【SLAM学习】一些必备依赖包的安装与问题总结

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