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gtsam的安装过程及lego-loam问题总结

news 2026/7/11 10:36:19

注意：
不用卸载旧版本的gtsam，只需要下载想要的版本，重新源码编译安装一遍即可，这样会把之前的版本直接覆盖掉。

https://codechina.csdn.net/mirrors/borglab/gtsam/-/tree/4.0.0

mkdirbuildcdbuild cmake..sudomakesudomakeinstall

编译lego-loam可能报错

CMake Error at /usr/share/cmake-3.5/Modules/CMakeFindDependencyMacro.cmake:45(message): Invalid arguments to find_dependency Call Stack(most recent call first): /usr/local/lib/cmake/GTSAM/GTSAMConfig.cmake:17(find_dependency)LeGO-LOAM/LeGO-LOAM/CMakeLists.txt:23(find_package)– Configuring incomplete, errors occurred!See also “/home/fish/catkin_legoLOAM/build/CMakeFiles/CMakeOutput.log”. See also “/home/fish/catkin_legoLOAM/build/CMakeFiles/CMakeError.log”. Invoking “cmake” failed

解决方法：
将/usr/local/lib/cmake/GTSAM/GTSAMConfig.cmake:17 行的find_dependency改成find_package。改完后重新catkin_make -j1即可。

编译lego-loam报错

LEGO-LOAM编译出错：fatal error: cloud_msgs/cloud_info.h: No such file or directory。

解决方案：

catkin_make-j1# 或者catkin_make-DCATKIN_WHITELIST_PACKAGES="cloud_msgs"

运行lego-loam报错

运行“ roslaunch lego_loam run.launch” 出现了如下图所示的错误：

下载官网的gtsam4.0.0版本，重新编译安装gtsam即可。问题解决。。。

经过多次测试，我遇到的这种问题用以下方法可以解决。修改…
/gtsam-4.0.0/cmake/GtsamBuildTypes.cmake

# Clang uses a template depth that is less than standard and is too smallif(${CMAKE_CXX_COMPILER_ID}STREQUAL"Clang")# Apple Clang before 5.0 does not support -ftemplate-depth.if(NOT(APPLE AND"${CMAKE_CXX_COMPILER_VERSION}"VERSION_LESS"5.0"))set(CMAKE_CXX_FLAGS"${CMAKE_CXX_FLAGS}-ftemplate-depth=1024")endif()endif()# 添加以下内容option(GTSAM_BUILD_WITH_MARCH_NATIVE"Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)"ON)if(GTSAM_BUILD_WITH_MARCH_NATIVE)set(CMAKE_C_FLAGS"${CMAKE_C_FLAGS}-march=native")set(CMAKE_CXX_FLAGS"${CMAKE_CXX_FLAGS}-march=native")endif()

/gtsam-4.0.0/CMakeLists.txt

if(GTSAM_UNSTABLE_AVAILABLE)print_config_flag(${GTSAM_BUILD_UNSTABLE}"Build libgtsam_unstable ")endif()string(TOUPPER"${CMAKE_BUILD_TYPE}"cmake_build_type_toupper)# 添加以下内容print_config_flag(${GTSAM_BUILD_WITH_MARCH_NATIVE}"Build for native architecture ")