前言
看到泡泡机器人今天推送的一篇文章：
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
泡泡机器人推送链接：http://www.sohu.com/a/251757206_715754
自己还蛮感兴趣的，想要动手编译跑一下，不会写代码，好歹要会跑一些东西啊哈哈哈啊
github链接：https://github.com/KumarRobotics/msckf_vio
编译走起：
环境：Ubuntu16.04+ros Kinectic
Step1:
基本的依赖看起来还比较常规，都是Eigen, OpenCV, and Boost这些东西,
一看我都已经安装好了，按照readme走起：
执行：
catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release出现报错（心里凉凉，吐槽一句，什么时候我可以一遍就过呢？？？）：
Base path: /home/hri/catkin_ws
Source space: /home/hri/catkin_ws/src
Build space: /home/hri/catkin_ws/build
Devel space: /home/hri/catkin_ws/devel
Install space: /home/hri/catkin_ws/install
####
#### Running command: "cmake /home/hri/catkin_ws/src -DCMAKE_BUILD_TYPE=Release -DCATKIN_DEVEL_PREFIX=/home/hri/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/hri/catkin_ws/install -G Unix Makefiles" in "/home/hri/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/hri/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/hri/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/hri/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/hri/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - msckf_vio
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'msckf_vio'
-- ==> add_subdirectory(msckf_vio)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by "pcl_conversions"
with any of the following names:
pcl_conversionsConfig.cmake
pcl_conversions-config.cmake
Add the installation prefix of "pcl_conversions" to CMAKE_PREFIX_PATH or
set "pcl_conversions_DIR" to a directory containing one of the above files.
If "pcl_conversions" provides a separate development package or SDK, be
sure it has been installed.
Call Stack (most recent call first):
msckf_vio/CMakeLists.txt:9 (find_package)
-- Could not find the required component 'pcl_conversions'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "pcl_conversions"
with any of the following names:
pcl_conversionsConfig.cmake
pcl_conversions-config.cmake
Add the installation prefix of "pcl_conversions" to CMAKE_PREFIX_PATH or
set "pcl_conversions_DIR" to a directory containing one of the above files.
If "pcl_conversions" provides a separate development package or SDK, be
sure it has been installed.
Call Stack (most recent call first):
msckf_vio/CMakeLists.txt:9 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/hri/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/hri/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed问题分析：
看起来是pcl的问题，所以我想到的是在CMakeListx.txt中添加pcl的东西！
采取措施：添加
set(pcl_DIR "/usr/include/pcl-1.7/" )
到CMakeLists.txt中
!!!上面的先放一放，我又发现了更可能的错误原因：
我看到上面报错里面有这么两句：
pcl_conversionsConfig.cmake
pcl_conversions-config.cmake而且我又返回CMakeLists.txt文件中看了一下，find_package()里面有：
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
tf
nav_msgs
sensor_msgs
geometry_msgs
eigen_conversions
tf_conversions
random_numbers
message_generation
nodelet
image_transport
cv_bridge
message_filters
pcl_conversions
pcl_ros
std_srvs
)然后我在/opt/ros/kinectic/share/下面找了一下，除了
pcl_conversions和pcl_ros我都找得到，所以联想起来我昨天没有装cv_bridge的（cv_bridge的情况可以参考我之前的帖子ros的cv_bridge问题的解决办法）情况，果断装一下这两个东西：
// --执行：
sudo apt-get install ros-kinetic-pcl-conversions ros-kinetic-pcl-ros
// --然后
sudo apt-get update然后重新尝试编译:
catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release然后变异的过程如下（先说一下结果，果然成功啦～好久没有这么快就能编译通过的代码了，不对，我好像也没有编译过什么别的代码2333333，但就是开心啊哈哈哈！）：
➜ catkin_ws catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release
Base path: /home/hri/catkin_ws
Source space: /home/hri/catkin_ws/src
Build space: /home/hri/catkin_ws/build
Devel space: /home/hri/catkin_ws/devel
Install space: /home/hri/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/hri/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/hri/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/hri/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/hri/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/hri/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - msckf_vio
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'msckf_vio'
-- ==> add_subdirectory(msckf_vio)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found OpenCV: /usr/local/opencv3.2.0 (found suitable version "3.2.0", minimum required is "3.2.0")
-- A library with BLAS API found.
-- Found AMD headers in: /usr/include/suitesparse
-- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so
-- Found CAMD headers in: /usr/include/suitesparse
-- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so
-- Found COLAMD headers in: /usr/include/suitesparse
-- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so
-- Found CCOLAMD headers in: /usr/include/suitesparse
-- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so
-- Found CHOLMOD headers in: /usr/include/suitesparse
-- Found CHOLMOD library: /usr/lib/x86_64-linux-gnu/libcholmod.so
-- Found SUITESPARSEQR headers in: /usr/include/suitesparse
-- Found SUITESPARSEQR library: /usr/lib/x86_64-linux-gnu/libspqr.so
-- Did not find Intel TBB library, assuming SuiteSparseQR was not compiled with TBB.
-- Found SUITESPARSE_CONFIG headers in: /usr/include/suitesparse
-- Found SUITESPARSE_CONFIG library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so
-- Found LIBRT library: /usr/lib/x86_64-linux-gnu/librt.so
-- Adding librt: /usr/lib/x86_64-linux-gnu/librt.so to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
-- Did not find METIS library (optional SuiteSparse dependency)
-- Found SuiteSparse: TRUE (found version "4.4.6")
-- msckf_vio: 3 messages, 0 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/hri/catkin_ws/build
####
#### Running command: "make -j8 -l8" in "/home/hri/catkin_ws/build/msckf_vio"
####
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好了，编译通过了，那么现在重要的事情就是泡泡数据来爽一下了！