https://www.imooc.com/article/details/id/29136python
1. 提示「CMAKE_CXX_COMPILER-NOTFOUND 」linux
具體形式：c++
Check for working CXX compiler: CMAKE_CXX_COMPILER-NOTFOUND sql
CMake Error: your CXX compiler: "CMAKE_CXX_COMPILER-NOTFOUND" was not found.express
Please set CMAKE_CXX_COMPILER to a valid compiler path or name.ubuntu
解決方法：bash
sudo apt-get install g++
2.（1）在ubuntu18.04系統上安裝opencv可是在安裝依賴包的過程當中，有一個依賴包，libjasper-dev在使用命令ui
sudo apt-get install libjaster-devthis
提示：沒法定位軟件包 libjasper-devgoogle
後來google到解決辦法，複製到這裏
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev
成功的解決了問題，其中libjasper1是libjasper-dev的依賴包
（2）提示「ROS / OpenCV Ubuntu安裝「usr/include/c++/6/cstdlib:75:25: fatal error: stdlib.h: 沒有那個文件或目錄」」
解決辦法：
預編譯的問題，在編譯前加入命令屏蔽預編譯就好了
-D ENABLE_PRECOMPILED_HEADERS=OFF
3. 注意eigen 本人親測Eigen3.2.10
wget https://bitbucket.org/eigen/eigen/get/3.2.10.tar.bz2 tar -xjf 3.2.10.tar.bz2
改文件夾名字
cd eigen mkdir build cd build cmake .. make sudo make install
4. ImportError: No module named catkin_pkg.package
注意Python版本 ros-melodic對應Python3
5. 編譯安裝python3.7時
提示「ModuleNotFoundError: No module named '_ctypes'」
解決辦法
sudo apt-get update sudo apt-get upgrade sudo apt-get dist-upgrade sudo apt-get install build-essential python-dev python-setuptools python-pip python-smbus sudo apt-get install build-essential libncursesw5-dev libgdbm-dev libc6-dev sudo apt-get install zlib1g-dev libsqlite3-dev tk-dev sudo apt-get install libssl-dev openssl sudo apt-get install libffi-dev
安裝完libffi後在編譯安裝就不報錯了
6. 編譯./build_ros.sh
提示[rosbuild] rospack found package "ORB_SLAM2" at "", but the current directory is "/home/angelo/ORB_SLAM2/Examples/ROS/ORB_SLAM2". You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order.
解決辦法：輸入
sudo ln -s ~/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /opt/ros/<ros版本名>/share/ORB_SLAM2
7. 編譯遇到找不到#include<Eigen/Dense>
解決辦法：進入usr/local/include/eigen3將eigen3中的Eigen文件遞歸地複製到上一層文件夾（直接放到include）：由於在不少程序中include時常用#include <Eigen/Dense>而不是使用的#include <eigen3/Eigen/Dense>因此要作下處理，不然一些程序在編譯時會因找不到Eigen/Dense而報錯。
8. 編譯遇到libboost_system.so: 沒法添加符號: DSO missing from command line
解決辦法：在Examples/ROS/ORB_SLAM2/Cmakelist.txt 的文件後面加入兩句話：
target_link_libraries(Stereo boost_system boost_filesystem) target_link_libraries(RGBD boost_system boost_filesystem)
9.安裝Opencv的時候
提示
CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:85 (list):
list GET given empty list
Call Stack (most recent call first):
CMakeLists.txt:109 (include)
CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:86 (list):
list GET given empty list
Call Stack (most recent call first):
CMakeLists.txt:109 (include)
CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:89 (math):
math cannot parse the expression: "*100 + ": syntax error, unexpected
exp_TIMES, expecting exp_OPENPARENT or exp_NUMBER (1)
Call Stack (most recent call first):
CMakeLists.txt:109 (include)
解決辦法：
在文件opencv/cmake/OpenCVDetectCXXCompiler.cmake中，將「dumpversion」改成「dumpfullversion」
10.編譯ORB_SLAM2_ROS時
①提示如下錯誤：
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
解決方案：
將libboost_system.so與libboost_filesystem.so複製到ORB_SLAM2/lib下
locate boost_system locate boost_filesystem
而且將ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt中加入庫目錄，具體爲
set(LIBS ${OpenCV_LIBS} ${EIGEN3_LIBS} ${Pangolin_LIBRARIES} ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so ${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so ${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so )
②提示如下內容
[rosbuild] rospack found package "ORB_SLAM2" at "", but the current directory is "/home/angelo/ORB_SLAM2/Examples/ROS/ORB_SLAM2". You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order.
Call Stack (most recent call first):
/opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
CMakeLists.txt:4 (rosbuild_init)
解決辦法：
這一般是由於沒有設置好 ORB_SLAM2 的環境變量或者先後設置存在衝突。請打開 ~/.bash.rc 文件，檢查如下設置是否正確：
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
11.提示
error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
解決方法：
打開Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h
將
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
改爲
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;
12.編譯Build時，出現如下錯誤
../lib/libORB_SLAM2.so：對‘ORB_SLAM2::Frame::InitializeScaleLevels()’未定義的引用 collect2: error: ld returned 1 exit status CMakeFiles/mono_kitti.dir/build.make:125: recipe for target '../Examples/Monocular/mono_kitti' failed
解決方法：將/ORB_SLAM2/src/Frame.cc中"inlier void Frame::InitializeScaleLeve " to " void Frame::InitializeScaleLevels()"
13.編譯Build時，出現如下錯誤
error: ‘FAST’ was not declared in this scope
FAST(cellImage,cellKeyPoints[i][j],fastTh,true);
^
解決方法：在src/ORBextractor.cc中添加
#include <opencv2/opencv.hpp>
14.遇到
Could not find a configuration file for package "OpenCV" that is compatible
with requested version "2.4.3".
解決辦法：
將~/ORB_SLAM2/Examples/ROS/ORB_SLAM2中CMakeLists.txt的
find_package(OpenCV 2.3.9 REQUIRED) > find_package(OpenCV 3.2.0 REQUIRED)