cartographer 常见问题及解决方法

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#cartographer #常见问题

本文解决了在使用Cartographer进行地图构建时遇到的两个常见问题：一是关于SPARSE_POSE_GRAPH参数错误，需要从lua文件中删除该参数；二是protobuff版本冲突问题，解决方法是删除并重新编译安装cartographer。

1. Check failed: status == 0 (2 vs. 0) [string “include “map_builder.lua”…”]:36: attempt to index global ‘SPARSE_POSE_GRAPH’ (a nil value)

问题描述：出现这个问题的原因是map_builder.lua文件中没有SPARSE_POSE_GRAPH这个参数，这是由于cartographer更新导致的。
解决方案：
删掉lua文件里SPARSE_POSE_GRAPH参数。

2. protobuff版本冲突问题

问题描述:

In file included from /home/zhangying/Downloads/cartographer/cartographer/common/ceres_solver_options.h:21:0,
                 from /home/zhangying/Downloads/cartographer/cartographer/common/ceres_solver_options.cc:17:
/usr/local/include/cartographer/common/proto/ceres_solver_options.pb.h:12:2: error: #error This file was generated by a newer version of protoc which is
 #error This file was generated by a newer version of protoc which is
  ^~~~~
/usr/local/include/cartographer/common/proto/ceres_solver_options.pb.h:13:2: error: #error incompatible with your Protocol Buffer headers. Please update
 #error incompatible with your Protocol Buffer headers.  Please update
  ^~~~~
/usr/local/include/cartographer/common/proto/ceres_solver_options.pb.h:14:2: error: #error your headers.
 #error your headers.

解决方案:
删除/usr/local/include/下的cartographer文件夹,重新编译安装cartographer

cd /usr/local/include
sudo rm -rf cartographer
cd ~/Downloads/cartographer
rm -rf bulid
mkdir build
cd build
cmake ..
make -j4
sudo make install