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一 遇到的问题：

catkin_make编译报错如下：

/usr/bin/ld: CMakeFiles/lio_sam_mapOptmization.dir/src/mapOptmization.cpp.o: undefined reference to symbol '_ZN3tbb8internal23allocate_via_handler_v3Em'
//usr/lib/x86_64-linux-gnu/libtbb.so.2: 无法添加符号: DSO missing from command line
collect2: error: ld returned 1 exit status
LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/build.make:627: recipe for target '/home/sweetorange/catkin_lio/devel/lib/lio_sam/lio_sam_mapOptmization' failed
make[2]: *** [/home/sweetorange/catkin_lio/devel/lib/lio_sam/lio_sam_mapOptmization] Error 1
CMakeFiles/Makefile2:2479: recipe for target 'LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/all' failed
make[1]: *** [LIO-SAM/CMakeFiles/lio_sam_mapOptmization.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j16 -l16" failed

二 问题原因：

未找到libtbb.so.2相关的库

三 解决办法：

使用

locate +库

完成库的搜索

如：我出问题的库为libtbb.so.2，在终端中使用命令locate即可获得该库所在位置:

locate libtbb.so.2
#我的结果↓：
/usr/lib/x86_64-linux-gnu/libtbb.so.2

一般化：把查到的结果加引号加到链接的库文件中去：


link_libraries("/usr/lib/x86_64-linux-gnu/libtbb.so.2")


我的修改后的代码：

＃查询结果加引号加到gtsam后：

# Mapping Optimization
add_executable(${PROJECT_NAME}_mapOptmization src/mapOptmization.cpp)
add_dependencies(${PROJECT_NAME}_mapOptmization ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_compile_options(${PROJECT_NAME}_mapOptmization PRIVATE ${OpenMP_CXX_FLAGS})
target_link_libraries(${PROJECT_NAME}_mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${OpenMP_CXX_FLAGS} gtsam "/usr/lib/x86_64-linux-gnu/libtbb.so.2")

# IMU Preintegration
add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp)
target_link_libraries(${PROJECT_NAME}_imuPreintegration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} gtsam "/usr/lib/x86_64-linux-gnu/libtbb.so.2")

至此我的代码就可以正常编译了．

举一反三：少其他库过程也是一样的．