ubuntu20.04安装Octomap

安装依赖

 sudo apt-get install doxygen -y

下载

# 加上https://www.ghproxy.cn，加速下载
git clone https://www.ghproxy.cn/https://github.com/OctoMap/octomap

如果网速太慢，下载老断，可直接下载zip

wget -O octomap.zip https://www.ghproxy.cn/https://github.com/OctoMap/octomap/archive/refs/heads/devel.zip
# 解压
unzip -d octomap octomap.zip

编译安装libQGLViewer

如果没有libQGLViewer，运行会报以下错

octovis: error while loading shared libraries: libQGLViewer.so.2: cannot open shared object file: No such file or directory

cd octomap/octovis/src/extern/QGLViewer
mkdir build
cd build
qmake ..
make
sudo make install

编译安装octomap

cd octomap/octomap
mkdir build
cd build
cmake ..
make
sudo make install

编译安装octovis

cd octomap/octovis
mkdir build
cd build
cmake ..
make
sudo make install

运行

# 注意检查geb079.bt这个是否存在，若不存在，运行后显示的是一片空白
octovis ./octomap/share/data/geb079.bt