ORK进行物体检测过程中出现的报错及解决方案

报错１：在运行rosrun object_recognition_core training -c rospack find object_recognition_linemod/conf/training.ork
时出现如下错误：

‘’’
Traceback (most recent call last):
File “/home/ebort/ork_ws/src/ork_core/apps/training”, line 19, in
ork_params, _args = read_arguments(args)
File “/home/ebort/ork_ws/src/ork_core/python/object_recognition_core/utils/training_detection_args.py”, line 94, in read_arguments
params = read_arguments_from_string(open(args.config_file))
File “/home/ebort/ork_ws/src/ork_core/python/object_recognition_core/utils/training_detection_args.py”, line 43, in read_arguments_from_string
params = yaml.load(parameter_str)
File “/usr/lib/python2.7/dist-packages/yaml/init.py”, line 71, in load
return loader.get_single_data()
File “/usr/lib/python2.7/dist-packages/yaml/constructor.py”, line 37, in get_single_data
node = self.get_single_node()
File “/usr/lib/python2.7/dist-packages/yaml/composer.py”, line 36, in get_single_node
document = self.compose_document()
File “/usr/lib/python2.7/dist-packages/yaml/composer.py”, line 55, in compose_document
node = self.compose_node(None, None)
File “/usr/lib/python2.7/dist-packages/yaml/composer.py”, line 84, in compose_node
node = self.compose_mapping_node(anchor)
File “/usr/lib/python2.7/dist-packages/yaml/composer.py”, line 133, in compose_mapping_node
item_value = self.compose_node(node, item_key)
File “/usr/lib/python2.7/dist-packages/yaml/composer.py”, line 84, in compose_node
node = self.compose_mapping_node(anchor)
File “/usr/lib/python2.7/dist-packages/yaml/composer.py”, line 133, in compose_mapping_node
item_value = self.compose_node(node, item_key)
File “/usr/lib/python2.7/dist-packages/yaml/composer.py”, line 84, in compose_node
node = self.compose_mapping_node(anchor)
File “/usr/lib/python2.7/dist-packages/yaml/composer.py”, line 127, in compose_mapping_node
while not self.check_event(MappingEndEvent):
File “/usr/lib/python2.7/dist-packages/yaml/parser.py”, line 98, in check_event
self.current_event = self.state()
File “/usr/lib/python2.7/dist-packages/yaml/parser.py”, line 428, in parse_block_mapping_key
if self.check_token(KeyToken):
File “/usr/lib/python2.7/dist-packages/yaml/scanner.py”, line 115, in check_token
while self.need_more_tokens():
File “/usr/lib/python2.7/dist-packages/yaml/scanner.py”, line 149, in need_more_tokens
self.stale_possible_simple_keys()
File “/usr/lib/python2.7/dist-packages/yaml/scanner.py”, line 289, in stale_possible_simple_keys
“could not found expected ‘:’”, self.get_mark())
yaml.scanner.ScannerError: while scanning a simple key
in “/home/ebort/ork_ws/src/ork_linemod/conf/training.ork”, line 7, column 5
could not found expected ‘:’
in “/home/ebort/ork_ws/src/ork_linemod/conf/training.ork”, line 8, column 5
‘’’
尝试多种方式没有解决，最后重新安装ork并编译完成，问题解决
报错２：在运行
电脑卡顿，且该节点在运行一段时间后，会自动退出．报错如下：

修改Cmakelists.txt

再次运行，报错变为：