ROBORTS编译时候的各种坑

安装roboRTS时一定要把文档里提到的各种库都装上，不要嫌麻烦，不然后面不知道怎么死的

1. 遇到module无法找到，直接去google，一般为pip install 或者sudo apt-get install 即可解决

我遇到的特殊情况：no module named em 解决方式pip uninstall em pip install empy

2. anaconda 与 ros 冲突，比如opencv

angel@yubao-Z370M-S01:~/GitProject/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ make
  Scanning dependencies of target rospack_genmsg_libexe
  [  0%] Built target rospack_genmsg_libexe
  Scanning dependencies of target rosbuild_precompile
  [  0%] Built target rosbuild_precompile
  Scanning dependencies of target RGBD
  [ 11%] Building CXX object CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o
  [ 22%] Linking CXX executable ../RGBD
  /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to \`TIFFReadRGBAStrip@LIBTIFF_4.0\'
  /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to \`TIFFReadDirectory@LIBTIFF_4.0\'
  /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to \`TIFFWriteEncodedStrip@LIBTIFF_4.0\'
  ....
  /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to \`TIFFSetWarningHandler@LIBTIFF_4.0\'
  /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1: undefined reference to \`TIFFSetErrorHandler@LIBTIFF_4.0\'
  collect2: error: ld returned 1 exit status
  CMakeFiles/RGBD.dir/build.make:216: recipe for target '../RGBD' failed
  make[2]: *** [../RGBD] Error 1
  CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
  make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
  Makefile:127: recipe for target 'all' failed
  make: *** [all] Error 2

ros自带的opencv与anaconda 中的opencv冲突

解决方法

• conda uninstall opencv3 conda uninstall, libtiff
• 将该terminal 中的path除去 anaconda3/bin 具体方法为export PATH=... (echo $PATH 输出中的除去anaconda)

这句export 的意思是在该terminal 中暂时修改PATH变量，关掉该terminal即失效，要想永久修改path变量，sudo vim ~/.bashrc，将该文件中了关于anaconda 的那句 export PATH 注释掉，然后source ~/.bashrc立即生效