Ceres:
下载地址:
https://github.com/ceres-solver/ceres-solver/releases/tag/1.14.0
1、修改 sources.list
sudo gedit /etc/apt/sources.list
2、将此地址添加到source.list上
deb http://cz.archive.ubuntu.com/ubuntu trusty main universe
3、更新源
sudo apt-get update
4、安装依赖
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev
5、解压并进入文件夹
cd ceres-solver-1.14.0
6、编译及安装
mkdir build
cd build
cmake ..
make
sudo make install
glog
1、克隆源码
git clone https://github.com/boboxxd/glog.git
如果太慢,可以上代理:
git clone https://ghproxy.com/github.com/boboxxd/glog.git
2、解压并进入文件夹
cd glog
3、安装依赖
sudo apt-get install autoconf automake libtool
4、配置
./autogen.sh
./configure
5、编译及安装
mkdir build
cd build
cmake ..
make
sudo make install
Geographic
下载Geographic
GeographicLib download | SourceForge.net
下载后解压,进入该文件夹
mkdir build
cd build
cmake ..
make -j4
sudo make install
gflags
git clone https://github.com/gflags/gflags
如果超时用代理
git clone https://ghproxy.com/https://github.com/gflags/gflags
进入该文件夹
cd gflags
mkdir build
cd build
cmake ..
make -j4
sudo make install
hector trajectory sever
(轨迹可视化)
sudo apt-get install ros-noetic-hector-trajectory-server
安装Eigen
sudo apt-get install libeigen3-dev
sudo updatedb
locate eigen3
查看eigen版本
vim /usr/include/eigen3/Eigen/src/Core/util/Macros.h
版本:3.37
SLAM 问题总结:
PluginlibFactory: The plugin for class ‘octomap_rviz_plugin/ColorOccupancyGrid‘ failed to load.
sudo apt-get install ros-noetic-octomap-rviz-plugins
No CMAKE_CXX_COMPILER could be found.
sudo apt-get update
sudo apt-get install -y build-essential
Ubuntu问题总结:
E: 无法获得锁 /var/lib/dpkg/lock-frontend。锁正由进程 8347(unattended-upgr)持有
N: 请注意,直接移除锁文件不一定是合适的解决方案,且可能损坏您的系统。
E: 无法获取 dpkg 前端锁 (/var/lib/dpkg/lock-frontend),是否有其他进程正占用它
sudo rm /var/cache/apt/archives/lock
sudo rm /var/lib/dpkg/lock
若终端中gedit无法调用界面出来,而双击软件可以显示
sudo vim /etc/ssh/sshd_config
将X11Forwarding 设置为 yes ,然后重启即可