ROS移植机器人小车：问题集(2)

小问题比较多，根据自己编译的情况罗列，不一定是最佳解决办法。

-------------------------------------------------------------------------

CMake Error at /usr/share/cmake-3.16/Modules/FindQt4.cmake:1314 (message):
Found unsuitable Qt version "5.12.8" from /usr/bin/qmake, this code
requires Qt 4.x
Call Stack (most recent call first):
lidar/hector_slam/hector_geotiff/CMakeLists.txt:12 (find_package)

NOT working
sudo add-apt-repository ppa:rock-core/qt4
sudo add-apt-repository --remove ppa:rock-core/qt4

网上有个说法，修改 src/lidar/hector_slam/hector_geotiff/CMakeLists.txt，把

find_package(Qt4 4.6 COMPONENTS QtCore QtGui REQUIRED)

改为

find_package(Qt5 COMPONENTS Core Gui REQUIRED)
我试了一上，出现下面两个问题

---------------------------------------------------------------------
ubuntu@ubuntu:/opt$ whereis qmake
qmake: /usr/bin/qmake
ubuntu@ubuntu:/opt$ whereis qt5
qt5: /usr/lib/aarch64-linux-gnu/qt5 /usr/lib/qt5 /usr/share/qt5

CMake Error at lidar/hector_slam/hector_geotiff/CMakeLists.txt:28 (include):
include called with wrong number of arguments. include() only takes one
file.

CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'QT' but neither 'QT_INCLUDE_DIRS' nor
'QT_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
lidar/hector_slam/hector_geotiff/CMakeLists.txt:69 (catkin_package)

---------------------------------------------------------------------------
CMake Error at lidar/hector_slam/hector_geotiff/CMakeLists.txt:29 (include):
include called with wrong number of arguments. include() only takes one
file.

CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'QT' but neither 'QT_INCLUDE_DIRS' nor 'QT_LIBRARIES' is defined.

最终发现，hector_slam的版本不对，换个版本能解决这个问题

解决办法，

下载对应的版本并重新编译

-------------------------------------------------------------------------------

CMake Error at /usr/lib/aarch64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake:117 (find_package):
Could not find a package configuration file provided by "boost_signals"
(requested version 1.71.0) with any of the following names:

boost_signalsConfig.cmake
boost_signals-config.cmake

Add the installation prefix of "boost_signals" to CMAKE_PREFIX_PATH or set
"boost_signals_DIR" to a directory containing one of the above files. If
"boost_signals" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
/usr/lib/aarch64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake:182 (boost_find_component)
/usr/share/cmake-3.16/Modules/FindBoost.cmake:443 (find_package)
imu_filter_madgwick/CMakeLists.txt:6 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/ubuntu/riki/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ubuntu/riki/catkin_ws/build/CMakeFiles/CMakeError.log".

这个问题十分奇怪，我是尝试着解决的，办法如下，

sudo apt autoremove

sudo apt update

sudo apt upgrade

后来还重新安装了一次ros-noetic才解决。具体原因可能是文件包冲突。

----------------------------------------------------------------------------------

[ 34%] Building CXX object opencv_apps/CMakeFiles/phase_corr_exe.dir/phase_corr.cpp.o
In file included from /usr/include/string.h:495,
                 from ../Include/Linux-Arm/../Linux-x86/XnPlatformLinux-x86.h:34,
                 from ../Include/Linux-Arm/XnPlatformLinux-Arm.h:25,
                 from ../Include/XnPlatform.h:55,
                 from ../Include/XnOS.h:27,
                 from ../Include/XnProfiling.h:27,
                 from XnProfiling.cpp:24:
In function ‘char* strncpy(char*, const char*, size_t)’,
    inlined from ‘XnStatus xnProfilingSectionStart(const char*, XnBool, XnProfilingHandle*)’ at XnProfiling.cpp:220:11:
/usr/include/aarch64-linux-gnu/bits/string_fortified.h:106:34: warning: ‘char* __builtin_strncpy(char*, const char*, long unsigned int)’ specified bound 256 equals destination size [-Wstringop-truncation]
106 |   return __builtin___strncpy_chk (__dest, __src, __len, __bos (__dest));
      |          ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
[ 34%] Linking CXX executable /home/ubuntu/riki/catkin_ws/devel/lib/opencv_apps/face_recognition
[ 34%] Built target face_recognition_exe
Scanning dependencies of target watershed_segmentation_exe
[ 34%] Building CXX object opencv_apps/CMakeFiles/watershed_segmentation_exe.dir/watershed_segmentation.cpp.o
Linux/XnLinuxUSB.cpp:40:10: fatal error: libudev.h: No such file or directory
   40 | #include <libudev.h>
      |          ^~~~~~~~~~~
compilation terminated.

解决办法，
sudo apt-get install libudev-dev

------------------------------------------------------------------------
In file included from /home/ubuntu/riki/catkin_ws/src/clbrobot_project/clbrobot/src/riki_base.cpp:4:
/home/ubuntu/riki/catkin_ws/src/clbrobot_project/clbrobot/include/riki_base.h:5:10: fatal error: riki_msgs/Velocities.h: No such file or directory
5 | #include <riki_msgs/Velocities.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [clbrobot_project/clbrobot/CMakeFiles/riki_base.dir/build.make:63: clbrobot_project/clbrobot/CMakeFiles/riki_base.dir/src/riki_base.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:15585: clbrobot_project/clbrobot/CMakeFiles/riki_base.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

解决办法，

catkin_make -DCATKIN_WHITELIST_PACKAGES="riki_msgs"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""

--------------------------------------------------------------------------
In file included from /home/ubuntu/riki/catkin_ws/src/clbrobot_project/frontier_exploration/polygon_layer/src/polygon_layer.cpp:1:
/home/ubuntu/riki/catkin_ws/src/clbrobot_project/frontier_exploration/polygon_layer/include/polygon_layer/polygon_layer.h:9:10: fatal error: exploration_msgs/SetPolygon.h: No such file or directory
9 | #include <exploration_msgs/SetPolygon.h>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [clbrobot_project/frontier_exploration/polygon_layer/CMakeFiles/polygon_layer.dir/build.make:63: clbrobot_project/frontier_exploration/polygon_layer/CMakeFiles/polygon_layer.dir/src/polygon_layer.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:20435: clbrobot_project/frontier_exploration/polygon_layer/CMakeFiles/polygon_layer.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

解决办法，
catkin_make -DCATKIN_WHITELIST_PACKAGES="exploration_msgs"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""

－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－－
/usr/bin/ld: CMakeFiles/apply_calib.dir/src/apply_calib.cpp.o: in function `imu_calib::ApplyCalib::ApplyCalib()':
apply_calib.cpp:(.text+0x50): undefined reference to `imu_calib::AccelCalib::AccelCalib()'
/usr/bin/ld: apply_calib.cpp:(.text+0x1ec): undefined reference to `imu_calib::AccelCalib::loadCalib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
/usr/bin/ld: apply_calib.cpp:(.text+0x208): undefined reference to `imu_calib::AccelCalib::calibReady()'
/usr/bin/ld: CMakeFiles/apply_calib.dir/src/apply_calib.cpp.o: in function `imu_calib::ApplyCalib::rawImuCallback(boost::shared_ptr<riki_msgs::Imu_<std::allocator<void> > const>)':
apply_calib.cpp:(.text+0xc54): undefined reference to `imu_calib::AccelCalib::applyCalib(double*, double*)'
collect2: error: ld returned 1 exit status
make[2]: *** [clbrobot_project/imu_calib/CMakeFiles/apply_calib.dir/build.make:117: /home/ubuntu/riki/catkin_ws/devel/lib/imu_calib/apply_calib] Error 1
make[1]: *** [CMakeFiles/Makefile2:7620: clbrobot_project/imu_calib/CMakeFiles/apply_calib.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 61%] Linking CXX executable /home/ubuntu/riki/catkin_ws/devel/lib/imu_calib/do_calib
/usr/bin/ld: CMakeFiles/do_calib.dir/src/do_calib.cpp.o: in function `imu_calib::DoCalib::DoCalib()':
do_calib.cpp:(.text+0x50): undefined reference to `imu_calib::AccelCalib::AccelCalib()'
/usr/bin/ld: CMakeFiles/do_calib.dir/src/do_calib.cpp.o: in function `imu_calib::DoCalib::imuCallback(boost::shared_ptr<riki_msgs::Imu_<std::allocator<void> > const>)':
do_calib.cpp:(.text+0x714): undefined reference to `imu_calib::AccelCalib::beginCalib(int, double)'
/usr/bin/ld: do_calib.cpp:(.text+0x858): undefined reference to `imu_calib::AccelCalib::addMeasurement(imu_calib::AccelCalib::Orientation, double, double, double)'
/usr/bin/ld: do_calib.cpp:(.text+0x8f8): undefined reference to `imu_calib::AccelCalib::computeCalib()'
/usr/bin/ld: do_calib.cpp:(.text+0x964): undefined reference to `imu_calib::AccelCalib::saveCalib(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
collect2: error: ld returned 1 exit status
make[2]: *** [clbrobot_project/imu_calib/CMakeFiles/do_calib.dir/build.make:117: /home/ubuntu/riki/catkin_ws/devel/lib/imu_calib/do_calib] Error 1
make[1]: *** [CMakeFiles/Makefile2:7677: clbrobot_project/imu_calib/CMakeFiles/do_calib.dir/all] Error 2
fatal: unable to access 'https://github.com/orbbec/OpenNI2.git/': GnuTLS recv error (-110): The TLS connection was non-properly terminated.
CMake Error at /home/ubuntu/riki/catkin_ws/build/depth_camera/ros_astra_camera/astra_openni2/tmp/astra_openni2-gitupdate.cmake:55 (message):
Failed to fetch repository 'https://github.com/orbbec/OpenNI2.git'

make[2]: *** [depth_camera/ros_astra_camera/CMakeFiles/astra_openni2.dir/build.make:96: depth_camera/ros_astra_camera/astra_openni2/src/astra_openni2-stamp/astra_openni2-update] Error 1
make[1]: *** [CMakeFiles/Makefile2:6461: depth_camera/ros_astra_camera/CMakeFiles/astra_openni2.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j4 -l4" failed

老问题，链接不正确，可能生成了空的链接文件，强制重新编译一下。

---------------------------------------------------------------
[ 84%] Generating EusLisp code from frontier_exploration/ExploreTaskFeedback.msg
/bin/sh: 1: python2.7: not found
/bin/sh: 1: python2.7: not found
/bin/sh: 1: python2.7: not found
/bin/sh: 1: python2.7: not found
make[3]: Packaging/Harvest.py: Command not found
make[3]: *** [Makefile:205: release] Error 127
make[2]: *** [depth_camera/ros_astra_camera/CMakeFiles/astra_openni2.dir/build.make:112: depth_camera/ros_astra_camera/astra_openni2/src/astra_openni2-stamp/astra_openni2-build] Error 2
make[1]: *** [CMakeFiles/Makefile2:6461: depth_camera/ros_astra_camera/CMakeFiles/astra_openni2.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 84%] Generating EusLisp manifest code for frontier_exploration
[ 84%] Built target frontier_exploration_generate_messages_eus
[ 84%] Linking CXX executable /home/ubuntu/riki/catkin_ws/devel/lib/exploration_server/plugin_client
[ 84%] Built target plugin_client
[ 84%] Linking CXX executable /home/ubuntu/riki/catkin_ws/devel/lib/exploration_server/exploration_server_node
[ 84%] Built target exploration_server_node
make: *** [Makefile:141: all] Error 2
Invoking "make -j4 -l4" failed

解决办法，

Step 1: Update system:

   sudo apt-get update

Step 2: Install: python2.7-minimal

Ater updaing the OS run following command to install the packae:

   sudo apt-get install python2.7-minimal

参考：

Install python2.7-minimal on Ubuntu: sudo apt-get install python2.7-minimal

--------------------------------------------------------------------
Scanning dependencies of target depthimage_to_laserscan
[ 85%] Building CXX object depth_camera/depthimage_to_laserscan/CMakeFiles/depthimage_to_laserscan.dir/src/depthimage_to_laserscan.cpp.o
/home/ubuntu/riki/catkin_ws/src/clbrobot_project/riki_line_follower/src/linedetect.cpp: In member function ‘int LineDetect::colorthresh(cv::Mat)’:
/home/ubuntu/riki/catkin_ws/src/clbrobot_project/riki_line_follower/src/linedetect.cpp:96:5: error: ‘CV_FONT_HERSHEY_COMPLEX’ was not declared in this scope
96 | CV_FONT_HERSHEY_COMPLEX, 1, CV_RGB(255, 0, 0));
| ^~~~~~~~~~~~~~~~~~~~~~~
[ 85%] Linking CXX shared library /home/ubuntu/riki/catkin_ws/devel/lib/libDepthImageToLaserScanNodelet.so
[ 85%] Built target DepthImageToLaserScanNodelet
Scanning dependencies of target riki_lidar_follower_generate_messages
[ 85%] Built target riki_lidar_follower_generate_messages
Scanning dependencies of target opencv_apps
[ 85%] Linking CXX executable /home/ubuntu/riki/catkin_ws/devel/lib/depthimage_to_laserscan/depthimage_to_laserscan
[ 85%] Building CXX object opencv_apps/CMakeFiles/opencv_apps.dir/src/nodelet/nodelet.cpp.o
[ 85%] Built target depthimage_to_laserscan
[ 86%] Building CXX object opencv_apps/CMakeFiles/opencv_apps.dir/src/nodelet/adding_images_nodelet.cpp.o
make[2]: *** [clbrobot_project/riki_line_follower/CMakeFiles/detect.dir/build.make:76: clbrobot_project/riki_line_follower/CMakeFiles/detect.dir/src/linedetect.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:5178: clbrobot_project/riki_line_follower/CMakeFiles/detect.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 86%] Building CXX object opencv_apps/CMakeFiles/opencv_apps.dir/src/nodelet/discrete_fourier_transform_nodelet.cpp.o
[ 86%] Building CXX object opencv_apps/CMakeFiles/opencv_apps.dir/src/nodelet/pyramids_nodelet.cpp.o

原因，
这个是 opencv4的问题

以前系统的路径是

/usr/include/opecv2/**

到opencv4以后，系统默认的路径变成了

/usr/include/opencv4/opecv2/**

默认安装的是opencv4，采用cmake编译的时候，cmake一般也能找到opencv4；编译时候报错：

fatal error: opencv2/opencv.hpp: No such file or directory
#include <opencv2/opencv.hpp>

解决方案，

这是因为opencv头文件的路径中多了一个opencv4的文件夹：/usr/include/opencv4/opencv2，

我的办法：将opencv2文件夹链接到include文件夹下
sudo ln -s /usr/include/opencv4/opencv2 /usr/include/

将/usr/include/opencv4添加系统路径中去也应该可以解决这个问题。

-------------------------------------------------------------------------------------------------------
/home/ubuntu/riki/catkin_ws/src/opencv_apps/src/nodelet/discrete_fourier_transform_nodelet.cpp:61:24: error: ‘DiscreteFourierTransformConfig’ in namespace ‘opencv_apps’ does not name a type; did you mean ‘DiscreteFourierTransformNodelet’?
   61 |   typedef opencv_apps::DiscreteFourierTransformConfig Config;
      |                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |                        DiscreteFourierTransformNodelet
/home/ubuntu/riki/catkin_ws/src/opencv_apps/src/nodelet/discrete_fourier_transform_nodelet.cpp:62:39: error: ‘Config’ was not declared in this scope; did you mean ‘dynamic_reconfigure::Config’?
   62 |   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
      |                                       ^~~~~~
      |                                       dynamic_reconfigure::Config

解决办法，

到下面的地址，

https://github.com/ros-perception/opencv_apps

根据你自己的系统，选择合适版本的opencv_apps，比如我在树莓派上装的ubuntu20.04.4 focal系统，就选这个
opencv_apps-release-debian-ros-noetic-opencv-apps_2.0.2-1_focal

-------------------------------------------------------------------------------------------------------
/home/ubuntu/riki/catkin_ws/src/clbrobot_project/riki_line_follower/src/linedetect.cpp: In member function ‘int LineDetect::colorthresh(cv::Mat)’:
/home/ubuntu/riki/catkin_ws/src/clbrobot_project/riki_line_follower/src/linedetect.cpp:96:5: error: ‘CV_FONT_HERSHEY_COMPLEX’ was not declared in this scope
96 | CV_FONT_HERSHEY_COMPLEX, 1, CV_RGB(255, 0, 0));
| ^~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [clbrobot_project/riki_line_follower/CMakeFiles/detect.dir/build.make:76: clbrobot_project/riki_line_follower/CMakeFiles/detect.dir/src/linedetect.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:5178: clbrobot_project/riki_line_follower/CMakeFiles/detect.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

原因：

不知道为什么，#include <opencv2/opencv.hpp>不再包含imgproc_c.h中的内容，

解决办法：在linedetect.cpp中添加头文件

#include <opencv2/imgproc/imgproc_c.h>

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