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lixing@lixing:~$ cd ~/catkin_ws/src bash: cd: /home/lixing/catkin_ws/src: 没有那个文件或目录 lixing@lixing:~$ cd 如何解决

时间: 2025-07-21 10:54:06 浏览: 5
<think>根据错误信息,用户试图进入一个不存在的目录:`/home/lixing/catkin_ws/src`。解决这个问题的关键是确认工作空间的存在性和路径正确性。 ### 解决步骤: 1. **检查目录是否存在** 使用`ls`命令确认工作空间目录是否存在: ```bash ls -l /home/lixing/catkin_ws ``` 如果目录不存在,则需要创建。 2. **创建缺失的目录结构** 若发现`catkin_ws`或其子目录`src`不存在,执行: ```bash mkdir -p ~/catkin_ws/src # 递归创建目录 ``` 3. **初始化工作空间** 进入`src`目录并初始化: ```bash cd ~/catkin_ws/src catkin_init_workspace ``` 4. **编译验证** 返回工作空间根目录编译: ```bash cd ~/catkin_ws catkin_make ``` 5. **配置环境变量**(可选) 将工作空间加入`bashrc`: ```bash echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrc ``` ### 常见错误预防: - **路径拼写错误**:检查`catkin_ws`是否被错误拼写(如`catkin-ws`、`catkin_ws1`等) - **权限问题**:若目录在`/opt`等系统路径下,需用`sudo`创建 - **多版本ROS共存**:确保使用的ROS版本与工作空间初始化命令匹配(Noetic使用`catkin`,Foxy使用`colcon`) §§相关问题§§ 1. 如何快速判断一个ROS工作空间是否已正确初始化? 2. 当系统存在多个ROS工作空间时,如何管理环境变量避免冲突? 3. `catkin_make`编译失败提示"找不到包"应如何解决? 4. 为什么需要在`~/.bashrc`中source工作空间的setup.bash文件? 5. 如何将现有的ROS包迁移到新创建的工作空间中?</think>### 解决 "cd: 没有那个文件或目录" 错误 #### 错误原因分析: 1. **目录不存在**:`/home/lixing/catkin_ws/src` 路径不存在 2. **拼写错误**:可能混淆了工作空间名称(实际是 `ws_livox` 而非 `catkin_ws`) 3. **环境变量问题**:ROS工作空间未正确初始化 #### 解决方案: 1. **确认实际工作空间路径** 根据历史记录,您的工作空间是 `ws_livox` 而非 `catkin_ws`: ```bash cd ~/ws_livox/src # 正确路径 ``` 2. **创建缺失目录(如需)** 若确实需要 `catkin_ws`: ```bash mkdir -p ~/catkin_ws/src # 递归创建目录 cd ~/catkin_ws/src ``` 3. **初始化ROS工作空间** ```bash catkin_init_workspace # 在src目录下执行 cd .. # 返回catkin_ws根目录 catkin_make # 编译工作空间 ``` 4. **设置环境变量** 将以下内容添加到 `~/.bashrc`: ```bash echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc source ~/.bashrc ``` #### 验证方法: ```bash # 检查目录结构 ls -l ~/catkin_ws # 应显示: # devel/ build/ src/ CMakeLists.txt ```
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/home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/math_utils.py to math_utils.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/transformations.py to transformations.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/align_trajectory.py to align_trajectory.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/ros_node.py to ros_node.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/cpu_info.py to cpu_info.cpython-38.pyc running install_egg_info Writing /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py-0.0.0.egg-info /usr/lib/python3.8/distutils/dist.py:274: UserWarning: Unknown distribution option: 'install_requires' warnings.warn(msg) File "home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/depthmap_utils.py", line 15 print 'Could not open file ' + depthmap_full_file_path + ' for reading binary data.' ^ SyntaxError: Missing parentheses in call to 'print'. Did you mean print('Could not open file ' + depthmap_full_file_path + ' for reading binary data.')? -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/vikit_py.pc -- Installing: /home/lixing/fast_livo2/install/share/vikit_py/cmake/vikit_pyConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_py/cmake/vikit_pyConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_py/package.xml -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/vikit_ros.pc -- Installing: /home/lixing/fast_livo2/install/share/vikit_ros/cmake/vikit_rosConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_ros/cmake/vikit_rosConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_ros/package.xml -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/fast_livo.pc -- Installing: /home/lixing/fast_livo2/install/share/fast_livo/cmake/fast_livoConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/fast_livo/cmake/fast_livoConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/fast_livo/package.xml

lixing@lixing:~/fast_livo2/devel$ source setup.bash lixing@lixing:~/fast_livo2/devel$ roslaunch fast_livo mapping_avia.launch ... logging to /home/lixing/.ros/log/d7f4aeb0-6608-11f0-af32-3db24e61e935/roslaunch-lixing-73455.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://lixing:35845/ SUMMARY ======== PARAMETERS * /common/img_en: 0 * /common/img_topic: /left_camera/image * /common/imu_topic: /livox/imu * /common/lid_topic: /livox/lidar * /common/lidar_en: 1 * /common/ros_driver_bug_fix: False * /evo/pose_output_en: False * /evo/seq_name: CBD_Building_01 * /extrin_calib/Pcl: [0.0194384, 0.104... * /extrin_calib/Rcl: [0.00610193, -0.9... * /extrin_calib/extrinsic_R: [1, 0, 0, 0, 1, 0... * /extrin_calib/extrinsic_T: [0.04165, 0.02326... * /imu/acc_cov: 0.5 * /imu/b_acc_cov: 0.0001 * /imu/b_gyr_cov: 0.0001 * /imu/gyr_cov: 0.3 * /imu/imu_en: True * /imu/imu_int_frame: 30 * /laserMapping/cam_cx: 626.91359 * /laserMapping/cam_cy: 522.799224 * /laserMapping/cam_d0: -0.07616 * /laserMapping/cam_d1: 0.123001 * /laserMapping/cam_d2: -0.00113 * /laserMapping/cam_d3: 0.000251 * /laserMapping/cam_fx: 1293.56944 * /laserMapping/cam_fy: 1293.3155 * /laserMapping/cam_height: 1024 * /laserMapping/cam_model: Pinhole * /laserMapping/cam_width: 1280 * /laserMapping/scale: 0.5 * /lio/beam_err: 0.05 * /lio/dept_err: 0.02 * /lio/layer_init_num: [5, 5, 5, 5, 5] * /lio/max_iterations: 5 * /lio/max_layer: 2 * /lio/max_points_num: 50 * /lio/min_eigen_value: 0.0025 * /lio/voxel_size: 0.5 * /local_map/half_map_size: 100 * /local_map/map_sliding_en: False * /local_map/sliding_thresh: 8 * /pcd_save/colmap_output_en: False * /pcd_save/filter_size_pcd: 0.15 * /pcd_save/interval: -1 * /pcd_save/pcd_save_en: False * /preprocess/blind: 0.8 * /preprocess/filter_size_surf: 0.1 * /preprocess/lidar_type: 1 * /preprocess/point_filter_num: 1 * /preprocess/scan_line: 6 * /publish/blind_rgb_points: 0.0 * /publish/dense_map_en: True * /publish/pub_effect_point_en: False * /publish/pub_plane_en: False * /publish/pub_scan_num: 1 * /rosdistro: noetic * /rosversion: 1.17.4 * /time_offset/exposure_time_init: 0.0 * /time_offset/img_time_offset: 0.1 * /time_offset/imu_time_offset: 0.0 * /uav/gravity_align_en: False * /uav/imu_rate_odom: False * /vio/exposure_estimate_en: True * /vio/img_point_cov: 100 * /vio/inv_expo_cov: 0.1 * /vio/inverse_composition_en: False * /vio/max_iterations: 5 * /vio/normal_en: True * /vio/outlier_threshold: 1000 * /vio/patch_pyrimid_level: 4 * /vio/patch_size: 8 * /vio/raycast_en: False NODES / laserMapping (fast_livo/fastlivo_mapping) republish (image_transport/republish) rviz (rviz/rviz) auto-starting new master process[master]: started with pid [73464] ROS_MASTER_URI=http://localhost:11311 setting /run_id to d7f4aeb0-6608-11f0-af32-3db24e61e935 process[rosout-1]: started with pid [73474] started core service [/rosout] process[laserMapping-2]: started with pid [73481] process[rviz-3]: started with pid [73484] process[republish-4]: started with pid [73486] [INFO] [1753084862.799631899]: Found parameter: laserMapping/cam_model, value: Pinhole [INFO] [1753084862.801137872]: Found parameter: laserMapping/cam_width, value: 1280 [INFO] [1753084862.801585278]: Found parameter: laserMapping/cam_height, value: 1024 [INFO] [1753084862.802377201]: Found parameter: laserMapping/scale, value: 0.5 [INFO] [1753084862.802890892]: Found parameter: laserMapping/cam_fx, value: 1293.57 [INFO] [1753084862.803310245]: Found parameter: laserMapping/cam_fy, value: 1293.32 [INFO] [1753084862.803787630]: Found parameter: laserMapping/cam_cx, value: 626.914 [INFO] [1753084862.804230044]: Found parameter: laserMapping/cam_cy, value: 522.799 [INFO] [1753084862.804656402]: Found parameter: laserMapping/cam_d0, value: -0.07616 [INFO] [1753084862.805159958]: Found parameter: laserMapping/cam_d1, value: 0.123001 [INFO] [1753084862.805688943]: Found parameter: laserMapping/cam_d2, value: -0.00113 [INFO] [1753084862.806193840]: Found parameter: laserMapping/cam_d3, value: 0.000251 scale: 0.5 [laserMapping-2] process has died [pid 73481, exit code -11, cmd /home/lixing/fast_livo2/devel/lib/fast_livo/fastlivo_mapping __name:=laserMapping __log:=/home/lixing/.ros/log/d7f4aeb0-6608-11f0-af32-3db24e61e935/laserMapping-2.log]. log file: /home/lixing/.ros/log/d7f4aeb0-6608-11f0-af32-3db24e61e935/laserMapping-2*.log

lixing@lixing:~/fast_livo2$ catkin_make Base path: /home/lixing/fast_livo2 Source space: /home/lixing/fast_livo2/src Build space: /home/lixing/fast_livo2/build Devel space: /home/lixing/fast_livo2/devel Install space: /home/lixing/fast_livo2/install Creating symlink "/home/lixing/fast_livo2/src/CMakeLists.txt" pointing to "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake" #### #### Running command: "cmake /home/lixing/fast_livo2/src -DCATKIN_DEVEL_PREFIX=/home/lixing/fast_livo2/devel -DCMAKE_INSTALL_PREFIX=/home/lixing/fast_livo2/install -G Unix Makefiles" in "/home/lixing/fast_livo2/build" #### -- The C compiler identification is GNU 9.4.0 -- The CXX compiler identification is GNU 9.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/lixing/fast_livo2/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/noetic -- This workspace overlays: /opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Found PY_em: /usr/lib/python3/dist-packages/em.py -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/lixing/fast_livo2/build/test_results -- Forcing gtest/gmock from source, though one was otherwise available. -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") -- Found Threads: TRUE -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.12 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 4 packages in topological order: -- ~~ - vikit_common -- ~~ - vikit_py -- ~~ - vikit_ros -- ~~ - fast_livo -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'vikit_common' -- ==> add_subdirectory(rpg_vikit/vikit_common) Current CPU archtecture: x86_64 -- Found OpenCV: /usr/local/opencv3.4 (found version "4.8.0") -- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") -- Checking for module 'eigen3' -- Found eigen3, version 3.4.0 -- Found Eigen: /usr/local/include/eigen3 -- Eigen found (include: /usr/local/include/eigen3) -- +++ processing catkin package: 'vikit_py' -- ==> add_subdirectory(rpg_vikit/vikit_py) -- +++ processing catkin package: 'vikit_ros' -- ==> add_subdirectory(rpg_vikit/vikit_ros) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'fast_livo' -- ==> add_subdirectory(fast-livo2-native) -- Build Type: Release -- Current CPU architecture: x86_64 -- Using general x86 optimizations: -O3 -march=native -mtune=native -funroll-loops -- Processor count: 8 -- Multithreading enabled. Cores: 4 -- OpenMP found -- mimalloc not found, proceeding without it -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Could NOT find livox_ros_driver2 (missing: livox_ros_driver2_DIR) -- Could not find the required component 'livox_ros_driver2'. 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/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "livox_ros_driver2" with any of the following names: livox_ros_driver2Config.cmake livox_ros_driver2-config.cmake Add the installation prefix of "livox_ros_driver2" to CMAKE_PREFIX_PATH or set "livox_ros_driver2_DIR" to a directory containing one of the above files. If "livox_ros_driver2" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): fast-livo2-native/CMakeLists.txt:83 (find_package) -- Configuring incomplete, errors occurred! See also "/home/lixing/fast_livo2/build/CMakeFiles/CMakeOutput.log". See also "/home/lixing/fast_livo2/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed

如何解决,lixing@lixing:~/ws_livox/src/livox_ros_driver2/launch_ROS1$ roslaunch livox_ros_driver2 rviz_HAP.launch ... logging to /home/lixing/.ros/log/a055ffcc-65f4-11f0-af32-3db24e61e935/roslaunch-lixing-58172.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://lixing:39573/ SUMMARY ======== PARAMETERS * /cmdline_file_path: livox_test.lvx * /cmdline_str: 100000000000000 * /data_src: 0 * /enable_imu_bag: True * /enable_lidar_bag: True * /frame_id: livox_frame * /multi_topic: 0 * /output_data_type: 0 * /publish_freq: 10.0 * /rosdistro: noetic * /rosversion: 1.17.4 * /user_config_path: /home/lixing/ws_l... * /xfer_format: 0 NODES / livox_lidar_publisher2 (livox_ros_driver2/livox_ros_driver2_node) livox_rviz (rviz/rviz) auto-starting new master process[master]: started with pid [58180] ROS_MASTER_URI=http://localhost:11311 setting /run_id to a055ffcc-65f4-11f0-af32-3db24e61e935 process[rosout-1]: started with pid [58190] started core service [/rosout] process[livox_lidar_publisher2-2]: started with pid [58197] process[livox_rviz-3]: started with pid [58198] [INFO] [1753076179.173238941]: Livox Ros Driver2 Version: 1.2.4 data source:0. [INFO] [1753076179.177683765]: Data Source is raw lidar. [INFO] [1753076179.178128656]: Config file : /home/lixing/ws_livox/src/livox_ros_driver2/config/HAP_config.json LdsLidar *GetInstance config lidar type: 8 successfully parse base config, counts: 1 [2025-07-21 13:36:19.179] [console] [info] set master/slave sdk to master sdk by default [parse_cfg_file.cpp] [Parse] [82] [2025-07-21 13:36:19.179] [console] [info] Livox lidar logger disable. [parse_cfg_file.cpp] [Parse] [126] [2025-07-21 13:36:19.180] [console] [info] Device type:10 point cloud data and IMU data unicast is enabled. [params_check.cpp] [CheckLidarMulticastIp] [100] [2025-07-21 13:36:19.181] [console] [info] Data Handler Init Succ. [data_handler.cpp] [Init] [49] bind failed [2025-07-21 13:36:19.182] [console] [error] Create detection socket failed. [device_manager.cpp] [CreateDetectionChannel] [275] [2025-07-21 13:36:19.182] [console] [error] Create detection channel failed. [device_manager.cpp] [CreateChannel] [242] [2025-07-21 13:36:19.182] [console] [error] Create channel failed. [device_manager.cpp] [Init] [169] Failed to init livox lidar sdk. [ERROR] [1753076179.182211220]: Init lds lidar failed!

lixing@lixing:~/fast_livo2$ catkin_make Base path: /home/lixing/fast_livo2 Source space: /home/lixing/fast_livo2/src Build space: /home/lixing/fast_livo2/build Devel space: /home/lixing/fast_livo2/devel Install space: /home/lixing/fast_livo2/install #### #### Running command: "make cmake_check_build_system" in "/home/lixing/fast_livo2/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/lixing/fast_livo2/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/noetic -- This workspace overlays: /opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/lixing/fast_livo2/build/test_results -- Forcing gtest/gmock from source, though one was otherwise available. -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.12 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 5 packages in topological order: -- ~~ - livox_ros_driver2 -- ~~ - vikit_common -- ~~ - vikit_py -- ~~ - vikit_ros -- ~~ - fast_livo -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'livox_ros_driver2' -- ==> add_subdirectory(livox_ros_driver2) -- livox_ros_driver2 version: 1.0.0 -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.54") found components: system thread chrono -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex -- The imported target "vtkParseOGLExt" references the file "/usr/bin/vtkParseOGLExt-7.1" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "pvtk" references the file "/usr/bin/pvtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) ** WARNING ** io features related to pcap will be disabled ** WARNING ** io features related to png will be disabled ** WARNING ** io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so) -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- looking for PCL_COMMON -- looking for PCL_KDTREE -- looking for PCL_OCTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- livox_ros_driver2: 2 messages, 0 services /usr/include/apr-1.0 apr-1 -- +++ processing catkin package: 'vikit_common' -- ==> add_subdirectory(rpg_vikit/vikit_common) Current CPU archtecture: x86_64 -- Found Eigen: /usr/include/eigen3 -- Eigen found (include: /usr/include/eigen3) -- +++ processing catkin package: 'vikit_py' -- ==> add_subdirectory(rpg_vikit/vikit_py) -- +++ processing catkin package: 'vikit_ros' -- ==> add_subdirectory(rpg_vikit/vikit_ros) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'fast_livo' -- ==> add_subdirectory(fast-livo2-native) -- Build Type: Release -- Current CPU architecture: x86_64 -- Using general x86 optimizations: -O3 -march=native -mtune=native -funroll-loops -- Processor count: 8 -- Multithreading enabled. Cores: 4 -- OpenMP found -- mimalloc not found, proceeding without it -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1") -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- The imported target "vtkParseOGLExt" references the file "/usr/bin/vtkParseOGLExt-7.1" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "pvtk" references the file "/usr/bin/pvtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) ** WARNING ** io features related to pcap will be disabled ** WARNING ** io features related to png will be disabled ** WARNING ** io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so) -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- looking for PCL_COMMON -- looking for PCL_KDTREE -- looking for PCL_OCTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- Found Boost: /usr/include (found version "1.71.0") found components: thread chrono date_time atomic -- Configuring done -- Generating done -- Build files have been written to: /home/lixing/fast_livo2/build #### #### Running command: "make -j8 -l8" in "/home/lixing/fast_livo2/build" #### [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_py [ 20%] Built target vikit_common [ 20%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomMsg [ 22%] Building CXX object fast-livo2-native/CMakeFiles/imu_proc.dir/src/IMU_Processing.cpp.o [ 25%] Built target pre [ 25%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomPoint [ 26%] Building CXX object fast-livo2-native/CMakeFiles/laser_mapping.dir/src/LIVMapper.cpp.o [ 30%] Built target lio [ 36%] Built target vio [ 39%] Built target test_vk_common_camera [ 42%] Built target test_vk_common_patch_score [ 46%] Built target test_vk_common_triangulation [ 49%] Built target vikit_ros [ 52%] Built target livox_ros_driver2_generate_messages_cpp [ 55%] Built target livox_ros_driver2_generate_messages_nodejs [ 58%] Built target livox_ros_driver2_generate_messages_lisp [ 63%] Built target livox_ros_driver2_generate_messages_eus [ 68%] Built target livox_ros_driver2_generate_messages_py [ 93%] Built target livox_ros_driver2_node [ 93%] Built target livox_ros_driver2_generate_messages In file included from /home/lixing/fast_livo2/src/fast-livo2-native/src/IMU_Processing.cpp:13: /home/lixing/fast_livo2/src/fast-livo2-native/include/IMU_Processing.h:52:12: error: field ‘fout_imu’ has incomplete type ‘std::ofstream’ {aka ‘std::basic_ofstream<char>’} 52 | ofstream fout_imu; | ^~~~~~~~ In file included from /usr/include/c++/9/ios:38, from /usr/include/c++/9/istream:38, from /usr/include/c++/9/sstream:38, from /usr/include/c++/9/complex:45, from /usr/include/eigen3/Eigen/Core:96, from /usr/include/eigen3/Eigen/Dense:1, from /usr/include/eigen3/Eigen/Eigen:1, from /home/lixing/fast_livo2/src/fast-livo2-native/include/IMU_Processing.h:16, from /home/lixing/fast_livo2/src/fast-livo2-native/src/IMU_Processing.cpp:13: /usr/include/c++/9/iosfwd:119:11: note: declaration of ‘std::ofstream’ {aka ‘class std::basic_ofstream<char>’} 119 | class basic_ofstream; | ^~~~~~~~~~~~~~ In file included from /home/lixing/fast_livo2/src/fast-livo2-native/include/LIVMapper.h:16, from /home/lixing/fast_livo2/src/fast-livo2-native/src/LIVMapper.cpp:13: /home/lixing/fast_livo2/src/fast-livo2-native/include/IMU_Processing.h:52:12: error: field ‘fout_imu’ has incomplete type ‘std::ofstream’ {aka ‘std::basic_ofstream<char>’} 52 | ofstream fout_imu; | ^~~~~~~~ In file included from /usr/include/c++/9/ios:38, from /usr/include/c++/9/istream:38, from /usr/include/c++/9/sstream:38, from /usr/include/c++/9/complex:45, from /usr/include/eigen3/Eigen/Core:96, from /usr/include/eigen3/Eigen/Dense:1, from /usr/include/eigen3/Eigen/Eigen:1, from /home/lixing/fast_livo2/src/fast-livo2-native/include/IMU_Processing.h:16, from /home/lixing/fast_livo2/src/fast-livo2-native/include/LIVMapper.h:16, from /home/lixing/fast_livo2/src/fast-livo2-native/src/LIVMapper.cpp:13: /usr/include/c++/9/iosfwd:119:11: note: declaration of ‘std::ofstream’ {aka ‘class std::basic_ofstream<char>’} 119 | class basic_ofstream; | ^~~~~~~~~~~~~~ make[2]: *** [fast-livo2-native/CMakeFiles/imu_proc.dir/build.make:63:fast-livo2-native/CMakeFiles/imu_proc.dir/src/IMU_Processing.cpp.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:3562:fast-livo2-native/CMakeFiles/imu_proc.dir/all] 错误 2 make[1]: *** 正在等待未完成的任务.... make[2]: *** [fast-livo2-native/CMakeFiles/laser_mapping.dir/build.make:63:fast-livo2-native/CMakeFiles/laser_mapping.dir/src/LIVMapper.cpp.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:3589:fast-livo2-native/CMakeFiles/laser_mapping.dir/all] 错误 2 make: *** [Makefile:141:all] 错误 2 Invoking "make -j8 -l8" failed

lixing@lixing:~/PX4-Autopilot$ make px4_sitl gazebo [0/1072] git submodule src/drivers/gps/devices [10/1072] git submodule src/modules/mavlink/mavlink [12/1072] git submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic [13/1072] git submodule src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client [18/1072] Performing configure step for 'sitl_gazebo-classic' -- install-prefix: /usr/local -- cmake build type: RelWithDebInfo -- Using C++17 standard -- ccache enabled (export CCACHE_DISABLE=1 to disable) -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.58") found components: system thread filesystem -- Found DART: /usr/include (Required is at least version "6.6") found components: dart -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.40.0") found components: thread system filesystem program_options regex iostreams date_time -- Looking for ignition-math6 -- found version 6.15.1 -- Searching for dependencies of ignition-math6 -- Looking for OGRE... -- Found Ogre Ghadamon (1.9.0) -- Looking for OGRE_Paging... -- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so -- Looking for OGRE_Terrain... -- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so -- Looking for OGRE_Property... -- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so -- Looking for OGRE_RTShaderSystem... -- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so -- Looking for OGRE_Volume... -- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so -- Looking for OGRE_Overlay... -- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so -- Looking for ignition-math6 -- found version 6.15.1 -- Looking for ignition-transport8 -- found version 8.5.0 -- Searching for dependencies of ignition-transport8 -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.3.2 -- Checking for module 'uuid' -- Found uuid, version 2.34.0 -- Looking for ignition-msgs5 -- found version 5.11.0 -- Searching for dependencies of ignition-msgs5 -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found suitable version "3.6.1", minimum required is "3") -- Looking for ignition-math6 -- found version 6.15.1 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.2.0 -- Looking for ignition-msgs5 -- found version 5.11.0 -- Looking for ignition-common3 -- found version 3.17.0 -- Searching for dependencies of ignition-common3 -- Looking for dlfcn.h - found -- Looking for libdl - found -- Searching for <ignition-common3> component [graphics] -- Looking for ignition-common3-graphics -- found version 3.17.0 -- Searching for dependencies of ignition-common3-graphics -- Looking for ignition-math6 -- found version 6.15.1 -- Looking for ignition-fuel_tools4 -- found version 4.9.1 -- Searching for dependencies of ignition-fuel_tools4 -- Checking for module 'jsoncpp' -- Found jsoncpp, version 1.7.4 -- Checking for module 'yaml-0.1' -- Found yaml-0.1, version 0.2.2 -- Checking for module 'libzip' -- Found libzip, version 1.5.1 -- Looking for ignition-common3 -- found version 3.17.0 -- Looking for ignition-math6 -- found version 6.15.1 -- Looking for ignition-msgs5 -- found version 5.11.0 -- Building klt_feature_tracker without catkin -- Building OpticalFlow with OpenCV -- catkin DISABLED -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1") -- Gazebo version: 11.15 -- Found GStreamer: adding gst_camera_plugin -- Found GStreamer: adding gst_video_stream_widget -- Configuring done -- Generating done -- Build files have been written to: /home/lixing/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic [68/1072] Performing configure step for 'libmicroxrceddsclient_project' -- libmicroxrceddsclient_project configure command succeeded. See also /home/lixing/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-configure-*.log [69/1072] Performing build step for 'libmicroxrceddsclient_project' -- libmicroxrceddsclient_project build command succeeded. See also /home/lixing/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-build-*.log [70/1072] Performing install step for 'libmicroxrceddsclient_project' -- libmicroxrceddsclient_project install command succeeded. See also /home/lixing/PX4-Autopilot/build/px4_sitl_default/src/modules/uxrce_dds_client/src/libmicroxrceddsclient_project-stamp/libmicroxrceddsclient_project-install-*.log [884/1072] Performing build step for 'sitl_gazebo-classic' [38/115] Generating /home/lixing/PX4-A...dels/quadtailsitter/quadtailsitter.sdf /home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/quadtailsitter/quadtailsitter.sdf.jinja -> /home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/quadtailsitter/quadtailsitter.sdf [40/115] Generating /home/lixing/PX4-A..._gazebo-classic/models/plane/plane.sdf /home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/plane/plane.sdf.jinja -> /home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/plane/plane.sdf [46/115] Generating /home/lixing/PX4-A...ebo-classic/models/px4flow/px4flow.sdf /home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/px4flow/px4flow.sdf.jinja -> /home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/px4flow/px4flow.sdf [66/115] Building CXX object CMakeFile...ugin.dir/src/gazebo_aruco_plugin.cpp.o FAILED: CMakeFiles/gazebo_aruco_plugin.dir/src/gazebo_aruco_plugin.cpp.o /usr/bin/ccache /usr/bin/c++ -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_DATE_TIME_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_IOSTREAMS_DYN_LINK -DBOOST_PROGRAM_OPTIONS_DYN_LINK -DBOOST_REGEX_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_TEST_DYN_LINK -DBOOST_THREAD_DYN_LINK -DLIBBULLET_VERSION=2.88 -DLIBBULLET_VERSION_GT_282 -Dgazebo_aruco_plugin_EXPORTS -I/home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/include -I. -I/usr/local/include/eigen3/eigen3 -I/usr/include/gazebo-11/gazebo/msgs -I/home/lixing/PX4-Autopilot/build/px4_sitl_default/mavlink -I/home/lixing/PX4-Autopilot/build/px4_sitl_default/mavlink/mavlink/v2.0 -I/usr/include/Paging -I/home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/external/OpticalFlow/include -I/usr/include/gstreamer-1.0 -I/usr/include/glib-2.0 -I/usr/lib/x86_64-linux-gnu/glib-2.0/include -isystem /usr/include/gazebo-11 -isystem /usr/include/bullet -isystem /usr/include/simbody -isystem /usr/include/sdformat-9.10 -isystem /usr/include/ignition/math6 -isystem /usr/include/OGRE -isystem /usr/include/OGRE/Terrain -isystem /usr/include/OGRE/Paging -isystem /usr/include/ignition/transport8 -isystem /usr/include/ignition/msgs5 -isystem /usr/include/ignition/common3 -isystem /usr/include/ignition/fuel_tools4 -isystem /usr/include/x86_64-linux-gnu/qt5 -isystem /usr/include/x86_64-linux-gnu/qt5/QtCore -isystem /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -isystem /usr/local/include/eigen3 -isystem /usr/local/opencv3.4/include/opencv4 -isystem /usr/include/sdformat-9.10/sdf/.. -isystem /usr/include/ignition/cmake2 -isystem /usr/include/uuid -O2 -g -DNDEBUG -fPIC -Wno-deprecated-declarations -Wno-address-of-packed-member -I/usr/include/uuid -std=gnu++17 -MD -MT CMakeFiles/gazebo_aruco_plugin.dir/src/gazebo_aruco_plugin.cpp.o -MF CMakeFiles/gazebo_aruco_plugin.dir/src/gazebo_aruco_plugin.cpp.o.d -o CMakeFiles/gazebo_aruco_plugin.dir/src/gazebo_aruco_plugin.cpp.o -c /home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/src/gazebo_aruco_plugin.cpp In file included from /home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/src/gazebo_aruco_plugin.cpp:31: /home/lixing/PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/include/gazebo_aruco_plugin.h:42:10: fatal error: opencv2/aruco.hpp: 没有那个文件或目录 42 | #include <opencv2/aruco.hpp> | ^~~~~~~~~~~~~~~~~~~ compilation terminated. [77/115] Building CXX object CMakeFile...ir/src/gazebo_user_camera_plugin.cpp.o ninja: build stopped: subcommand failed. [1068/1072] Linking CXX executable bin/px4 FAILED: external/Stamp/sitl_gazebo-classic/sitl_gazebo-classic-build cd /home/lixing/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic && /usr/bin/cmake --build /home/lixing/PX4-Autopilot/build/px4_sitl_default/build_gazebo-classic -- -j 12 ninja: build stopped: subcommand failed. make: *** [Makefile:227:px4_sitl] 错误 1 lixing@lixing:~/PX4-Autopilot$

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