ORBSLAM3报错问题

2023-11-18

orbslam3报错问题

1	CMake Error at /opt/ros/noetic/share/ros/core/rosbuild/private.cmake:99 (message):

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根本原因：未找到，ROS_PACKAGE_PATH路径。

参考：「 Linux调试错误」CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:129 (message):

cd ~
vim .bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS
 
#其中PATH是你的工作空间路径(/home/(user名)/catkin_ws/src)
source ~/.bashrc

添加路径后依然报错

https://blog.csdn.net/weixin_62952541/article/details/131807996

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sudo apt-get install python3-pip
sudo pip3 install rosdepc
sudo rosdepc init
rosdepc update

2. 关于ROS_PACKAGE_PATH

如果直接在~/.bashrc 中添加相同环境变量的不同路径

1 2	export ROS_PACKAGE_PATH="/xxx/xxx/xx1/" export ROS_PACKAGE_PATH="/xxx/xxx/xx2/"

会出现环境变量被覆盖的情况

echo $ROS_PACKAGE_PATH读取环境变量

利用${ROS_PACKAGE_PATH}:在后面新增路径

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3. 在ROS中编译时的报错

大致如下：

/usr/bin/ld: warning: libopencv_imgproc.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.2
/usr/bin/ld: CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o: undefined reference to symbol '_ZN2cv7putTextERKNS_17_InputOutputArrayERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEENS_6Point_IiEEidNS_7Scalar_IdEEiib'
/usr/bin/ld: /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.4.2.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/MonoAR.dir/build.make:280：../MonoAR] 错误 1
make[1]: *** [CMakeFiles/Makefile2:545：CMakeFiles/MonoAR.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....

https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/279

ROS 使用的版本和 ORBSLAM3 使用的版本不一样……如果不是从源代码构建 ROS，你就无法控制它使用的 OpenCV 版本……所以构建 ORBSLAM3 使用您的 ROS 使用的 OpenCV 版本…在您的情况下，ROS noetic 使用 Opencv 4.2 并且您已经使用 OpenCV 3.2 构建了 ORBSLAM3 。尝试将 OpenCV 4.2 与 ORBSLAM3 结合使用。

但没用

1	/usr/bin/ld: warning: libopencv_imgproc.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.2

编译orb-slam3的ros的时候，使用的是opencv4.2，但是lib文件夹下的libORB_SLAM3.so是使用opencv3.2编译的，会产生冲突。

此时运行rosrun ORB-SLAM3 Mono ... 依然会报错核心已转储问题

查看build.sh

echo "Configuring and building Thirdparty/DBoW2 ..."

cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

cd ../../g2o

echo "Configuring and building Thirdparty/g2o ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

cd ../../../

echo "Uncompress vocabulary ..."

cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..

echo "Configuring and building ORB_SLAM3 ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

打开/Thirdparty/DBoW2/CMakeLists.txt

find_package(OpenCV 4.0 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 3.0 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 3.0 not found.")
   endif()
endif()

离谱

4. 改上面都不行

1	/usr/bin/ld: warning: libopencv_imgproc.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.2

最后在师兄帮助下，发现在build.sh的结束时在最后一行有warning，大致意思是cv_bridge有问题，他用的貌似是opencv4.2，我电脑里的是opencv4.5.5

没法解决的时候，不能放过任何一个warning

orbslam3报错问题

1. CMake Error at /opt/ros/noetic/share/ros/core/rosbuild/private.cmake:99 (message):

2. 关于ROS_PACKAGE_PATH

3. 在ROS中编译时的报错

4. 改上面都不行