Cartographer is too slow to be useful in debug mode报错

-- +++ processing catkin package: 'cartographer_ros_msgs'
-- ==> add_subdirectory(cartographer_ros/cartographer_ros_msgs)
CMake Error at cartographer_ros/cartographer_ros_msgs/CMakeLists.txt:30 (message):
  Cartographer is too slow to be useful in debug mode.

-- Configuring incomplete, errors occurred!

原因查看 cartographer_ros/cartographer_ros_msgs/CMakeLists.txt:30

if(CMAKE_BUILD_TYPE STREQUAL "Release")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
  message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
else()
  message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
endif()

 

cmake 版本改成release版本

命令行　catkin_make -DCMAKE_BUILD_TYPE=Release

或者在catkin_ws的src目录下sudo vi CMakeLists.txt

添加set(CMAKE_BUILD_TYPE "Release")

再catkin_make就不会报错