ROS合集（四）Sonar-SLAM开源项目复现

• https://github.com/jake3991/sonar-SLAM/
• https://arxiv.org/pdf/2202.08359

https://github.com/jake3991/sonar-SLAM/

下面是一份中文的详细步骤指南，帮助你在 Ubuntu 20.04 + ROS Noetic 环境下复现 sonar-SLAM (BlueRov SLAM) 项目所需的安装与运行过程。该项目主要使用成像声呐（Imaging Sonar）与 DVL+IMU 等作为里程推算（Dead Reckoning），再通过图优化 (ISAM2, GTSAM) 完成 3DOF 水平平面内的 SLAM。请根据自身环境做适当的调整。

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• Ensure all python dependencies are installed

• Check ros distro

• clone this repo into your catkin workspace

• clone git clone https://github.com/ethz-asl/libnabo.git into your catkin workspace

• clone https://github.com/ethz-asl/libpointmatcher.git into your catkin workspace

• Make sure to use our specific tested version of libpointmatcher by using the following command in the libpointmatcher folder git checkout d478ef2eb33894d5f1fe84d8c62cec2fc6da818f

• clone https://github.com/jake3991/Argonaut.git into your catkin workspace

• build your workspace with catkin build NOT catkin_make

一、基础环境搭建

1. 安装 ROS Noetic

如果你已经在 Ubuntu 20.04 上安装好了 ROS Noetic，并且确保命令 rosversion -d 输出 noetic，可以跳过本节。若你尚未安装，请参见ROS Noetic官方安装教程。安装完成后，务必在 ~/.bashrc 中加入：

source /opt/ros/noetic/setup.bash

以便让所有新打开的终端都有 ROS 环境变量。

2. 安装 catkin 工具

本项目强烈建议使用 catkin build（来自 catkin_tools），而不是默认的 catkin_make。如果未安装，可以执行：

sudo apt update
sudo apt install python3-catkin-tools

安装成功后，即可在终端中使用 catkin build 指令。

3. 创建工作空间

在你的 Home 目录下创建一个新的 catkin 工作空间，例如 catkin_ws_sonar：

mkdir -p ~/catkin_ws_sonar/src
cd ~/catkin_ws_sonar
catkin init
catkin build

这样就初始化了一个可使用 catkin build 的工作空间。

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二、克隆并安装依赖仓库

1. 克隆 sonar-SLAM（BlueRov SLAM）仓库

在 catkin_ws_sonar/src 中进行以下操作：

cd ~/catkin_ws_sonar/src
git clone https://github.com/jake3991/sonar-SLAM.git

其目录名默认为 sonar-SLAM 或 bruce_slam，具体以你克隆后显示为准。

2. 依赖库 1：libnabo

还需要克隆 libnabo：

cd ~/catkin_ws_sonar/src
git clone https://github.com/ethz-asl/libnabo.git

3. 依赖库 2：libpointmatcher

克隆 libpointmatcher：

cd ~/catkin_ws_sonar/src
git clone https://github.com/ethz-asl/libpointmatcher.git

注意：该项目特定推荐使用某个已测试的版本，故需要在 libpointmatcher 文件夹内 checkout 该 commit：

cd libpointmatcher
git checkout d478ef2eb33894d5f1fe84d8c62cec2fc6da818f

这样可以避免因代码更新而造成兼容性问题。

4. 依赖库 3：Argonaut

根据文档，还需要克隆 Argonaut：

cd ~/catkin_ws_sonar/src
git clone https://github.com/jake3991/Argonaut.git

该仓库包含 BlueROV 相关的硬件配置、launch 文件以及一些辅助工具。

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三、安装 Python 依赖

该项目基于 Python 3 环境，需要以下包（原文提到）：

cv_bridge
gtsam
matplotlib
message_filters
numpy
opencv_python
rosbag
rospy
scikit_learn
scipy
sensor_msgs
Shapely
tf
tqdm
pyyaml

# 清华镜像
pip install numpy -i https://pypi.tuna.tsinghua.edu.cn/simple
# 阿里云镜像
pip install numpy -i https://mirrors.aliyun.com/pypi/simple/


# 永久配置阿里云镜像源
pip config set global.index-url https://mirrors.aliyun.com/pypi/simple/

1. 直接使用 pip 安装

先确保你的系统 Python 3 环境可用，然后在终端下执行：

python3 -m pip install --upgrade pip  # 更新 pip
python3 -m pip install gtsam matplotlib message_filters numpy opencv-python rosbag rospkg scikit-learn scipy shapely tqdm pyyaml

（1）安装 cv_bridge

cv_bridge 通常通过 ROS 的方式进行安装或编译，常规做法是：

sudo apt install ros-noetic-cv-bridge

或者在工作空间内二次编译源代码，但一般使用 apt 安装足够。

（2）安装 Python ROS 相关包

• rospy, sensor_msgs, tf, message_filters 等通常都由 ros-noetic-... 中自带，无需单独安装。

• 如果遇到报错，可再执行：

  sudo apt install python3-rospy python3-catkin-pkg python3-rospkg
  sudo apt install ros-noetic-tf ros-noetic-tf-conversions ros-noetic-sensor-msgs
  

  来补充安装。

2. 确认 Python 依赖已安装

在安装完成后，你可以使用以下命令确认包是否可用：

python3 -c "import gtsam; import numpy; import cv2; print('OK')"

如果不报错，说明基本正常。

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四、编译项目

1. 进入工作空间根目录：

   cd ~/catkin_ws_sonar
   

2. 进行编译（注意要用

   catkin build
   

3. 等待所有包编译完成，若出现错误请先查看缺少哪些依赖，再进行安装。

编译完成后，执行：

source ~/catkin_ws_sonar/devel/setup.bash

以保证编译生成的可执行文件与脚本被系统识别。

五、运行

1. 启动 SLAM

   source ~/catkin_ws_sonar/devel/setup.bash
   cd ~/catkin_ws_sonar
   roslaunch bruce_slam slam.launch
   

   这时会启动核心 SLAM 节点，并在后台等待传感器话题数据。

2. 回放 rosbag
   在另一终端同样 source ~/catkin_ws/devel/setup.bash 后：

   cd ~/catkin_ws_sonar/bag
   rosbag play sample_data.bag
   

   这样就把包里的声呐图像、IMU、DVL 等数据话题发布到 ROS 中，SLAM 节点便会开始处理并进行姿态/地图的更新。

六、Bug

1、Error: the value of ‘NrDims’ is not usable in a constant expression

/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation<PointDefault>::NdCopyPointFunctor::operator()() [with Key = pcl::fields::alpha_m; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51:   recursively required from ‘static void pcl::for_each_type_impl<false>::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51:   required from ‘static void pcl::for_each_type_impl<false>::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92:   required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentation<pcl::PPFSignature>::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40:   required from ‘void pcl::DefaultFeatureRepresentation<PointDefault>::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7:   required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
  251 |         const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
      |                   ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
  252 |         Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/pcl.dir/build.make:63: CMakeFiles/pcl.dir/src/bruce_slam/cpp/pcl.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1052: CMakeFiles/pcl.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

# cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.1) 
project(bruce_slam)

set(CMAKE_CXX_STANDARD 14)

2、The keyword signature for target_link_libraries has already been used with

the target “pcl”

Errors     << bruce_slam:check /home/zhanyong/catkin_ws_sonar/logs/bruce_slam/build.check.000.log                                                                                                                                                                                
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
CMake Error at /home/zhanyong/catkin_ws_sonar/src/sonar-SLAM/bruce_slam/CMakeLists.txt:33 (target_link_libraries):
  The keyword signature for target_link_libraries has already been used with
  the target "pcl".  All uses of target_link_libraries with a target must be
  either all-keyword or all-plain.

  The uses of the keyword signature are here:

   * /opt/ros/noetic/share/pybind11_catkin/cmake/pybind11Tools.cmake:179 (target_link_libraries)
   * /opt/ros/noetic/share/pybind11_catkin/cmake/pybind11Tools.cmake:211 (target_link_libraries)



make: *** [Makefile:1052: cmake_check_build_system] Error 1

根据错误信息，问题出在 target_link_libraries 的语法不一致，导致对同一个目标（如 pcl）的链接方式混用了关键字（如 PRIVATE）和旧式语法。

使用关键字语法加上PRIVATE即可

# 错误示例（旧式语法）
target_link_libraries(pcl some_lib)  # ❌ 旧式语法
target_link_libraries(pcl PRIVATE another_lib)  # ✅ 关键字语法

# 修改为统一使用关键字语法
target_link_libraries(pcl PRIVATE some_lib)  # ✅
target_link_libraries(pcl PRIVATE another_lib)  # ✅

修复后可通过编译

3、usr/bin/env: ‘python’: No such file or directory

# 对所有文件进行
chmod -R a+rwx .
# 或者对python文件
find . -type f -name "*.py" -exec chmod +x {} \;

setting /run_id to 705e069e-0554-11f0-a68e-5ddd692a4939
process[rosout-1]: started with pid [15944]
started core service [/rosout]
process[bruce/slam/gyro_fusion-2]: started with pid [15951]
/usr/bin/env: ‘python’: No such file or directory
process[bruce/slam/dead_reckoning-3]: started with pid [15952]
/usr/bin/env: ‘python’: No such file or directory
process[bruce/slam/feature_extraction-4]: started with pid [15953]
/usr/bin/env: ‘python’: No such file or directory
process[bruce/slam/slam-5]: started with pid [15954]
/usr/bin/env: ‘python’: No such file or directory
process[bruce/map_to_world_tf_publisher-6]: started with pid [15955]
[bruce/slam/gyro_fusion-2] process has died [pid 15951, exit code 127, cmd /home/zhanyong/catkin_ws_sonar/src/sonar-SLAM/bruce_slam/scripts/gyro_node.py __name:=gyro_fusion __log:=/home/zhanyong/.ros/log/705e069e-0554-11f0-a68e-5ddd692a4939/bruce-slam-gyro_fusion-2.log].
log file: /home/zhanyong/.ros/log/705e069e-0554-11f0-a68e-5ddd692a4939/bruce-slam-gyro_fusion-2*.log
[bruce/slam/dead_reckoning-3] process has died [pid 15952, exit code 127, cmd /home/zhanyong/catkin_ws_sonar/src/sonar-SLAM/bruce_slam/scripts/dead_reckoning_node.py __name:=dead_reckoning __log:=/home/zhanyong/.ros/log/705e069e-0554-11f0-a68e-5ddd692a4939/bruce-slam-dead_reckoning-3.log].
log file: /home/zhanyong/.ros/log/705e069e-0554-11f0-a68e-5ddd692a4939/bruce-slam-dead_reckoning-3*.log
[bruce/slam/feature_extraction-4] process has died [pid 15953, exit code 127, cmd /home/zhanyong/catkin_ws_sonar/src/sonar-SLAM/bruce_slam/scripts/feature_extraction_node.py __name:=feature_extraction __log:=/home/zhanyong/.ros/log/705e069e-0554-11f0-a68e-5ddd692a4939/bruce-slam-feature_extraction-4.log].
log file: /home/zhanyong/.ros/log/705e069e-0554-11f0-a68e-5ddd692a4939/bruce-slam-feature_extraction-4*.log
[bruce/slam/slam-5] process has died [pid 15954, exit code 127, cmd /home/zhanyong/catkin_ws_sonar/src/sonar-SLAM/bruce_slam/scripts/slam_node.py __name:=slam __log:=/home/zhanyong/.ros/log/705e069e-0554-11f0-a68e-5ddd692a4939/bruce-slam-slam-5.log].
log file: /home/zhanyong/.ros/log/705e069e-0554-11f0-a68e-5ddd692a4939/bruce-slam-slam-5*.log

从报错信息/usr/bin/env: ‘python’: No such file or directory可见，系统在调用#!/usr/bin/env python时找不到python解释器。这通常是因为当前环境里并没有安装或配置名为“python”的可执行文件。

在较新的 Linux 发行版（例如 Ubuntu 20.04+）里，默认只提供了python3而没有python（指向 Python2）的符号链接。如果脚本里使用了#!/usr/bin/env python，却没有在系统中安装 python，就会导致No such file or directory的错误。

如果需要 python3 并希望将其软链接为 python，可以在 Debian/Ubuntu 系列上安装 python-is-python3：

sudo apt-get update
sudo apt-get install python-is-python3

重新进行编译

4、AttributeError: ‘gtsam.gtsam.Rot3’ object has no attribute ‘quaternion’

这个错误说明在你的代码中调用了不存在的方法 quaternion()。在当前的 gtsam 版本中，gtsam.Rot3 对象并没有提供 quaternion() 方法，而是应该使用 toQuaternion() 方法来获取四元数表示。

1. 修改代码
   找到 conversions.py 文件中的第 202 行，把：

   qw, qx, qy, qz = pose.rotation().quaternion()
   

   修改为：

   q = pose.rotation().toQuaternion()
   qw, qx, qy, qz = q.w(), q.x(), q.y(), q.z()
   

   这样就通过 toQuaternion() 方法获得了四元数对象，再通过 w(), x(), y(), z() 分别提取各个分量。

5、AttributeError: module ‘numpy’ has no attribute ‘bool’

错误信息指出，在调用

sel = np.zeros(len(target_points), np.bool)

时出现了异常。原因在于，从 NumPy 1.20 版本开始，np.bool 已经被废弃，不再可用（替代方案是使用内置的 bool 或 NumPy 的 np.bool_）。这就是导致 AttributeError: module 'numpy' has no attribute 'bool' 的原因。

如何修复

sel = np.zeros(len(target_points), dtype=bool)