correction of ar_pose compilation

最新推荐文章于 2024-02-22 10:43:38 发布

原创最新推荐文章于 2024-02-22 10:43:38 发布 · 935 阅读

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本文详细介绍了如何解决ROS项目中遇到的依赖缺失错误和代码中出现的缺失声明错误，通过安装必要的库文件和修复代码片段，最终成功使项目编译通过并运行。文中还提到了在不完全解决问题的情况下，推荐使用特定命令来避免不必要的编译错误。

1. apt-file is a good tool to use.
It has been installed and updated by

$ sudo apt-get install apt-file
$ sudo apt-file update

2. missing file error and correction:
[ 80%] Building CXX object CMakeFiles/ar_multi.dir/src/ ar_multi.o
In file included from /home/wang/ros/ccny_vision/artoolkit/include/AR/video.h:102:0,
                 from /home/wang/ros/ccny_vision/ar_pose/include/ar_pose/ar_multi.h:30,
                 from /home/wang/ros/ccny_vision/ar_pose/src/ar_multi.cpp:23:
/home/wang/ros/ccny_vision/artoolkit/include/AR/sys/videoLinuxV4L.h:27:32: fatal error: libv4l1-videodev.h: No such file or directory
compilation terminated.
make[3]: *** [CMakeFiles/ar_multi.dir/src/ar_multi.o] Error 1
make[3]: Leaving directory `/home/wang/ros/ccny_vision/ar_pose/build'
make[2]: *** [CMakeFiles/ar_multi.dir/all] Error 2
make[2]: Leaving directory `/home/wang/ros/ccny_vision/ar_pose/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/wang/ros/ccny_vision/ar_pose/build'
make: *** [all] Error 2
[wang:~/ros/ccny_vision/ar_pose]
$ apt-file search libv4l1-videodev.h
libv4l-dev: /usr/include/libv4l1-videodev.h
[wang:~/ros/ccny_vision/ar_pose]
$ sudo apt-get install libv4l-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following NEW packages will be installed:
libv4l-dev
0 upgraded, 1 newly installed, 0 to remove and 27 not upgraded.
Need to get 7,888 B of archives.
After this operation, 57.3 kB of additional disk space will be used.
Get:1 http://hk.archive.ubuntu.com/ubuntu/ precise-updates/main libv4l-dev i386 0.8.6-1ubuntu2 [7,888 B]
Fetched 7,888 B in 0s (14.9 kB/s)
Selecting previously unselected package libv4l-dev.
(Reading database ... 327821 files and directories currently installed.)
Unpacking libv4l-dev (from .../libv4l-dev_0.8.6-1ubuntu2_i386.deb) ...
Setting up libv4l-dev (0.8.6-1ubuntu2) ...
[wang:~/ros/ccny_vision/ar_pose]
$make

3. Error of missing declaration:
/home/wang/ros/ccny_vision/ar_pose/src/ar_multi.cpp:71:9: error: ‘th_confidence_’ was not declared in this scope
/home/wang/ros/ccny_vision/ar_pose/src/ar_multi.cpp: In member function ‘void ar_pose::ARSinglePublisher::camInfoCallback(const CameraInfoConstPtr&)’:
/home/wang/ros/ccny_vision/ar_pose/src/ar_multi.cpp:142:13: error: ‘cam_sub_1’ was not declared in this scope
/home/wang/ros/ccny_vision/ar_pose/src/ar_multi.cpp: In member function ‘void ar_pose::ARSinglePublisher::getTransformationCallback(const ImageConstPtr&)’:
/home/wang/ros/ccny_vision/ar_pose/src/ar_multi.cpp:215:78: error: ‘th_confidence_’ was not declared in this scope

$ vi src/ar_multi.cpp +71
$ vi include/ar_multi.h +100   # check the thing that added. May lost the original corrected file via svn. Now it is ok.

4. another small error.

5. $make
It is ok now.

PS: Since not all the errors have been corrected, such as dependencies of ccny_vision, should NOT use

rosmake --rosdep- install

just do "make" in the ar_pose package would be fine.