ubuntu20+ROS Noetic编译运行GVINS
安装ROS
进入ROS官网
link
点击安装，跳转后点击
ROS Noetic Ninjemys
选择对应操作系统（本人是ubuntu20.04)，按照步骤安装
安装完成后创建工作空间
下载GVINS源码并编译
进入github链接，https://github.com/HKUST-Aerial-Robotics/GVINS(
link
)
opencv_contrib4.2.0:link
首先安装各个依赖库，其中gnss_comm库需要下载到
catkin_ws/src
中，并编译
接着clone GVINS源码
// 下载源码
cd ~/catkin_ws/src/
git clone https://github.com/HKUST-Aerial-Robotics/GVINS.git;
编译
cd ~/catkin_ws/
catkin_make
source ~/catkin_ws/devel/setup.bash
编译遇到的错误
1.报如下错误
CMake Error at /opt/ros/noetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message):
Project 'cv_bridge' specifies '/usr/include/opencv4' as an include dir,
which is not found. It does neither exist as an absolute directory nor in
'${{prefix}}//usr/include/opencv4'. Check the issue tracker
'https://github.com/ros-perception/vision_opencv/issues' and consider
creating a ticket if the problem has not been reported yet.
解决：修改
/opt/ros/noetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake
中第96行
set(_include_dirs "include;/usr/include/opencv4")
改为
set(_include_dirs "include;/usr/local/include/opencv4")
2.如果同时安装了opencv3和opencv4版本，可能会默认使用opencv4库从而报许多错，这是由于opencv版本不同导致的，一个一个修改太麻烦，直接在将自己下载编译的opencv3中的build文件添加到
/home/d/catkin_ws/src/GVINS/camera_model/CMakeLists.txt
中，如
set(OpenCV_DIR /home/d/lib/opencv-3.4.2/build/)
find_package(OpenCV REQUIRED)
3.报如下错误
*** 没有规则可制作目标“/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0”，由“/home/d/catkin_ws/devel/lib/gvins/gvins” 需求。 停止。
解决办法：
参考https://blog.csdn.net/sunjintaoxxx/article/details/121766965
link
文章中的办法
sudo ln -s -f -i /自己的libopencv_calib3d.so.4.2.0路径 /报错目录/xxx.so
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_calib3d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0
类似的这种错误还有很多，照着这个办法依次解决
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_calib3d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_dnn.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_dnn.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_features2d.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_features2d.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_flann.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_flann.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_highgui.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_ml.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_ml.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_objdetect.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_photo.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_photo.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_stitching.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_stitching.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_video.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_video.so.4.2.0
sudo ln -s -f -i /home/d/lib/opencv-4.2.0/build/lib/libopencv_videoio.so.4.2.0 /usr/lib/x86_64-linux-gnu/libopencv_videoio.so.4.2.0