[VIO|实践]UBUNTU16.04 跑基于ROS的OKVIS代码

不知道为毛，我的错误超级多，，，，快疯了，，挥泪，，，纪录一下，，，

环境配置

sudo apt-get install ros-kinetic-pcl-ros
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev libeigen3-dev libsuitesparse-dev 
sudo apt-get install libopencv-dev libboost-dev libboost-filesystem-dev

  git clone https://github.com/ethz-asl/libvisensor.git
  cd libvisensor
  ./install_libvisensor.sh

编译

1. 新建文件夹okvis-catkin_ws，里面再建一个叫src的文件夹，然后把解压好的代码集okvis_ros放进去。
2. 命令行进入到/okvis-catkin_ws这一层，进行catkin_make。
3. 开启ros的工作空间，就是source devel/setup.bash

具体命令：
src下:

wget https://www.doc.ic.ac.uk/~sleutene/software/okvis_ros-1.1.3.zip
unzip okvis_ros-1.1.3.zip

在okvis-catkin_ws工作区根目录中键入

catkin_make

$令人崩溃的错误来了！！！！！！！$
出现问题1：

Could not find a package configuration file provided by “cv_bridge”
with any of the following names:

cv_bridgeConfig.cmake
cv_bridge-config.cmake

解决办法：

1. 下载vision_opencv

git clone https://github.com/ros-perception/vision_opencv.git

2. 将里面的cv_bridge包拿出来，放到工作空间src中，重新编译：

catkin_make --pkg cv_bridge

又出错：

CMake Error at /usr/share/cmake-3.5/Modules/FindBoost.cmake:1677
(message): Unable to find the requested Boost libraries.

Boost version: 1.58.0

Boost include path: /usr/include

Could not find the following Boost libraries:

      boost_python37

No Boost libraries were found. You may need to set BOOST_LIBRARYDIR
to the directory containing Boost libraries or BOOST_ROOT to the
location of Boost.

解决办法：

1. 安装boost库：https://blog.csdn.net/zym1348010959/article/details/87821713
2. 修改CMakeLists.txt文件
   删除掉第12行：find_package(Boost REQUIRED python37)，修改为：

set(boost_DIR /home/ouc/install/boost_1_69_0)

后面是你安装的boost库所在路径。

出现问题2：

Could not find a package configuration file provided by
“image_geometry” with any of the following names:

image_geometryConfig.cmake
image_geometry-config.cmake

Add the installation prefix of “image_geometry” to CMAKE_PREFIX_PATH
or set “image_geometry_DIR” to a directory containing one of the
above files. If “image_geometry” provides a separate development
package or SDK, be sure it has been installed. Call Stack (most
recent call first): okvis_ros/CMakeLists.txt:5 (find_package)

解决办法：
安装。。。

sudo apt-get install ros-kinetic-image-geometry

终极版解决办法：ROS工作空间编译的时候出现类似于Could_not_find_a_package_configuration_file _provided _by该如何解决
最可能原因在于：装好ROS（kinetic），但是是moveit包没装。我执行了以下命令，分别安装了moveit包、gazebo控制器包：

sudo apt-get install ros-kinetic-moveit
sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

再次提示错误 ceres-solver链接无法连接：
将安装包okvis-catkin_ws/src/okvis_ros/okvis/CMakeLists.txt的151行链接修改为：

GIT_REPOSITORY https://github.com/ceres-solver/ceres-solver.git 

$OK了，，，，，再不成功都快疯了，，，，$

再次在okvis-catkin_ws空间键入:

catkin_make
source devel/setup.bash

$终于没有问题了。。。。。。$

运行

开三个终端:
1.

roscore

2. 按照自己的安装路径，在okvis-catkin_ws下:

rosrun okvis_ros okvis_node_synchronous path/to/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/

我的是:

rosrun okvis_ros okvis_node_synchronous /home/ouc/okvis-catkin_ws/src/okvis_ros/okvis/config/config_fpga_p2_euroc.yaml /home/ouc/dataset/MH_05_difficult.bag

3. rviz可视化工具
   在rviz.rviz路径下(我的是~/okvis-catkin_ws/src/okvis_ros/config)输入:

rosrun rviz rviz -d rviz.rviz

试验结果

我还是更适合去种地的，，，，，，