsk-rviz-plugins

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "autoware_msgs"
  with any of the following names:

    autoware_msgsConfig.cmake
    autoware_msgs-config.cmake

sudo apt-get install ros-melodic-autoware-msgs

3、opencv 官方安装教程：OpenCV: Installation in Linux

4、

roslaunch vins_estimator euroc.launch 

ERROR: cannot launch node of type [feature_tracker/feature_tracker]: Cannot locate node of type [feature_tracker] in package [feature_tracker]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [vins_estimator/vins_estimator]: Cannot locate node of type [vins_estimator] in package [vins_estimator]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [pose_graph/pose_graph]: Cannot locate node of type [pose_graph] in package [pose_graph]. Make sure file exists in package path and permission is set to executable (chmod +x)
5、编译的过程中还出现了依赖软件版本不符出现了一些问题，后面的使用docker进行编译解决了，docker编译的时间稍长，因为其中涉及了一些软件的下载和重装。