编译rtabmap_ros遇到的问题

$ cd ~/catkin_ws
$ git clone https://github.com/introlab/rtabmap_ros.git src/rtabmap_ros
$ catkin_make

编译成功, 运行:

$ roslaunch rtabmap_ros rtabmap.launch

起初报错:

Invalid <arg> tag: rtabmap_ros
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/yyl/lianxi-catkin_ws/src
ROS path [2]=/home/yyl/rgbdslamv2-catkin_ws/src
ROS path [3]=/home/yyl/orb-slam2-catkin_ws/src
ROS path [4]=/home/yyl/vins-mono-catkin_ws/src
ROS path [5]=/home/yyl/catkin_workspace/src
ROS path [6]=/home/yyl/catkin_ws/src/ros_bubble_rob2
ROS path [7]=/home/yyl/catkin_ws/src/v_repExtRosInterface
ROS path [8]=/home/yyl/catkin_ws/src/vrep_skeleton_msg_and_srv
ROS path [9]=/home/yyl/catkin_ws/src/vrep_plugin_skeleton
ROS path [10]=/opt/ros/kinetic/share. 

Arg xml is <arg default="$(find rtabmap_ros)/launch/config/rgbd.rviz" name="rviz_cfg"/>
The traceback for the exception was written to the log file

唔…找不到功能包, source一下
source /opt/ros/kinetic/setup.bash
source /根目录/devel/setup.bash

还是报错can’t locate node [rgbd_odometry] in package [rtabmap_ros]:

ERROR: cannot launch node of type [rtabmap_ros/rgbd_odometry]: can't locate node [rgbd_odometry] in package [rtabmap_ros]
ERROR: cannot launch node of type [rtabmap_ros/rtabmap]: can't locate node [rtabmap] in package [rtabmap_ros]
ERROR: cannot launch node of type [rtabmap_ros/rtabmapviz]: can't locate node [rtabmapviz] in package [rtabmap_ros]

查了下国外网站上说是CMakeLists.txt没更新, 去github找更新过后的文件替代了, 重新编译一下, 问题解决~