boost翻译(5):boost.iostreams指南--使用Filters(1)

本文介绍了Boost.IOStreams库中的过滤器概念,包括InputFilters、OutputFilters及FilterHelpers等,展示了如何使用这些过滤器处理字符序列,例如去除Shell风格的注释。

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2.1. 概要: InputFilters, OutputFilters 以及 Filter Helpers

    Filters 可以用来修改字符序列。例如,你可以通过一个filter将某一个字符全部替换成另外一个字符,将所有字母字符转换为小写格式,或者加密一个文档。有时filter只是充当observer,例如你可以使用一个filter来计算指定单词出现的次数。

InputFilters和OutputFilters
   
Iostreams库支持两种简单类型的 Filters InputFilters和OutputFilters。InputFilters代表一种"pull"过滤模型:未过滤的数据以source的形式提供出来,Filter将会产生一定量字符的过滤序列。过滤后的序列是以递增的形式产生的,也就是为了过滤一个指定的字符序列,Filter必须被调用多次。OutputFilters代表一种"push"过滤模型:一个未过滤的字符序列和一个Sink需要被提供,另外Filter将会过滤这些字符,并将他们写入Sink。与InputFilters类似,OutputFilters以递增的方式处理数据。

最简单的InputFilters和OutputFilters一次处理一个字符。这种类型的Filter很容易写,但是比那些一次处理多个字符的Filters效率不佳。一次处理多个字符的Filters被称为Multi-Character filters。


Filter Helpers

Iostreams库提供了许多工具以便更容易使用Filter
    * aggregate_filter 允许程序员定义一种Filter,它从一个std::vector中读取未过滤数据,并将过滤后的数据写入到另一个std::vector中。
    * stdio_filter 允许程序员定义一种Filter,它从标准输入中读取未过滤数据,并将过滤后的数据写入到标准输出中。
    * symmetric_filter 允许程序员定义一种Filter,它从数组中读取未过滤数据,并将过滤后的数据写入到另一个数组中。
    * finite_state_filter 允许程序员将Filter定义为一个有穷状态机。它目前还不是这个库的正式组成部分。

选择一种 Filter 概念

    假定你想利用一个 Filter来执行给定的过滤任务。你将如何决定是使用InputFilter还是OutputFilter,或者使用Filter Helpers?上面提到的两个Filter helpers,aggregate_filter 和 stdio_filter, 具有很高的内存使用,并且只能处理以一个清楚界定结尾的字符串。他们允许过滤算法以一种很简单的方式表达出来,但同时也提供了对过滤的一种很好的介绍。第三个filter helper,symmetric_filter,在C语言API比如zlib、blibz2或openSSL的基础上定义一个filter时非常有用。如果没有filter helper合适,当你准备使用filter来读取数据时应该使用一个InputFilter,当你准备使用filter来写入数据时应该使用一个OutputFilter。在一些情况下,将一个算法用InputFilter表达出来比用OutputFilter表达更容易,反之亦然。在这些情况下,你可以使用更简单的filter,然后使用类模板或函数模板将InputFilter转化为一个OutputFilter,反之亦然。
    除了下面最后面的几个过滤实例,我将想你展示怎样用stdio_filter实现一个算法。
   
2.2. Filter用法实例

Filters通常都在过滤streams和stream buffers中间起连接作用。举个例子,假定你需要压缩一些文本,然后使用Base64加密,最后写入到一个文件中。如果你有适当的OutputFilters,压缩器,base64加密器,你可以参照下例来实现它。

#include <boost/iostreams/device/file_descriptor.hpp>
#include 
<boost/iostreams/filtering_stream.hpp>

namespace io = boost::iostreams;

int main()
{  
    io::filtering_ostream 
out;
    
out.push(compressor());
    
out.push(base64_encoder());
    
out.push(file_sink("my_file.txt"));
    
// write to out using std::ostream interface
}


如所有过滤streams 和 stream buffers一样, filtering_ostream 维护内部的Filters 和Devices链条。 当数据被写入这个chain时,它将按照被输入的顺序通过这些组件。上例所示的尾部的组件是Sink的某个模型,包括std::stream,例如std::cout。
现在,假设你想恢复原来的数据。如果你有合适的InputFilters,解压缩器,base64解密器,你可以参照下例来实现它。

#include <boost/iostreams/device/file.hpp>
#include 
<boost/iostreams/filtering_stream.hpp>

namespace io = boost::iostreams;

int main()
{  
    io::filtering_istream 
in;
    
in.push(decompressor());
    
in.push(base64_decoder());
    
in.push(file_source("my_file.txt"));
    
// read from in using std::istream interface
}


此处你可以看到另一个filter链条的使用。当数据从这个链条中读取出来时,它会沿反方向从最后添加的组件开始通过这些组件。最后加入的组件可以是Source的一个模型,包括std::istream例如std::cin。


2.3. Shell Comments Filters

    假定你想使用一个filter来移除shell-style comments。可以构造如下所示的一个基本算法:你每次检查一个字符,除非碰到一个注释字符,例如'#',否则不处理他们,并传递处理。当你发现一个注释字符的时候,忽略接下来的字符,直到碰到一个换行字符,此换行字符表明算法将重新开始。要注意的是,这个算法包含两个子算法:一个是读取普通字符的算法,一个是读取注释字符。
    在接下来的3节中,我将使用stdio_filter、InputFilter和OutputFilter来表达这个算法。
   
shell_comments_stdio_filter

你可以参考下例使用stdio_filter来描述一个shell comments Filter:
#include <cstdio>    // EOF
#include <iostream>  // cin, cout
#include <boost/iostreams/filter/stdio.hpp>

class shell_comments_stdio_filter : public stdio_filter {
public:
    
explicit shell_comments_stdio_filter(char comment_char = '#')
        : comment_char_(comment_char)
        
{ }
private:
    
void do_filter()
    
{
        
bool  skip = false;
        
int   c;
        
while ((c = std::cin.get()) != EOF) {
            skip 
= c == comment_char_ ?
                
true :
                c 
== ' ' ?
                    
false :
                    skip;
            
if (!skip)
                std::cout.put(c);
        }

    }

    
char comment_char_;
}
;

} } } 
// End namespace boost::iostreams:example

    虚函数do_filter的实现是简单的:局部变量skip跟踪记录你当前是否正在处理一条注释;while循环从std::cin中读取一个字符并更新skip,如果skip不为true时将c写入到std::cout。
    从stdio_filters派生的Filters都是DualUseFilters(双工Filters?),意思是,他们既可以用来输入,也可以用来输出,但不能同时输入输出。因此unix2dos_stdio_filter可以被用来替代下面的shell_comments_input_filter 和 shell_comments_output_filter。
   
shell_comments_input_filter

下面使用InputFilter来描述shell comments Filter。下例给出了一个典型的单字符InputFIlters

#include <boost/iostreams/categories.hpp>  // input_filter_tag
#include <boost/iostreams/char_traits.hpp> // EOF, WOULD_BLOCK
#include <boost/iostreams/operations.hpp>  // get, read, putback

namespace io = boost::iostreams;

class my_input_filter {
public:
    typedef 
char              char_type;
    typedef input_filter_tag  category;

    template
<typename Source>
    
int get(Source& src)
    
{
        
// Attempt to produce one character of filtered
        
// data, reading from src as necessary. If successful,
        
// return the character; otherwise return EOF to
        
// indicate end-of-stream, or WOULD_BLOCK
    }


    
/* Other members */
}
;


get函数尝试着产生一个过滤后的字符。它通过提供的Source src访问未过滤的字符序列。如果产生了一个字符,get函数就会返回它。否则,get函数会返回状态码EOF或WOULD_BOLOCK。EOF是一个定义在标准头文件中<cstdio>的宏,它用来表明end-of-stream。WOULD_BLOCK是boost::iostreams名字空间中的一个常量,被定义在头文件<boost/iostreams/char_traits.hpp>,用来表明暂时没有输入。
你可以如下例所示改写上面的例子。
#include <boost/iostreams/concepts.hpp>  // input_filter

class my_input_filter : public input_filter {
public:
    template
<typename Source>
    
int get(Source& src);

    
/* Other members */
}
;


此处的input_filter是一个方便的基类,它提供了成员类型char_type和category,以及成员函数close和imbue的实现。我将会简短地介绍close。

你现在可以使用InputFilter 来实现一个shell_comment_filter

#include <boost/iostreams/char_traits.hpp> // EOF, WOULD_BLOCK
#include <boost/iostreams/concepts.hpp>    // input_filter
#include <boost/iostreams/operations.hpp>  // get

namespace boost namespace iostreams namespace example {

class shell_comments_input_filter : public input_filter {
public:
    
explicit shell_comments_input_filter(char comment_char = '#')
        : comment_char_(comment_char), skip_(
false)
        
{ }

    template
<typename Source>
    
int get(Source& src)
    
{
        
int c;
        
while (true{
            
if ((c = boost::iostreams::get(src)) == EOF || c == WOULD_BLOCK)
                
break;
            skip_ 
= c == comment_char_ ?
                
true :
                c 
== ' ' ?
                    
false :
                    skip_;
            
if (!skip_)
                
break;
        }

        
return c;
    }


    template
<typename Source>
    
void close(Source&{ skip_ = false; }
private:
    
char comment_char_;
    
bool skip_;
}
;

}
 }
 }
 // End namespace boost::iostreams:example


    此处的成员变量skip_和 shell_comments_stdio_filter::do_filter中的局部变量skip作用相同。get的实现非常类似于shell_    comments_stdio_filter::do_filter:while循环读取一个字符c,更新skip_并在skip不为真的时候返回c。最大的区别在于你必须处理特殊值WOULD_BLOCK,它表明当前没有输入可获取。

    很明显,从头开始实现一个InputFilter比从stdio_filter派生更复杂。使用InputFilter的时候,你需要准备在算法中的任何地方中断;中断时,你必须记录下有关算法当前状态的足够信息,以便以后在继续处理。对于OutputFilters也是一样的。事实上,很多InputFilters和OutputFilters可以被看作有穷状态机。
   
    现在,有关shell_comments_input_filter的只剩下一个问题了:它的实例只能被使用一次。因为当skip_标志被设置时,一个stream可能会被关闭。如果这个stream后来使用另外一个未过滤字符序列重新打开,原来的文本无论是不是注释都会被过滤掉。
    可以通过将filter设置为可关闭的来解决这个问题。这样的话,你就必须实现一个close函数。同时你也必须将category标志改为closeable_tag,以便告诉Iostream库你的filter实现了close。
   
下例示范了一个改进过后的Filter:

namespace boost namespace iostreams namespace example {

class shell_comments_input_filter : public input_filter {
public:
    shell_comments_input_filter();

    template
<typename Source>
    
int get(Source& src);

    template
<typename Source>
    
void close(Source&{ skip_ = false; }
private:
    
bool skip_;
}
;

}
 }
 }
 // End namespace boost::iostreams:example


shell_comments_output_filter

接下来,让我们使用OutputFilter来描述一个shell comments Filter。下例示范了一个典型的单字符OutputFilter

#include <boost/iostreams/categories.hpp> 
#include 
<boost/iostreams/operations.hpp>  // put, write

namespace io = boost::iostreams;

class my_output_filter {
public:
    typedef 
char               char_type;
    typedef output_filter_tag  category;

    template
<typename Sink>
    
bool put(Sink& dest, int c)
    
{
        
// Attempt to consume the given character of unfilitered
        
// data, writing filtered data to dest as appropriate.
        
// Return true if the character was successfully consumed.
    }


    
/* Other members */
}
;


put函数尝试这过滤单个字符c,并输出到Sink dest中。put函数通过基础的i/o操作put和write访问dest。这连个函数都有可能失败:iostreams::put可能返回false,iostreams::write使用的字符可能比要求使用的字符少。

你可以如下例所示对上面的例子进行改写。

#include <boost/iostreams/concepts.hpp>  // output_filter

class my_output_filter : public output_filter {
public:
    template
<typename Sink>
    
bool put(Sink& dest, int c);

    
/* Other members */
}
;

此处的out_filter是一个方便的基类,它提供了成员类型char_type和category,以及close和imbue成员函数的实现。

现在你可以使用一个OutputFilter来实现一个shell comment Filter:

#include <boost/iostreams/concepts.hpp>    // output_filter
#include <boost/iostreams/operations.hpp>  // put

namespace boost namespace iostreams namespace example {

class shell_comments_output_filter : public output_filter {
public:
    
explicit shell_comments_output_filter(char comment_char = '#')
        : comment_char_(comment_char), skip_(
false)
        
{ }

    template
<typename Sink>
    
bool put(Sink& dest, int c)
    
{
        skip_ 
= c == comment_char_ ?
            
true :
            c 
== ' ' ?
                
false :
                skip_;

        
if (skip_)
            
return true;

        
return iostreams::put(dest, c);
    }


    template
<typename Source>
    
void close(Source&{ skip_ = false; }
private:
    
char comment_char_;
    
bool skip_;
}
;

}
 }
 }
 // End namespace boost::iostreams:example

成员函数put首先检查提供的字符c并更新成员变量skip_;然后,除非skip_为true,否则尝试着写入c。成员函数close简单的清除skip_标志从而使Filter能被重新打开。
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Get:1 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam0g arm64 1.4.0-11ubuntu2.6 [59.7 kB] Get:2 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam-modules-bin arm64 1.4.0-11ubuntu2.6 [38.6 kB] Get:3 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam-modules arm64 1.4.0-11ubuntu2.6 [279 kB] Get:4 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libnss-systemd arm64 249.11-0ubuntu3.16 [133 kB] Get:5 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libsystemd0 arm64 249.11-0ubuntu3.16 [314 kB] Get:6 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 systemd-sysv arm64 249.11-0ubuntu3.16 [10.5 kB] Get:7 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam-systemd arm64 249.11-0ubuntu3.16 [205 kB] Get:8 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 systemd arm64 249.11-0ubuntu3.16 [4423 kB] Get:9 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 udev arm64 249.11-0ubuntu3.16 [1541 kB] Get:10 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libudev1 arm64 249.11-0ubuntu3.16 [74.5 kB] Get:11 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam-runtime all 1.4.0-11ubuntu2.6 [40.2 kB] Get:12 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libgnutls30 arm64 3.7.3-4ubuntu1.7 [922 kB] Get:13 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3.10-dev arm64 3.10.12-1~22.04.10 [508 kB] Get:14 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpython3.10-dev arm64 3.10.12-1~22.04.10 [4666 kB] Get:15 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpython3.10 arm64 3.10.12-1~22.04.10 [1885 kB] Get:16 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3.10 arm64 3.10.12-1~22.04.10 [508 kB] Get:17 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpython3.10-stdlib arm64 3.10.12-1~22.04.10 [1846 kB] Get:18 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3.10-minimal arm64 3.10.12-1~22.04.10 [2260 kB] Get:19 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpython3.10-minimal arm64 3.10.12-1~22.04.10 [812 kB] Get:20 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 sudo arm64 1.9.9-1ubuntu2.5 [807 kB] Get:21 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ubuntu-pro-client-l10n arm64 36ubuntu0~22.04 [20.6 kB] Get:22 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ubuntu-pro-client arm64 36ubuntu0~22.04 [236 kB] Get:23 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ubuntu-advantage-tools all 36ubuntu0~22.04 [10.9 kB] Get:24 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-problem-report all 2.20.11-0ubuntu82.9 [11.4 kB] Get:25 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-apport all 2.20.11-0ubuntu82.9 [89.0 kB] Get:26 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 apport all 2.20.11-0ubuntu82.9 [135 kB] Get:27 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ghostscript-x arm64 9.55.0~dfsg1-0ubuntu5.12 [48.0 kB] Get:28 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ghostscript arm64 9.55.0~dfsg1-0ubuntu5.12 [49.7 kB] Get:29 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libgs9 arm64 9.55.0~dfsg1-0ubuntu5.12 [4956 kB] Get:30 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libgs9-common all 9.55.0~dfsg1-0ubuntu5.12 [753 kB] Get:31 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 gir1.2-webkit2-4.0 arm64 2.48.3-0ubuntu0.22.04.1 [105 kB] Get:32 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 gir1.2-javascriptcoregtk-4.0 arm64 2.48.3-0ubuntu0.22.04.1 [39.0 kB] Get:33 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libwebkit2gtk-4.0-37 arm64 2.48.3-0ubuntu0.22.04.1 [26.2 MB] Get:34 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libjavascriptcoregtk-4.0-18 arm64 2.48.3-0ubuntu0.22.04.1 [8729 kB] Get:35 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 gir1.2-soup-2.4 arm64 2.74.2-3ubuntu0.6 [31.8 kB] Get:36 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libsoup-gnome2.4-1 arm64 2.74.2-3ubuntu0.6 [6194 B] Get:37 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libsoup2.4-common all 2.74.2-3ubuntu0.6 [4778 B] Get:38 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libsoup2.4-1 arm64 2.74.2-3ubuntu0.6 [281 kB] Get:39 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libxslt1.1 arm64 1.1.34-4ubuntu0.22.04.4 [161 kB] Get:40 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 git-man all 1:2.34.1-1ubuntu1.15 [955 kB] Get:41 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 git arm64 1:2.34.1-1ubuntu1.15 [3224 kB] Get:42 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libarchive13 arm64 3.6.0-1ubuntu1.5 [367 kB] Get:43 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-utils2 arm64 2.26-1ubuntu0.1 [15.5 kB] Get:44 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-crypto2 arm64 2.26-1ubuntu0.1 [17.3 kB] Get:45 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-part-err2 arm64 2.26-1ubuntu0.1 [5650 B] Get:46 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-fs2 arm64 2.26-1ubuntu0.1 [21.5 kB] Get:47 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-loop2 arm64 2.26-1ubuntu0.1 [6838 B] Get:48 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-part2 arm64 2.26-1ubuntu0.1 [15.0 kB] Get:49 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-swap2 arm64 2.26-1ubuntu0.1 [7452 B] Get:50 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev2 arm64 2.26-1ubuntu0.1 [45.5 kB] Get:51 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libdjvulibre-text all 3.5.28-2ubuntu0.22.04.1 [51.0 kB] Get:52 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libdjvulibre21 arm64 3.5.28-2ubuntu0.22.04.1 [590 kB] Get:53 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy/main arm64 libdvbv5-doc all 1.22.1-2build1 [1479 kB] Get:54 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libprotobuf23 arm64 3.12.4-1ubuntu7.22.04.4 [809 kB] Get:55 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy/main arm64 libre2-9 arm64 20220201+dfsg-1 [153 kB] Get:56 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libssh-4 arm64 0.9.6-2ubuntu0.22.04.4 [185 kB] Get:57 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libssh-gcrypt-4 arm64 0.9.6-2ubuntu0.22.04.4 [224 kB] Get:58 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libudisks2-0 arm64 2.9.4-1ubuntu2.2 [168 kB] Get:59 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libvpx7 arm64 1.11.0-2ubuntu2.4 [1042 kB] Get:60 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy/main arm64 libxcvt-dev arm64 0.1.1-3 [3236 B] Get:61 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 linux-libc-dev arm64 5.15.0-144.157 [1294 kB] Get:62 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/universe arm64 python3-pip all 22.0.2+dfsg-1ubuntu0.6 [1306 kB] Get:63 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-protobuf arm64 3.12.4-1ubuntu7.22.04.4 [352 kB] Get:64 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-urllib3 all 1.26.5-1~exp1ubuntu0.3 [98.6 kB] Get:65 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-requests all 2.25.1+dfsg-2ubuntu0.3 [48.8 kB] Get:66 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 udisks2 arm64 2.9.4-1ubuntu2.2 [275 kB] Get:67 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 xserver-xorg-dev arm64 2:21.1.4-2ubuntu1.7~22.04.15 [205 kB] Get:68 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 xwayland arm64 2:22.1.1-1ubuntu0.19 [918 kB] Fetched 77.1 MB in 4min 46s (270 kB/s) Extracting templates from packages: 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Setting up libblockdev-swap2:arm64 (2.26-1ubuntu0.1) ... Setting up libdjvulibre21:arm64 (3.5.28-2ubuntu0.22.04.1) ... Setting up libnss-systemd:arm64 (249.11-0ubuntu3.16) ... Setting up libblockdev-loop2:arm64 (2.26-1ubuntu0.1) ... Setting up ghostscript-x (9.55.0~dfsg1-0ubuntu5.12) ... Setting up libblockdev2:arm64 (2.26-1ubuntu0.1) ... Setting up libblockdev-part2:arm64 (2.26-1ubuntu0.1) ... Setting up python3.10-minimal (3.10.12-1~22.04.10) ... Setting up apport (2.20.11-0ubuntu82.9) ... apport-autoreport.service is a disabled or a static unit, not starting it. Setting up libpython3.10-stdlib:arm64 (3.10.12-1~22.04.10) ... Setting up python3-requests (2.25.1+dfsg-2ubuntu0.3) ... Setting up libblockdev-fs2:arm64 (2.26-1ubuntu0.1) ... Setting up git (1:2.34.1-1ubuntu1.15) ... Setting up libwebkit2gtk-4.0-37:arm64 (2.48.3-0ubuntu0.22.04.1) ... Setting up libpam-systemd:arm64 (249.11-0ubuntu3.16) ... Setting up ubuntu-advantage-tools (36ubuntu0~22.04) ... Setting up libsoup-gnome2.4-1:arm64 (2.74.2-3ubuntu0.6) ... Setting up udisks2 (2.9.4-1ubuntu2.2) ... Setting up libpython3.10:arm64 (3.10.12-1~22.04.10) ... Setting up python3.10 (3.10.12-1~22.04.10) ... Setting up gir1.2-soup-2.4:arm64 (2.74.2-3ubuntu0.6) ... Setting up libpython3.10-dev:arm64 (3.10.12-1~22.04.10) ... Setting up python3.10-dev (3.10.12-1~22.04.10) ... Setting up gir1.2-webkit2-4.0:arm64 (2.48.3-0ubuntu0.22.04.1) ... Processing triggers for hicolor-icon-theme (0.17-2) ... Processing triggers for doc-base (0.11.1) ... Processing 1 added doc-base file... Error in `/usr/share/doc-base/libdvbv5-doc.libdvbv5-reference', line 9: all `Format' sections are invalid. Note: `install-docs --verbose --check file_name' may give more details about the above error. Processing triggers for gnome-menus (3.36.0-1ubuntu3) ... Processing triggers for libc-bin (2.35-0ubuntu3.10) ... Processing triggers for man-db (2.10.2-1) ... Processing triggers for dbus (1.12.20-2ubuntu4.1) ... Processing triggers for mailcap (3.70+nmu1ubuntu1) ... Processing triggers for bamfdaemon (0.5.6+22.04.20220217-0ubuntu1) ... Rebuilding /usr/share/applications/bamf-2.index... Processing triggers for desktop-file-utils (0.26-1ubuntu3) ... (base) casbot@casbot:~/ros_catkin_ws$ sudo sh -c 'echo "deb https://mirrors.ustc.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-noetic.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)). Executing: /tmp/apt-key-gpghome.6cqeROMOQT/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 gpg: key F42ED6FBAB17C654: "Open Robotics <info@osrfoundation.org>" not changed gpg: Total number processed: 1 gpg: unchanged: 1 (base) casbot@casbot:~/ros_catkin_ws$ sudo apt update # 安装桌面完整版(约 1.5GB,网络不稳定时分段安装) sudo apt install ros-noetic-desktop-full -y --allow-unauthenticated Ign:1 http://deb.repo.autolabor.com.cn jammy InRelease Ign:2 http://deb.repo.autolabor.com.cn jammy Release Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:6 https://mirrors.ustc.edu.cn/ros/ubuntu jammy InRelease Hit:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Err:7 https://mirrors.ustc.edu.cn/ros/ubuntu jammy Release 404 Not Found [IP: 202.141.176.110 443] Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Hit:8 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy InRelease Hit:9 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates InRelease Hit:10 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-backports InRelease Hit:11 http://packages.ros.org/ros/ubuntu focal InRelease Hit:12 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-security InRelease Get:13 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease [4682 B] Reading package lists... Done E: The repository 'https://mirrors.ustc.edu.cn/ros/ubuntu jammy Release' does not have a Release file. N: Updating from such a repository can't be done securely, and is therefore disabled by default. N: See apt-secure(8) manpage for repository creation and user configuration details. Reading package lists... Done Building dependency tree... Done Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation: The following packages have unmet dependencies: gazebo11 : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-iostreams1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libgazebo11 (= 11.15.1-1~focal) but it is not going to be installed Depends: libignition-msgs5 (>= 5.11.0) but it is not going to be installed Depends: libignition-transport8 (>= 8.5.0) but it is not going to be installed Depends: libprotobuf17 but it is not installable Depends: gazebo11-common (>= 11.2.0) but it is not going to be installed Recommends: gazebo11-plugin-base but it is not going to be installed libgazebo11-dev : Depends: libignition-transport8-dev but it is not going to be installed Depends: libignition-msgs5-dev but it is not going to be installed Depends: libignition-fuel-tools4-dev but it is not going to be installed Depends: libignition-common3-dev but it is not going to be installed Depends: libignition-common3-graphics-dev but it is not going to be installed Depends: libdart6-collision-bullet-dev (< 6.10.0) but it is not installable or libdart-collision-bullet-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-collision-ode-dev (< 6.10.0) but it is not installable or libdart-collision-ode-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-utils-urdf-dev (< 6.10.0) but it is not installable or libdart-utils-urdf-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-external-odelcpsolver-dev (< 6.10.0) but it is not installable or libdart-external-odelcpsolver-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-external-ikfast-dev (< 6.10.0) but it is not installable or libdart-external-ikfast-dev (< 6.10.0) but it is not going to be installed Depends: libgazebo11 (= 11.15.1-1~focal) but it is not going to be installed Depends: gazebo11-common (>= 11.2.0) but it is not going to be installed Depends: gazebo11-plugin-base (= 11.15.1-1~focal) but it is not going to be installed libicu-dev : Depends: libicu70 (= 70.1-2) but 70.1-2ubuntu1 is to be installed libjsoncpp-dev : Depends: libjsoncpp25 (= 1.9.5-3) but 1.9.5-3ubuntu0.1 is to be installed ros-noetic-actionlib : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-actionlib-tutorials : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-bondcpp : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-camera-calibration-parsers : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-python1.71.0 but it is not installable Depends: libboost-python1.71.0-py38 but it is not installable Depends: libpython3.8 (>= 3.8.2) but it is not installable Depends: libyaml-cpp0.6 (>= 0.6.2) but it is not installable ros-noetic-class-loader : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libpocofoundation62 (>= 1.9.2) but it is not installable ros-noetic-compressed-depth-image-transport : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-compressed-image-transport : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-controller-manager : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-cpp-common : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-cv-bridge : Depends: libboost-python1.71.0 but it is not installable Depends: libboost-python1.71.0-py38 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libpython3.8 (>= 3.8.2) but it is not installable ros-noetic-depth-image-proc : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-diagnostic-aggregator : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-diagnostic-common-diagnostics : Depends: hddtemp but it is not installable ros-noetic-diff-drive-controller : Depends: libconsole-bridge0.4 but it is not installable Depends: liburdfdom-model but it is not installable ros-noetic-eigen-conversions : Depends: liborocos-kdl1.4 but it is not installable ros-noetic-filters : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-gazebo-plugins : Depends: libboost-thread1.71.0 but it is not installable Depends: libgazebo11 (>= 11.15.1) but it is not going to be installed Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libprotobuf17 but it is not installable ros-noetic-gazebo-ros : Depends: libboost-thread1.71.0 but it is not installable Depends: libgazebo11 (>= 11.15.1) but it is not going to be installed Depends: libprotobuf17 but it is not installable ros-noetic-gazebo-ros-control : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libgazebo11 (>= 11.15.1) but it is not going to be installed Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: ros-noetic-transmission-interface but it is not going to be installed ros-noetic-image-geometry : Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-proc : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-publisher : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-videoio4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-rotate : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-transport : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-image-view : Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-highgui4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-videoio4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-interactive-markers : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-joint-state-controller : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-kdl-conversions : Depends: liborocos-kdl1.4 but it is not installable ros-noetic-kdl-parser : Depends: liborocos-kdl1.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: liburdfdom-model but it is not installable ros-noetic-laser-assembler : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-laser-filters : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-laser-geometry : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-nodelet : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-nodelet-tutorial-math : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-pcl-ros : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libpcl-common1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-features1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-filters1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-io1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-search1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-segmentation1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-surface1.10 (>= 1.10.0+dfsg) but it is not installable ros-noetic-pluginlib : Depends: libboost-filesystem1.71.0 but it is not installable ros-noetic-pluginlib-tutorials : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-position-controllers : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-robot-state-publisher : Depends: liborocos-kdl1.4 but it is not installable Depends: liburdfdom-world but it is not installable ros-noetic-rosbag : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: ros-noetic-rosbag-storage but it is not going to be installed ros-noetic-rosconsole : Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: liblog4cxx10v5 (>= 0.10.0) but it is not installable ros-noetic-rosconsole-bridge : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-roscpp : Depends: libboost-chrono1.71.0 but it is not installable Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable ros-noetic-roscpp-tutorials : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-rospack : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libpython3.8 (>= 3.8.2) but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-rqt-image-view : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable Depends: ros-noetic-rqt-gui-cpp but it is not going to be installed ros-noetic-rqt-rviz : Depends: libboost-program-options1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: ros-noetic-rqt-gui-cpp but it is not going to be installed ros-noetic-rviz : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: liburdfdom-world but it is not installable Depends: libyaml-cpp0.6 (>= 0.6.2) but it is not installable ros-noetic-rviz-plugin-tutorials : Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable ros-noetic-stage-ros : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-stereo-image-proc : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-tf : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-tf-conversions : Depends: liborocos-kdl1.4 but it is not installable ros-noetic-tf2 : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-tf2-ros : Depends: libboost-thread1.71.0 but it is not installable Depends: ros-noetic-tf2-py but it is not going to be installed ros-noetic-theora-image-transport : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-turtle-actionlib : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-urdf : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: liburdfdom-model but it is not installable E: Unable to correct problems, you have held broken packages.我执行到第三步后出现报错,请在此基础上给我能够成功安装ros1的操作步骤
最新发布
07-23
lixing@lixing:~/fast_livo2$ catkin_make Base path: /home/lixing/fast_livo2 Source space: /home/lixing/fast_livo2/src Build space: /home/lixing/fast_livo2/build Devel space: /home/lixing/fast_livo2/devel Install space: /home/lixing/fast_livo2/install #### #### Running command: "make cmake_check_build_system" in "/home/lixing/fast_livo2/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/lixing/fast_livo2/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/noetic -- This workspace overlays: /opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/lixing/fast_livo2/build/test_results -- Forcing gtest/gmock from source, though one was otherwise available. -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.12 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 5 packages in topological order: -- ~~ - livox_ros_driver2 -- ~~ - vikit_common -- ~~ - vikit_py -- ~~ - vikit_ros -- ~~ - fast_livo -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'livox_ros_driver2' -- ==> add_subdirectory(livox_ros_driver2) -- livox_ros_driver2 version: 1.0.0 -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.54") found components: system thread chrono -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex -- The imported target "vtkParseOGLExt" references the file "/usr/bin/vtkParseOGLExt-7.1" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "pvtk" references the file "/usr/bin/pvtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) ** 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 -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so) -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- looking for PCL_COMMON -- looking for PCL_KDTREE -- looking for PCL_OCTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- livox_ros_driver2: 2 messages, 0 services /usr/include/apr-1.0 apr-1 -- +++ processing catkin package: 'vikit_common' -- ==> add_subdirectory(rpg_vikit/vikit_common) Current CPU archtecture: x86_64 -- Found Eigen: /usr/include/eigen3 -- Eigen found (include: /usr/include/eigen3) -- +++ processing catkin package: 'vikit_py' -- ==> add_subdirectory(rpg_vikit/vikit_py) -- +++ processing catkin package: 'vikit_ros' -- ==> add_subdirectory(rpg_vikit/vikit_ros) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'fast_livo' -- ==> add_subdirectory(fast-livo2-native) -- Build Type: Release -- Current CPU architecture: x86_64 -- Using general x86 optimizations: -O3 -march=native -mtune=native -funroll-loops -- Processor count: 8 -- Multithreading enabled. Cores: 4 -- OpenMP found -- mimalloc not found, proceeding without it -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- The imported target "vtkParseOGLExt" references the file "/usr/bin/vtkParseOGLExt-7.1" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "pvtk" references the file "/usr/bin/pvtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) ** 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 -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so) -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- looking for PCL_COMMON -- looking for PCL_KDTREE -- looking for PCL_OCTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- Found Boost: /usr/include (found version "1.71.0") found components: thread chrono date_time atomic -- Configuring done -- Generating done -- Build files have been written to: /home/lixing/fast_livo2/build #### #### Running command: "make -j8 -l8" in "/home/lixing/fast_livo2/build" #### [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_py [ 20%] Built target vikit_common [ 20%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomMsg [ 22%] Building CXX object fast-livo2-native/CMakeFiles/imu_proc.dir/src/IMU_Processing.cpp.o [ 25%] Built target pre [ 25%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomPoint [ 26%] Building CXX object fast-livo2-native/CMakeFiles/laser_mapping.dir/src/LIVMapper.cpp.o [ 30%] Built target lio [ 36%] Built target vio [ 39%] Built target test_vk_common_camera [ 42%] Built target test_vk_common_patch_score [ 46%] Built target test_vk_common_triangulation [ 49%] Built target vikit_ros [ 52%] Built target livox_ros_driver2_generate_messages_cpp [ 55%] Built target livox_ros_driver2_generate_messages_nodejs [ 58%] Built target livox_ros_driver2_generate_messages_lisp [ 63%] Built target livox_ros_driver2_generate_messages_eus [ 68%] Built target livox_ros_driver2_generate_messages_py [ 93%] Built target livox_ros_driver2_node [ 93%] Built target livox_ros_driver2_generate_messages In file included from /home/lixing/fast_livo2/src/fast-livo2-native/src/IMU_Processing.cpp:13: /home/lixing/fast_livo2/src/fast-livo2-native/include/IMU_Processing.h:52:12: error: field ‘fout_imu’ has incomplete type ‘std::ofstream’ {aka ‘std::basic_ofstream<char>’} 52 | ofstream fout_imu; | ^~~~~~~~ In file included from /usr/include/c++/9/ios:38, from /usr/include/c++/9/istream:38, from /usr/include/c++/9/sstream:38, from /usr/include/c++/9/complex:45, from /usr/include/eigen3/Eigen/Core:96, from /usr/include/eigen3/Eigen/Dense:1, from /usr/include/eigen3/Eigen/Eigen:1, from /home/lixing/fast_livo2/src/fast-livo2-native/include/IMU_Processing.h:16, from /home/lixing/fast_livo2/src/fast-livo2-native/src/IMU_Processing.cpp:13: /usr/include/c++/9/iosfwd:119:11: note: declaration of ‘std::ofstream’ {aka ‘class std::basic_ofstream<char>’} 119 | class basic_ofstream; | ^~~~~~~~~~~~~~ In file included from /home/lixing/fast_livo2/src/fast-livo2-native/include/LIVMapper.h:16, from /home/lixing/fast_livo2/src/fast-livo2-native/src/LIVMapper.cpp:13: /home/lixing/fast_livo2/src/fast-livo2-native/include/IMU_Processing.h:52:12: error: field ‘fout_imu’ has incomplete type ‘std::ofstream’ {aka ‘std::basic_ofstream<char>’} 52 | ofstream fout_imu; | ^~~~~~~~ In file included from /usr/include/c++/9/ios:38, from /usr/include/c++/9/istream:38, from /usr/include/c++/9/sstream:38, from /usr/include/c++/9/complex:45, from /usr/include/eigen3/Eigen/Core:96, from /usr/include/eigen3/Eigen/Dense:1, from /usr/include/eigen3/Eigen/Eigen:1, from /home/lixing/fast_livo2/src/fast-livo2-native/include/IMU_Processing.h:16, from /home/lixing/fast_livo2/src/fast-livo2-native/include/LIVMapper.h:16, from /home/lixing/fast_livo2/src/fast-livo2-native/src/LIVMapper.cpp:13: /usr/include/c++/9/iosfwd:119:11: note: declaration of ‘std::ofstream’ {aka ‘class std::basic_ofstream<char>’} 119 | class basic_ofstream; | ^~~~~~~~~~~~~~ make[2]: *** [fast-livo2-native/CMakeFiles/imu_proc.dir/build.make:63:fast-livo2-native/CMakeFiles/imu_proc.dir/src/IMU_Processing.cpp.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:3562:fast-livo2-native/CMakeFiles/imu_proc.dir/all] 错误 2 make[1]: *** 正在等待未完成的任务.... make[2]: *** [fast-livo2-native/CMakeFiles/laser_mapping.dir/build.make:63:fast-livo2-native/CMakeFiles/laser_mapping.dir/src/LIVMapper.cpp.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:3589:fast-livo2-native/CMakeFiles/laser_mapping.dir/all] 错误 2 make: *** [Makefile:141:all] 错误 2 Invoking "make -j8 -l8" failed
07-22
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