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富强,王家龙的PL

参考链接:

更换设备时候记得在catkin_plvins/src/feature_tracker/CMakeLists.txt修改一部分地址

主要有俩部分:

第30行的换成自己的地址
include_directories(${catkin_INCLUDE_DIRS}${EIGEN3_INCLUDE_DIR}/home/jyy/catkin_plvins/src/feature_tracker/src/line_descriptor/include # find LSD 
) 
最后一行(61行)
target_link_libraries(LineFeature_tracker 
${catkin_LIBRARIES} 
${OpenCV_LIBS}
/home/jyy/catkin_plvins/src/feature_tracker/src/line_descriptor/lib/liblinedesc.so  # line feature
)

接着编译,出现如下问题:


  1. 解决办法:安装(1) sudo apt-get install ros-melodic-pcl-conversions
    (2 ) sudo apt-get install ros-melodic-navigation

  2. 解决办法:sudo apt-get install ros-melodic-pcl-ros

运行:

roscore
roslaunch plvins_estimator plvins_show_linepoint.launch
rosbag play YOUR_PATH_TO_DATASET/MH_05_difficult.bag

运行中的问题:
plvins_show_linepoint.launch如果报错[plvins_show_linepoint.launch] is neither a launch file in package [plvins_estimator] nor is [plvins_estimator] a launch file name
The traceback for the exception was written to the log file

解决步骤:

  1. 因为下载下来的代码文件夹是vins_estimator,所以改成plvins_estimator就行
  2. 重新编译,添加路径:
sudo gedit ~/.bashrc
将:
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/jyy/catkin_plvins/src/plvins_estimator
source ~/catkin_plvins/devel/setup.bash
放在最后
保存文件,最后再source 一下:
source ~/.bashrc
  1. 因为下载下来的代码中launch文件是plvins-show-linepoint.launch,所以改成plvins_show_linepoint.launch
    就行

本文标签: 富强,王家龙的PL