网站开发与管理心得体会,wordpress加模板,同城分类信息网站建设,怎么建一个视频网站做推广系统环境#xff1a;Ubuntu18.04.6 LTS
1.Loam的安装前要求#xff1a;
1.1 ROS安装#xff1a;参考我的另一篇博客
Ubuntu18.04安装ROS-melodic保姆级教程_灬杨三岁灬的博客-CSDN博客还是那句话#xff0c;有时候加了这行也不好使#xff0c;我是疯狂试了20次#xf…系统环境Ubuntu18.04.6 LTS
1.Loam的安装前要求
1.1 ROS安装参考我的另一篇博客
Ubuntu18.04安装ROS-melodic保姆级教程_灬杨三岁灬的博客-CSDN博客还是那句话有时候加了这行也不好使我是疯狂试了20次最后打了一局游戏回来就过了这就得看网络看命了不行就在网上搜搜终极大招动手能力差的不建议。有时候加了这行也不好使我是疯狂试了10次出现3.3之后就能用了这就得看网络看命了不行就在网上搜搜终极大招动手能力差的不建议。多试几十次不行几百次换手机网络也是多试几次这东西很玄学不一定哪次就过了。多试几十次不行几百次换手机网络也是多试几次这东西很玄学不一定哪次就过了。1.1.设置sources.list。https://blog.csdn.net/qq_23473839/article/details/131719477
1.2 PCL安装
Ubuntu18.04安装PCL保姆级教程_灬杨三岁灬的博客-CSDN博客Ubuntu18.04安装PCL保姆级教程https://blog.csdn.net/qq_23473839/article/details/132128455?csdn_share_tail%7B%22type%22%3A%22blog%22%2C%22rType%22%3A%22article%22%2C%22rId%22%3A%22132128455%22%2C%22source%22%3A%22qq_23473839%22%7D 2.安装
2.1.建立catkin工作空间我取名为catkin_loam_velodyne
2.2.建立src文件夹
2.3.编译
cd ~/catkin_loam_velodyne/src/
git clone https://github.com/laboshinl/loam_velodyne.git
cd ~/catkin_loam_velodyne
catkin_make -DCMAKE_BUILD_TYPERelease 3.编译出现的问题
3.1.找不到pcl_conversions
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by pcl_conversions with any of the following names: pcl_conversionsConfig.cmake pcl_conversions-config.cmake Add the installation prefix of pcl_conversions to CMAKE_PREFIX_PATH or set pcl_conversions_DIR to a directory containing one of the above files. If pcl_conversions provides a separate development package or SDK, be sure it has been installed.
Call Stack (most recent call first): loam_velodyne/CMakeLists.txt:4 (find_package) 原因缺少某些库
解决办法
sudo apt-get install libvtk6-jni
sudo apt-get install libvtk6-java
sudo apt-get install libvtk6-dev
sudo apt-get install libvtk6-qt-dev
sudo apt-get install libpcl-dev
sudo apt-get install ros-melodic-pcl-conversions
sudo apt-get install ros-melodic-pcl-ros
sudo apt-get install ros-melodic-navigation
以下代码只针对Ubuntu18.04对应的ROS melodic版本其余版本可将代码中melodic自行替换为相应的版本。 4.运行Loam
Shell1
source ~/catkin_slam/catkin_loam_velodyne/devel/setup.bashroslaunch loam_velodyne loam_velodyne.launch
Shell2跑Loam的数据集
rosbag play ~/Dataset/A-LOAM/nsh_indoor_outdoor.bag
结果 5.运行出现的问题
5.1.找不到package路径
ERROR: cannot launch node of type [loam_velodyne/multiScanRegistration]: Cannot locate node of type [multiScanRegistration] in package [loam_velodyne]. Make sure file exists in package path and permission is set to executable (chmod x)
ERROR: cannot launch node of type [loam_velodyne/laserOdometry]: Cannot locate node of type [laserOdometry] in package [loam_velodyne]. Make sure file exists in package path and permission is set to executable (chmod x)
ERROR: cannot launch node of type [loam_velodyne/laserMapping]: Cannot locate node of type [laserMapping] in package [loam_velodyne]. Make sure file exists in package path and permission is set to executable (chmod x)
ERROR: cannot launch node of type [loam_velodyne/transformMaintenance]: Cannot locate node of type [transformMaintenance] in package [loam_velodyne]. Make sure file exists in package path and permission is set to executable (chmod x) 原因编译的时候devel/lib没生成对应文件
解决办法删除build和devel文件夹重新编译即可
5.2.线程down掉
[multiScanRegistration-2] process has died [pid 5419, exit code -11, cmd /home/shuhang/catkin_slam/catkin_loam_velodyne/devel/lib/loam_velodyne/multiScanRegistration /multi_scan_points:/velodyne_points __name:multiScanRegistration __log:/home/shuhang/.ros/log/8ec97a84-24a3-11ee-a67c-49f24c8dffb1/multiScanRegistration-2.log]. log file: /home/shuhang/.ros/log/8ec97a84-24a3-11ee-a67c-49f24c8dffb1/multiScanRegistration-2*.log 原因本人后来重装Ubuntu就暂时没有这个问题了怀疑是PCL版本不匹配的问题
解决办法卸载PCL并重装
第一次装Loam的时候各种问题装PCL的时候也是各种问题。重装Ubuntu后安装PCL极其顺利Loam也极其顺利。如果Loam编译和运行很艰难多半是PCL的问题。
