Ubuntu18.04配置ORB-SLAM2过程中的问题

Posted 2021-02-02 Haijian

https://www.imooc.com/article/details/id/29136

1. 提示“CMAKE_CXX_COMPILER-NOTFOUND ”

具体形式：

Check for working CXX compiler: CMAKE_CXX_COMPILER-NOTFOUND 

CMake Error: your CXX compiler: "CMAKE_CXX_COMPILER-NOTFOUND" was not found.

Please set CMAKE_CXX_COMPILER to a valid compiler path or name.

解决方法：

sudo apt-get install g++
2. 在ubuntu18.04系统上安装opencv但是在安装依赖包的过程中，有一个依赖包，libjasper-dev在使用命令

    sudo apt-get install libjaster-dev

提示：无法定位软件包 libjasper-dev

后来google到解决办法，复制到这里

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

成功的解决了问题，其中libjasper1是libjasper-dev的依赖包

3. 注意eigen 本人亲测Eigen3.2.10

wget https://bitbucket.org/eigen/eigen/get/3.2.10.tar.bz2
tar -xjf 3.2.10.tar.bz2

改文件夹名字

cd eigen
mkdir build
cd build
cmake ..
make
sudo make install

4. ImportError: No module named catkin_pkg.package

注意Python版本 ros-melodic对应Python3

5. 编译安装python3.7时

提示“ModuleNotFoundError: No module named ‘_ctypes‘”

解决办法

sudo apt-get update
sudo apt-get upgrade
sudo apt-get dist-upgrade
sudo apt-get install build-essential python-dev python-setuptools python-pip python-smbus
sudo apt-get install build-essential libncursesw5-dev libgdbm-dev libc6-dev
sudo apt-get install zlib1g-dev libsqlite3-dev tk-dev
sudo apt-get install libssl-dev openssl
sudo apt-get install libffi-dev

安装完libffi后在编译安装就不报错了

6. 编译./build_ros.sh

提示[rosbuild] rospack found package "ORB_SLAM2" at "", but the current   directory is "/home/angelo/ORB_SLAM2/Examples/ROS/ORB_SLAM2".  You should   double-check your ROS_PACKAGE_PATH to ensure that packages are found in the   correct precedence order.

解决办法：输入

 sudo ln -s ~/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /opt/ros/<ros版本名>/share/ORB_SLAM2

7. 编译遇到找不到#include<Eigen/Dense>

解决办法：进入usr/local/include/eigen3将eigen3中的Eigen文件递归地复制到上一层文件夹（直接放到include）：因为在很多程序中include时经常使用#include <Eigen/Dense>而不是使用的#include <eigen3/Eigen/Dense>所以要做下处理，否则一些程序在编译时会因找不到Eigen/Dense而报错。

8. 编译遇到libboost_system.so: 无法添加符号: DSO missing from command line

解决办法：在Examples/ROS/ORB_SLAM2/Cmakelist.txt 的文件后面加入两句话：

target_link_libraries(Stereo boost_system boost_filesystem) 
target_link_libraries(RGBD boost_system boost_filesystem)