Ubuntu16.04 ROS Kinetic loam_livox

源码地址

Ubuntu16.04安装ROS Kinetic详细过程

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安装

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.

镜像源改成中科大

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

安装ceres-solver

Eigen3依赖

Could not find a configuration file for package "Eigen3" that is compatible with requested version

参考

Eigen3版本冲突

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...>> {

参考地址

交换空间不足

[ 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

参考地址

成功效果