前言
这两天遇到了先后遇到了，
1. rosbuild_ws下面编译通过代码，但是无法执行程序，无法跑数据库的尴尬局面；
2. rosbuild_ws下面同时存在LearnVIORB和另外一个基于此的代码的时候，ros路径的问题；
3. 然后rosbuild_ws彻底不工作的问题；
4. ~/.zshrc系列设置的问题；
5. 然后索性把rosbuild_ws下面的东西先拷贝出来。在catkin_ws下面编译！
这次记录了在这个下面编译VIORB的过程中先后遇到的问题，记录一下！
——————————————————————————————————————————————————————
问题一：
编译过程中出现YOU MIXED DIFFERENT NUMERIC TYPES等等错误，就是说显示的是各种看起来让人不舒服的<>这种括号里面乱七八糟的东西，因为之前单独编译ORB-SLAM的时候也遇到过，就一下子解决了
【解决办法】
Step1:
在LearnVIORB项目下，进入到Thirdparty/g2o/g2o/solvers目录下面：
Step2:
用vim或者gedit修改linear_solver_eigen.h文件；
具体的修改的内容：
//1.找到下面这一行：
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
//2.把上面找到的这一行修改为：
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;
简而言之，上面其实就是把<>里面的SparseMatrix::Index换成int而已
Step3:
保存退出重新编译。
然后在编译的过程中我又遇到了这样的问题：
————————————————————————————————————————————————————————
问题二：
OpenCV版本的问题，LearnVIORB 提供的是OpenCV 2.x.x的版本，具体的我忘记了，
但是在编译的过程中总是走到开始编译 VIO部分60%部分的时候报错然后就失败了！！！
【解决办法】
这个比较简单，不一一列举了！
简单的说就是把 LearnVIORB下面的 CMakeList.txt和Examples/ROS/VIO_ORB下面的CMakeList.txt中的find package()都改成相应的版本，顺便还要在之前添加:
set( OpenCV_DIR "/usr/local/opencv3.2.0/share/OpenCV")
这里我以自己安装opencv3的地址为例，记住是每个CMakeListx.txt都要进行这样的操作～
好了，这下VIORB的VIO的部分能够编译到100%了，但是又出现了如下的新的问题：
——————————————————————————————————————————————————————
问题三：
报错信息：
基本就是各种undefined reference to XXX
看得我就很生气！很生气！
Scanning dependencies of target VIO
[ 66%] Building CXX object CMakeFiles/VIO.dir/src/MsgSync/MsgSynchronizer.cpp.o
[ 66%] Building CXX object CMakeFiles/VIO.dir/src/ros_vio.cc.o
[100%] Linking CXX executable ../VIO
CMakeFiles/VIO.dir/src/ros_vio.cc.o: In function `bool rosbag::Bag::readField<unsigned int>(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, bool, unsigned int*) const':
ros_vio.cc:(.text._ZNK6rosbag3Bag9readFieldIjEEbRKSt3mapISsSsSt4lessISsESaISt4pairIKSsSsEEERS6_bPT_[_ZNK6rosbag3Bag9readFieldIjEEbRKSt3mapISsSsSt4lessISsESaISt4pairIKSsSsEEERS6_bPT_]+0x25): undefined reference to `rosbag::Bag::checkField(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, unsigned int, unsigned int, bool) const'
CMakeFiles/VIO.dir/src/ros_vio.cc.o: In function `ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&, void>::deserialize(ros::SubscriptionCallbackHelperDeserializeParams const&)':
ros_vio.cc:(.text._ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN11sensor_msgs4Imu_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE[_ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN11sensor_msgs4Imu_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE]+0x6f7): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
CMakeFiles/VIO.dir/src/ros_vio.cc.o: In function `boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > > rosbag::Bag::instantiateBuffer<sensor_msgs::Imu_<std::allocator<void> > >(rosbag::IndexEntry const&) const':
ros_vio.cc:(.text._ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs4Imu_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE[_ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs4Imu_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE]+0x3ab): undefined reference to `rosbag::Bag::readField(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, bool, std::string&) const'
ros_vio.cc:(.text._ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs4Imu_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE[_ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs4Imu_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE]+0x3c5): undefined reference to `rosbag::Bag::readField(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, bool, std::string&) const'
ros_vio.cc:(.text._ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs4Imu_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE[_ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs4Imu_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE]+0x3df): undefined reference to `rosbag::Bag::readField(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, bool, std::string&) const'
CMakeFiles/VIO.dir/src/ros_vio.cc.o: In function `boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > > rosbag::Bag::instantiateBuffer<sensor_msgs::Image_<std::allocator<void> > >(rosbag::IndexEntry const&) const':
ros_vio.cc:(.text._ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs6Image_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE[_ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs6Image_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE]+0x3ab): undefined reference to `rosbag::Bag::readField(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, bool, std::string&) const'
ros_vio.cc:(.text._ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs6Image_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE[_ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs6Image_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE]+0x3c5): undefined reference to `rosbag::Bag::readField(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, bool, std::string&) const'
CMakeFiles/VIO.dir/src/ros_vio.cc.o:ros_vio.cc:(.text._ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs6Image_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE[_ZNK6rosbag3Bag17instantiateBufferIN11sensor_msgs6Image_ISaIvEEEEEN5boost10shared_ptrIT_EERKNS_10IndexEntryE]+0x3df): more undefined references to `rosbag::Bag::readField(std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&, std::string const&, bool, std::string&) const' follow
CMakeFiles/VIO.dir/src/ros_vio.cc.o: In function `main':
ros_vio.cc:(.text.startup+0x5f): undefined reference to `ros::init(int&, char**, std::string const&, unsigned int)'
ros_vio.cc:(.text.startup+0x216): undefined reference to `ros::NodeHandle::NodeHandle(std::string const&, std::map<std::string, std::string, std::less<std::string>, std::allocator<std::pair<std::string const, std::string> > > const&)'
ros_vio.cc:(.text.startup+0x4c0): undefined reference to `rosbag::Bag::open(std::string const&, unsigned int)'
ros_vio.cc:(.text.startup+0x55e): undefined reference to `rosbag::TopicQuery::TopicQuery(std::vector<std::string, std::allocator<std::string> > const&)'
ros_vio.cc:(.text.startup+0x6db): undefined reference to `rosbag::MessageInstance::getMD5Sum() const'
ros_vio.cc:(.text.startup+0x799): undefined reference to `rosbag::MessageInstance::getMD5Sum() const'
ros_vio.cc:(.text.startup+0xd35): undefined reference to `cv_bridge::toCvShare(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, std::string const&)'
ros_vio.cc:(.text.startup+0x124b): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
ros_vio.cc:(.text.startup+0x13e3): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
ros_vio.cc:(.text.startup+0x1455): undefined reference to `cv_bridge::toCvShare(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, std::string const&)'
ros_vio.cc:(.text.startup+0x19c8): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
ros_vio.cc:(.text.startup+0x1e38): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
CMakeFiles/VIO.dir/src/ros_vio.cc.o: In function `ros::SubscriptionCallbackHelperT<boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, void>::deserialize(ros::SubscriptionCallbackHelperDeserializeParams const&)':
ros_vio.cc:(.text._ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE[_ZN3ros27SubscriptionCallbackHelperTIRKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEEvE11deserializeERKNS_43SubscriptionCallbackHelperDeserializeParamsE]+0x5b9): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
CMakeFiles/VIO.dir/src/MsgSync/MsgSynchronizer.cpp.o: In function `ORBVIO::MsgSynchronizer::getRecentMsgs(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const>&, std::vector<boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>, std::allocator<boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> > >&)':
MsgSynchronizer.cpp:(.text+0x19ab): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
MsgSynchronizer.cpp:(.text+0x1b24): undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
CMakeFiles/VIO.dir/src/MsgSync/MsgSynchronizer.cpp.o:MsgSynchronizer.cpp:(.text+0x1bf5): more undefined references to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)' follow
collect2: error: ld returned 1 exit status
CMakeFiles/VIO.dir/build.make:268: recipe for target '../VIO' failed
make[2]: *** [../VIO] Error 1
CMakeFiles/Makefile2:163: recipe for target 'CMakeFiles/VIO.dir/all' failed
make[1]: *** [CMakeFiles/VIO.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Launch file in Examples/ROS/ORB_VIO/launch.
Modify the configuration file config/euroc.yaml
Run as: roslaunch ORB_VIO testeuroc.launch【解决办法】
尝试1：
参考https://github.com/ANYbotics/grid_map/issues/159
采取方式：把gcc的版本从4.8切换到5.4
结果：VIO只走到33%，还不如刚刚了，出现了更多的undefined的东西，而且pangolin也不对经了！
难道我刚刚加的东西有问题？？？
尝试2：
采取措施：在尝试1的基础上，把CMakeList.txt中的我添加的部分，include_directories()里面的东西取消掉
结果：VIO的编译达到了100%,说明还是有效果的，但是还是出现了如下报错信息：
基本上看起来都是第三方库的原因了，说明还是有进步的，起码有继续一个一个修改的欲望了！明天继续！
对哦，我怀疑现在的问题是c++11标准的问题，明天该CMakeLists.txt中的c++11标准部分，直接启用这个试试 ！
[ 0%] Built target rospack_genmsg_libexe
[ 0%] Built target rosbuild_precompile
Scanning dependencies of target VIO
[ 66%] Building CXX object CMakeFiles/VIO.dir/src/ros_vio.cc.o
[ 66%] Building CXX object CMakeFiles/VIO.dir/src/MsgSync/MsgSynchronizer.cpp.o
[100%] Linking CXX executable ../VIO
../../../../lib/libORB_SLAM2.so: undefined reference to `DBoW2::FORB::toString[abi:cxx11](cv::Mat const&)'
../../../../lib/libORB_SLAM2.so: undefined reference to `pangolin::CreateWindowAndBind(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, int, pangolin::Params const&)'
../../../../lib/libORB_SLAM2.so: undefined reference to `pangolin::CreatePanel(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
../../../../lib/libORB_SLAM2.so: undefined reference to `pangolin::BindToContext(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
../../../../lib/libORB_SLAM2.so: undefined reference to `g2o::writeCCSMatrix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int, int const*, int const*, double const*, bool)'
../../../../lib/libORB_SLAM2.so: undefined reference to `pangolin::Split(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char)'
../../../../lib/libORB_SLAM2.so: undefined reference to `DBoW2::FORB::fromString(cv::Mat&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
collect2: error: ld returned 1 exit status
CMakeFiles/VIO.dir/build.make:268: recipe for target '../VIO' failed
make[2]: *** [../VIO] Error 1
CMakeFiles/Makefile2:163: recipe for target 'CMakeFiles/VIO.dir/all' failed
make[1]: *** [CMakeFiles/VIO.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Launch file in Examples/ROS/ORB_VIO/launch.
Modify the configuration file config/euroc.yaml
Run as: roslaunch ORB_VIO testeuroc.launch尝试3：
采取措施：CMakeLists.txt中的c++11标准直接进行，不搞那些判断的语句了！注释掉试试！
把之前的注释掉！，只保留
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
结果：失败，但是VIO的编译还是能够走到100%的，心塞塞
报错和刚刚一毛一样，说明这样的修改无效！
继续新的尝试～～
尝试4：
采取措施：
（猜测还是OpenCV的问题？？？）
Step1:修改set(CMAKE_CXXFLAGS)
Step2:set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )
Step3:进入Thirdparty中，把BDOW和G2O下面的build都删掉然后重新编译！
结果：
-- Build files have been written to: /home/hri/catkin_ws/src/LearnVIORB/Examples/ROS/ORB_VIO/build
[ 0%] Built target rospack_genmsg_libexe
[ 0%] Built target rosbuild_precompile
[ 66%] Building CXX object CMakeFiles/VIO.dir/src/MsgSync/MsgSynchronizer.cpp.o
[ 66%] Building CXX object CMakeFiles/VIO.dir/src/ros_vio.cc.o
[100%] Linking CXX executable ../VIO
../../../../lib/libORB_SLAM2.so: undefined reference to `pangolin::CreateWindowAndBind(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, int, pangolin::Params const&)'
../../../../lib/libORB_SLAM2.so: undefined reference to `pangolin::CreatePanel(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
../../../../lib/libORB_SLAM2.so: undefined reference to `pangolin::BindToContext(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)'
../../../../lib/libORB_SLAM2.so: undefined reference to `pangolin::Split(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, char)'
collect2: error: ld returned 1 exit status
CMakeFiles/VIO.dir/build.make:268: recipe for target '../VIO' failed
make[2]: *** [../VIO] Error 1
CMakeFiles/Makefile2:163: recipe for target 'CMakeFiles/VIO.dir/all' failed
make[1]: *** [CMakeFiles/VIO.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Launch file in Examples/ROS/ORB_VIO/launch.
Modify the configuration file config/euroc.yaml
Run as: roslaunch ORB_VIO testeuroc.launch分析：关于BOW和g2o的undefined的报错都没有了，说明采取的措施的第三步奏效了，
那么也就是说Pangolin可能需要重新编译一下？？？
再进行尝试：
尝试5：
回头看了一下，发现关于Pangolin的报错是从我把gcc/g++的版本从4.8切换到5.4之后才产生的，所以，我是不是要用gcc/g++5.4的形态对pangolin重新进行一次编译？
采取措施：恢复之前的注释掉的关于c++11标准的东西再编译一遍！(和预想的一样，派出了c++11标准的幺蛾子！)
想法：set（）一下Pangolin的头文件的路径！应该就是这里的问题了吧！
// --在CMakeLists.txt中添加一下
set( Pangolin_DIR "/usr/local/include/pangolin")结果：编译都无法通过，说明我添加的是错的，对cmake一无所知！！！
重新添加一下路径
set（pangolin/display）
结果：也不行，VIO的编译通过不了
继续尝试：
set( Pangolin_DIR “/home/hri/ThirdParty/Pangolin-master/CMakeModules”)
结果：还是失败！
我觉得因该是得重新装Pangolin了
尝试6：
分析：网上搜了一下关于undefined reference的报错的帖子，里面都提到了gcc/g++的相关东西，我就在想是不是因为之前环境都是用gcc/g++4.8来弄的，但是这次的ros环境下的东西我又都是在5.4版本下面弄得（前面说了4.8的时候ros上会报错很多），那么就打算重新安装一下pangolin, 在gcc/g++5.4版本下编译！
采取措施：
删掉之前的Pangolin的编译包，/usr/下面那些关于上个版本pangolin的余孽残党不用去管，重新编译的时候会覆盖掉之前那些东西的！
具体方法：
Pangolin的github地址：
https://github.com/stevenlovegrove/Pangolin
下载后正常编译就好了！
然后再编译VIORB的代码，顺利通过如下：
Scanning dependencies of target ORB_SLAM2
[ 11%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/LocalMapping.cc.o
[ 11%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/System.cc.o
[ 23%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o
[ 23%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/ORBextractor.cc.o
[ 23%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/ORBmatcher.cc.o
[ 11%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o
[ 26%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Converter.cc.o
[ 30%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/FrameDrawer.cc.o
[ 34%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/MapPoint.cc.o
[ 38%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/KeyFrameDatabase.cc.o
[ 42%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/KeyFrame.cc.o
[ 50%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/IMU/imudata.cpp.o
[ 46%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Sim3Solver.cc.o
[ 53%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Map.cc.o
[ 57%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/MapDrawer.cc.o
[ 61%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Frame.cc.o
[ 65%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/IMU/NavState.cpp.o
[ 69%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/PnPsolver.cc.o
[ 73%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o
[ 76%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/IMU/so3.cpp.o
[ 80%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Initializer.cc.o
[ 84%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/IMU/configparam.cpp.o
[ 88%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o
[ 92%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/IMU/IMUPreintegrator.cpp.o
[ 96%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/IMU/g2otypes.cpp.o
[100%] Linking CXX shared library ../lib/libORB_SLAM2.so
[100%] Built target ORB_SLAM2
Build ROS node ...
mkdir: cannot create directory ‘build’: File exists
[rosbuild] Building package ORB_VIO
[rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost
-- Using CATKIN_DEVEL_PREFIX: /home/hri/catkin_ws/src/LearnVIORB/Examples/ROS/ORB_VIO/build/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
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/hri/catkin_ws/src/LearnVIORB/Examples/ROS/ORB_VIO/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
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
[rosbuild] Including /opt/ros/kinetic/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/kinetic/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/kinetic/share/rospy/rosbuild/rospy.cmake
Build type: Release
-- Configuring done
-- Generating done
-- Build files have been written to: /home/hri/catkin_ws/src/LearnVIORB/Examples/ROS/ORB_VIO/build
[ 0%] Built target rospack_genmsg_libexe
[ 0%] Built target rosbuild_precompile
[ 33%] Linking CXX executable ../VIO
[100%] Built target VIO
Launch file in Examples/ROS/ORB_VIO/launch.
Modify the configuration file config/euroc.yaml
Run as: roslaunch ORB_VIO testeuroc.launch
好了！开始在这个上面做点工作吧，希望我可以！
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接下来就是把程序跑起来：
按照github上的东西，造yaml里的结果保存也设置了，数据库路径也设置了，但是出现了：一闪就退出的现象？报错如下：
*** Error in `/home/hri/catkin_ws/src/LearnVIORB/Examples/ROS/ORB_VIO/VIO': free(): invalid pointer: 0x000000000c4880b0 ***还有这个：
[VIO-1] process has died [pid 3777, exit code -6, cmd /home/hri/catkin_ws/src/LearnVIORB/Examples/ROS/ORB_VIO/VIO /home/hri/catkin_ws/src/LearnVIORB/Examples/ROS/ORB_VIO/../../../Vocabulary/ORBvoc.bin /home/hri/catkin_ws/src/LearnVIORB/Examples/ROS/ORB_VIO/../../../config/euroc.yaml __name:=VIO __log:=/home/hri/.ros/log/869870f0-b26a-11e8-97c8-e4f89cfbde4d/VIO-1.log].
log file: /home/hri/.ros/log/869870f0-b26a-11e8-97c8-e4f89cfbde4d/VIO-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done参考了下这个，可能说是内存不够了！我重启一下试试看看有没有作用，因为我直接输入roscore的时候也显示：
Done checking log file disk usage. Usage is <1GB.参考了：https://stackoverflow.com/questions/9043685/free-invalid-pointer
所以试一下！