Ubuntu16.04 ROS Kinetic loam_livox
阿新 • • 發佈:2021-06-23
原始碼地址
https://github.com/hku-mars/loam_livox
Ubuntu16.04安裝ROS Kinetic詳細過程
https://blog.csdn.net/weixin_43159148/article/details/83375218
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 sudo apt-get update
ros安裝
sudo apt-get install ros-kinetic-desktop-full Reading package lists... Done Building dependency tree Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation: The following packages have unmet dependencies: gnupg : Breaks: software-properties-common (<= 0.96.24.3) but 0.96.20.7 is to be installed ros-kinetic-desktop-full : Depends: ros-kinetic-desktop but it is not going to be installed Depends: ros-kinetic-perception but it is not going to be installed Depends: ros-kinetic-simulators but it is not going to be installed Depends: ros-kinetic-urdf-tutorial but it is not going to be installed E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages.
映象源改成中科大
sudo vi /etc/apt/sources.list deb http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse deb http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-security main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse deb-src http://mirrors.ustc.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
安裝ceres-solver
http://ceres-solver.org/installation.html#getting-the-source-code
Eigen3依賴
Could not find a configuration file for package "Eigen3" that is compatible with requested version
參考
https://blog.csdn.net/jiaken2660/article/details/105144496/
Eigen3版本衝突
In file included from /usr/local/include/ceres/internal/parameter_dims.h:37:0,
from /usr/local/include/ceres/internal/autodiff.h:151,
from /usr/local/include/ceres/autodiff_cost_function.h:130,
from /usr/local/include/ceres/ceres.h:37,
from /home/gec/catkin_ws/src/loam_livox-master/source/laser_mapping.hpp:40,
from /home/gec/catkin_ws/src/loam_livox-master/source/laser_mapping.cpp:37:
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:16: error: ‘integer_sequence’ is not a member of ‘std’
struct SumImpl<std::integer_sequence<T, N, Ns...>> {
參考地址
https://blog.csdn.net/qq_41586768/article/details/107541917
交換空間不足
[ 95%] Building CXX object examples/CMakeFiles/nist.dir/nist.cc.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-5/README.Bugs> for instructions.
examples/CMakeFiles/nist.dir/build.make:62: recipe for target 'examples/CMakeFiles/nist.dir/nist.cc.o' failed
make[2]: *** [examples/CMakeFiles/nist.dir/nist.cc.o] Error 4
CMakeFiles/Makefile2:5885: recipe for target 'examples/CMakeFiles/nist.dir/all' failed
make[1]: *** [examples/CMakeFiles/nist.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
成功效果