建设银行官方网站链接,注册360建筑网平台,什么叫网站降权,长春网站推广排名CT-ICP部署以及运行复现过程 0.下载资源#xff0c;并按照github原网址的过程进行。1.查看所需要的各个部分的版本。2.安装clang编译器3.进行超级构建3.1标准进行3.2构建过程中遇到的问题 4.构建并安装CT-ICP库4.1标准进行4.2遇到的问题及解决办法 5.构建 CT-ICP 的 ROS 包装5… CT-ICP部署以及运行复现过程 0.下载资源并按照github原网址的过程进行。1.查看所需要的各个部分的版本。2.安装clang编译器3.进行超级构建3.1标准进行3.2构建过程中遇到的问题 4.构建并安装CT-ICP库4.1标准进行4.2遇到的问题及解决办法 5.构建 CT-ICP 的 ROS 包装5.1标准进行 运行篇1、使用脚本(在ct-icp数据集上)2.使用可控系统ROS 0.下载资源并按照github原网址的过程进行。
源码网址https://github.com/jedeschaud/ct_icp 所有的步骤按照readme.md中的步骤进行在此基础上添加里自己在此过程遇到的问题及解决办法。
1.查看所需要的各个部分的版本。
版本要求 GCC 7.5, clang 8.01cmake 3.14 查看gcc版本gcc -v查看
(base) xiaoduanfighter:~/source1/CT-ICP/pyLiDAR-SLAM$ gcc --version
gcc (Ubuntu 9.4.0-1ubuntu1~20.04.1) 9.4.0
Copyright (C) 2019 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.cmake --vesion查看cmake版本
(base) xiaoduanfighter:~/source1/CT-ICP/pyLiDAR-SLAM$ cmake --version
cmake version 3.16.1CMake suite maintained and supported by Kitware (kitware.com/cmake).2.安装clang编译器
安装clang参考下面网址安装https://blog.csdn.net/xujianjun229/article/details/128902018#commentBox 的前面部分进行的。 依次输入一下三条命令
sudo apt-get install llvm
sudo apt-get install clang
clang -v产看版本的结果为
clang version 10.0.0-4ubuntu1
Target: x86_64-pc-linux-gnu
Thread model: posix
InstalledDir: /usr/bin
Found candidate GCC installation: /usr/bin/../lib/gcc/x86_64-linux-gnu/7
Found candidate GCC installation: /usr/bin/../lib/gcc/x86_64-linux-gnu/7.5.0
Found candidate GCC installation: /usr/bin/../lib/gcc/x86_64-linux-gnu/8
Found candidate GCC installation: /usr/bin/../lib/gcc/x86_64-linux-gnu/9
Found candidate GCC installation: /usr/lib/gcc/x86_64-linux-gnu/7
Found candidate GCC installation: /usr/lib/gcc/x86_64-linux-gnu/7.5.0
Found candidate GCC installation: /usr/lib/gcc/x86_64-linux-gnu/8
Found candidate GCC installation: /usr/lib/gcc/x86_64-linux-gnu/9
Selected GCC installation: /usr/bin/../lib/gcc/x86_64-linux-gnu/9
Candidate multilib: .;m64
Selected multilib: .;m64
Found CUDA installation: /usr/lib/cuda, version 10.1至此所有的基本要求已经符合。
3.进行超级构建
3.1标准进行
依次执行以下命令来安装所有依赖
mkdir .cmake-build-superbuild cd .cmake-build-superbuild # Creates the cmake folder
cmake ../superbuild # (1) Configure step
cmake --build . --config Release # Build step (Downloads and install the dependencies), add -DWITH_VIZ3DON to install with the GUI
cmake . -DWITH_VIZ3DON #构建可视化所有的命令执行完毕之后如果一切正常则应创建一个目录install其中还会出现一个superbuild_import.cmake文件。 此步骤进行之前建议下载viz3d并执行pip install . 进行安装这样可以避免后面会出现的一些问题
3.2构建过程中遇到的问题
在第三句命令运行时出现问题了应该和连接外网有关尝试了一下午决定忽略。 主要一直卡在 git clone https://ceres-solver.googlesource.com/ceres-solveratal: unable to access ‘https://ceres-solver.googlesource.com/ceres-solver/’: Failed to connect to ceres-solver.googlesource.com port 443: 连接超 第二天早上来到之后还是决定试一试因为在这儿忽略之后可能会出现其他一系列的问题。 调整网一直没能成功于是就开始找文件中的clone语句最终找到路径如下所示 在文件夹 .cmake-build-superbuild/MappingResearchKEU_superbuild/src/MappingResearchKEU_superbuild下gedit 打开CMakeLists.txt文件进行以下改动
//更改前
# INSTALL Ceres
if (WITH_CERES)message(INFO ${LOG_PREFIX}Generating Ceres dependency)ExternalProject_Add(CeresPREFIX CeresGIT_REPOSITORY https://ceres-solver.googlesource.com/ceres-solver //需要改动的地方 GIT_TAG 2.0.0//更改后
# INSTALL Ceres
if (WITH_CERES)message(INFO ${LOG_PREFIX}Generating Ceres dependency)ExternalProject_Add(CeresPREFIX CeresGIT_REPOSITORY https://github.com/ceres-solver/ceres-solverGIT_TAG 2.0.0然后就成功了还好没放弃。
4.构建并安装CT-ICP库
4.1标准进行
执行以下命令
# Inside the main directory
mkdir cmake-build-release cd cmake-build-release # Create the build directory
cmake .. -DCMAKE_BUILD_TYPERelease # (2) Configure with the desired options (specify arguments with -Darg_namearg_value), add -DWITH_VIZ3DON to install with the GUI
cmake --build . --target install --config Release --parallel 12 # Build and Install the project
cmake . -DWITH_VIZ3DON #构建可视化注意 第一行命令应该在此项目的主文件下进行。 如果一切正常则超级构建目录中应该会出现一个子目录SUPERBUILD_INSTALL_DIR/CT_ICP/lib/cmake。 可以使用位于的配置文件在 cmake 中加载库项目或使用 ROS 或指定的可执行文件。CT_ICP
4.2遇到的问题及解决办法
第二行命令运行时又出现错误
CMake Error at cmake/external.cmake:13 (get_target_property):INTERFACE_LIBRARY targets may only have whitelisted properties. Theproperty IMPORTED_RELEASE_LOCATION is not allowed.
Call Stack (most recent call first):CMakeLists.txt:51 (include)INFO /home/xiaoduan/project/lidar/ct_icp-master/install/Ceres/lib/libceres.so.2.0.0
INFO /home/xiaoduan/project/lidar/ct_icp-master/install/glog/lib/libglog.so.0.5.0
CMake Error at cmake/external.cmake:13 (get_target_property):INTERFACE_LIBRARY targets may only have whitelisted properties. Theproperty IMPORTED_RELEASE_LOCATION is not allowed.
Call Stack (most recent call first):CMakeLists.txt:51 (include)INFO /home/xiaoduan/project/lidar/ct_icp-master/install/yaml-cpp/lib/libyaml-cpp.so.0.6.3
CMake Error at cmake/external.cmake:13 (get_target_property):INTERFACE_LIBRARY targets may only have whitelisted properties. Theproperty IMPORTED_RELEASE_LOCATION is not allowed.
Call Stack (most recent call first):CMakeLists.txt:51 (include)INFO /home/xiaoduan/project/lidar/ct_icp-master/install/tinyply/lib/libtinyply.so
INFO -- [CT-ICP] -- Appending to the INSTALL RPATH the RPATH to the external libraries: [:/home/xiaoduan/project/lidar/ct_icp-master/install/Ceres/lib:/home/xiaoduan/project/lidar/ct_icp-master/install/glog/lib:/home/xiaoduan/project/lidar/ct_icp-master/install/yaml-cpp/lib:/home/xiaoduan/project/lidar/ct_icp-master/install/tinyply/lib]
INFO [CT_ICP] -- WITH_GTSAMOFF gtsam dependent targets will not be built
-- Configuring incomplete, errors occurred!
See also /home/xiaoduan/project/lidar/ct_icp-master/cmake-build-release/CMakeFiles/CMakeOutput.log.
See also /home/xiaoduan/project/lidar/ct_icp-master/cmake-build-release/CMakeFiles/CMakeError.log.
在网上搜了好多种方法都不好用也没看明白然后又在camke官网上搜索甚至没有搜到IMPORTED_RELEASE_LOCATION。 试了好多种方式发现每次搜索出来的都是IMPORTED_LOCATION_RELEASE于是将cmake/external.cmake:13文件中的内容进行了修改。但是事实证明并没有效果。
接着按照以下网址对cmake进行了升级 https://blog.csdn.net/weixin_45860565/article/details/127869813 然后问题就解决了。最后一行命令直接成功比较顺利。 现在cmake的版本为3.22.1
执行了cmake … --DWITH_VIZ3DON然后就出现了以下问题。
CMake Error at install/superbuild_import.cmake:35 (find_package):Could not find a package configuration file provided by viz3d with any ofthe following names:viz3dConfig.cmakeviz3d-config.cmakeAdd the installation prefix of viz3d to CMAKE_PREFIX_PATH or setviz3d_DIR to a directory containing one of the above files. If viz3dprovides a separate development package or SDK, be sure it has beeninstalled.
Call Stack (most recent call first):install/superbuild_import.cmake:101 (SLAM_DEFAULT_FIND_PACKAGE)cmake/superbuild_utils.cmake:27 (include)CMakeLists.txt:49 (SLAM_INCLUDE_SUPERBUILD)
调试没调试好所幸删除cmake-build-release并重新执行了一遍D步骤。
然后进入到文件夹ct_icp-master/.cmake-build-superbuild/MappingResearchKEU_superbuild/src/MappingResearchKEU_superbuild-build/viz3d/src/viz3d中执行命令./install.sh进行了安装
然后再从第三步执行一遍。
在执行第二句时出现错误
CMake Error at /opt/ros/noetic/share/catkin/cmake/empy.cmake:30 (message):Unable to find either executable empy or Python module em... tryinstalling the package python3-empy
Call Stack (most recent call first):/opt/ros/noetic/share/catkin/cmake/all.cmake:164 (include)/opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:20 (include)CMakeLists.txt:64 (find_package)
按照下面两个网站的内容进行解决 https://blog.csdn.net/gongdiwudu/article/details/124430036 https://blog.csdn.net/zkk9527/article/details/125558478
5.构建 CT-ICP 的 ROS 包装
5.1标准进行
安装共享库执行以下命令
cd ros/roscore
mkdir cmake-build-release cd cmake-build-release # Create the build directory
cmake .. -DCMAKE_BUILD_TYPERelease # (2) Configure with the desired options (specify arguments with -Darg_namearg_value)
cmake --build . --target install --config Release --parallel 12 # Build and Install the ROSCore library新建一个工作空间catkin_ws。并在里面建立一个src文件执行以下命令
mkdir -p catkin_ws/src将项目与自己的空间连接到一起
cd path-to-your-catkin-workspace/src # Move to the Catkin Workspaces src directory
ln -s path-to-ct_icp-git-project/ros/catkin_ws/ct_icp_odometry ct_icp_odometry # Make a symbolic link to the catkin_ws folder
ln -s path-to-ct_icp-git-project/ros/catkin_ws/slam_roscore slam_roscore # Make a symbolic link to the catkin_ws folder
cd .. # Move back to the root of the catkin workspace
catkin_make -DSUPERBUILD_INSTALL_DIRpath-to-superbuild-install-dir如果安装成功并且在获取工作区的 devel 目录后您应该能够启动 已安装的 ROS 节点。 包装定义以下节点 ct_icp_dataset_node发布从磁盘读取ct_icp不同数据集的点云的节点。 ct_icp_odometry_node运行ct_icp测程的主测程节点。 注意 这里的的工作空间和项目没有包含和被包含的关系。
运行测试
roslaunch ct_icp_odometry launch_slam_dataset.launch dataset_path:/home/xiaoduan/Desktop/dataset/KITTI/KITTI_raw dataset:KITTI_raw sequence:00测试结果 测试过程中的一个截图最终留下的是一个轨迹图。
运行篇
1、使用脚本(在ct-icp数据集上)
此时感觉不用ros也能跑出来于是就直接使用脚本跑可以运行成功。 执行命令
./run_odometry -c /home/xiaoduan/project/lidar/ct_icp-master/config/odometry/driving_config.yaml脚本测试结果
2.使用可控系统ROS
完成 ROS 安装后使用 Rosbag推出测程计例如ros/catkin_ws/ct_icp_odometry/launch
roslaunch ct_icp_odometry lidar_odometry_subt.launch rosbag:/home/xiaoduan/Desktop/dataset/a_lvl_1.bag 运行结果 写在最后 整个大体的步骤大体就有以下几个过程。 下载viz3d并执行pip install . 进行安装 git cd 执行超级构建 对cmake进行手动升级 执行构建slam库 执行构建ros库 独立建立工作空间与git的地址不同 进行节点创立 完成 然后进行运行
