Ubuntu配置ORB-SLAM2过程中的问题

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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.（1）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

（2）提示“ROS / OpenCV Ubuntu安装“usr/include/c++/6/cstdlib:75:25: fatal error: stdlib.h: 没有那个文件或目录””

解决办法：

预编译的问题，在编译前加入命令屏蔽预编译就行了

-D ENABLE_PRECOMPILED_HEADERS=OFF

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)

9.安装Opencv的时候

提示

CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:85 (list):

list GET given empty list

Call Stack (most recent call first):

CMakeLists.txt:109 (include)

CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:86 (list):

list GET given empty list

Call Stack (most recent call first):

CMakeLists.txt:109 (include)

CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:89 (math):

math cannot parse the expression: "*100 + ": syntax error, unexpected

exp_TIMES, expecting exp_OPENPARENT or exp_NUMBER (1)

Call Stack (most recent call first):

CMakeLists.txt:109 (include)

解决办法：

在文件opencv/cmake/OpenCVDetectCXXCompiler.cmake中，将“dumpversion”改为“dumpfullversion”

10.编译ORB_SLAM2_ROS时

①提示以下错误：

/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

解决方案：

将libboost_system.so与libboost_filesystem.so复制到ORB_SLAM2/lib下

locate boost_system
locate boost_filesystem

并且将ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt中加入库目录，具体为

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so
)

②提示以下内容

[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.
Call Stack (most recent call first):
/opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
CMakeLists.txt:4 (rosbuild_init)

解决办法：

这通常是因为没有设置好 ORB_SLAM2 的环境变量或者前后设置存在冲突。请打开~/.bash.rc 文件，检查以下设置是否正确：

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS

11.提示

error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY

解决方法：

打开Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h

将

typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;

改成

typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;

12.编译Build时，出现以下错误

../lib/libORB_SLAM2.so：对‘ORB_SLAM2::Frame::InitializeScaleLevels()’未定义的引用 collect2: error: ld returned 1 exit status CMakeFiles/mono_kitti.dir/build.make:125: recipe for target '../Examples/Monocular/mono_kitti' failed

解决方法：将/ORB_SLAM2/src/Frame.cc中"inlier void Frame::InitializeScaleLeve " to " void Frame::InitializeScaleLevels()"

13.编译Build时，出现以下错误

error: ‘FAST’ was not declared in this scope
FAST(cellImage,cellKeyPoints[i][j],fastTh,true);
^

解决方法：在src/ORBextractor.cc中添加

#include <opencv2/opencv.hpp>

14.遇到

Could not find a configuration file for package "OpenCV" that is compatible
with requested version "2.4.3".

解决办法：

将~/ORB_SLAM2/Examples/ROS/ORB_SLAM2中CMakeLists.txt的

find_package(OpenCV 2.3. REQUIRED)
>
find_package(OpenCV 3.2. REQUIRED)