1. Install dependencies
sudo apt-get install libdw-dev
The ceres library requires 2.0
2. Download imu_utils and code_utils
The download address of imu_utils is: https://github.com/gaowenliang/imu_utils
The download address of code_utils is: https://github.com/gaowenliang/code_utils
3. Before compiling, let's pay attention to three problems to avoid falling into the pit
(1) Install the ceres library globally, and code_imu depends on ceres.
(2) Do not put imu_utils and code_utils together under src for compilation. Since imu_utils depends on code_utils, first put code_utils under the src of the workspace to compile.
(3) Create a folder catkin_ws, internal folder src; first place code_utils in src, then
cd catkin_ws
catkin_make
compilation error: code_utils-master/src/sumpixel_test.cpp:2:24: fatal error: backward.hpp: No such file or directory
filling: Find sumpixel_test.cpp under code_utils, modify #include "backward.hpp" to #include "code_utils/backward.hpp", and then compile.
Then re-catkin_make compiles successfully, and then put imu_utils under the src of the workspace, do not delete it