ros noetic版本利用鱼香ros安装cartographer后,编译报错

Jiqiang_z

补充电脑信息:
1.刚用鱼香ros安装好ros,启动roscore成功
2.```
python --version
Python 3.8.10

cmake --version
cmake version 3.16.3

Jiqiang_z

补充2:执行 catkin_make_isolated --install --use-ninja 命令一开始会报2个warning:

文件 /home/xiaoqiang/cartographer_ws/build_isolated/cartographer/install/AllFiles.cmake 和 - 不同
CMake Warning at /usr/src/googletest/googlemock/CMakeLists.txt:43 (project):
  VERSION keyword not followed by a value or was followed by a value that
  expanded to nothing.


CMake Warning at /usr/src/googletest/googletest/CMakeLists.txt:54 (project):
  VERSION keyword not followed by a value or was followed by a value that
  expanded to nothing.

截图:

小鱼

@1509012872 想问一下，你是用cartographer还是想修改其源码，如果只是用可以不用编译，直接apt安装编译好的二进制即可。

sudo apt install ros-你的版本代号-cartographer-ros

Jiqiang_z

@小鱼我想要学习源码，最后应用到机器人上，做一些改动

小鱼

@1509012872 可以尝试用一键安装重新安装一次，记得将原来的工作空间删掉

Jiqiang_z

@小鱼我自己电脑安装成功了，这是在移动机器人上安装的，就是安装不成功，主要是没法重装系统

小鱼

@1509012872 可以再试试，复制粘贴下一键安装的全部日志信息，看看具体报错是什么

Jiqiang_z

@小鱼

xiaoqiang@xiaoqiang-desktop:~$ wget http://fishros.com/install -O fishros && bash fishros 
--2022-11-07 12:30:57--  http://fishros.com/install
正在解析主机 fishros.com (fishros.com)... 139.9.131.171
正在连接 fishros.com (fishros.com)|139.9.131.171|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 301 Moved Permanently
位置：http://fishros.com/install/ [跟随至新的 URL]
--2022-11-07 12:30:57--  http://fishros.com/install/
再次使用存在的到 fishros.com:80 的连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 582 [application/octet-stream]
正在保存至: “fishros”

fishros             100%[===================>]     582  --.-KB/s    用时 0s    

2022-11-07 12:30:57 (57.5 MB/s) - 已保存 “fishros” [582/582])

正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
python3-distro 已经是最新版 (1.4.0-1)。
python3-yaml 已经是最新版 (5.3.1-1ubuntu0.1)。
下列软件包是自动安装的并且现在不需要了：
  linux-headers-5.13.0-30-generic linux-hwe-5.13-headers-5.13.0-30
  linux-image-5.13.0-30-generic linux-modules-5.13.0-30-generic
  linux-modules-extra-5.13.0-30-generic
使用'sudo apt autoremove'来卸载它(它们)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 140 个软件包未被升级。
--2022-11-07 12:30:59--  http://fishros.com/install/install1s/tools/base.py
正在解析主机 fishros.com (fishros.com)... 139.9.131.171
正在连接 fishros.com (fishros.com)|139.9.131.171|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 41972 (41K) [application/octet-stream]
正在保存至: “/tmp/fishinstall/tools/base.py”

/tmp/fishinstall/to 100%[===================>]  40.99K  --.-KB/s    用时 0.05s 

2022-11-07 12:30:59 (812 KB/s) - 已保存 “/tmp/fishinstall/tools/base.py” [41972/41972])

Run CMD Task:[dpkg --print-architecture]
[-]Result:success                           

基础检查通过...
===============================================================================
======欢迎使用一键安装工具，人生苦短，三省吾身，省时省力省心!=======
======一键安装已开源，请放心使用：https://github.com/fishros/install=======
===============================================================================
    

                        .-~~~~~~~~~-._       _.-~~~~~~~~~-.
                    __.'              ~.   .~              `.__
                .'//     开卷有益        \./     书山有路     \ `.
                .'// 可以多看看小鱼的文章   |    关注公众号鱼香ROS  \ `.
            .'// .-~"~~~~-._     |     _,-~~~~"~-. \`.
            .'//.-"                 `-.  |  .-'                 "-.\`.
        .'//______.============-..   \ | /   ..-============.______\`.
        .'______________________________\|/______________________________`
        ----------------------------------------------------------------------
RUN Choose Task:[请输入括号内的数字]
---众多工具，等君来用---
[1]:一键安装:ROS(支持ROS和ROS2,树莓派Jetson)
[11]:一键安装:ROS+Docker(支持所有版本ROS/ROS2)
[2]:一键安装:github桌面版(小鱼常用的github客户端)
[3]:一键配置:rosdep(小鱼的rosdepc,又快又好用)
[4]:一键配置:ROS环境(快速更新ROS环境设置,自动生成环境选择)
[5]:一键配置:系统源(更换系统源,支持全版本Ubuntu系统)
[6]:一键安装:nodejs
[7]:一键安装:VsCode开发工具
[8]:一键安装:Docker
[9]:一键安装:Cartographer(内测版v0.1)
[10]:一键安装:微信(可以在Linux上使用的微信)
[77]:测试模式:运行自定义工具测试
[0]:quit
请输入[]内的数字以选择:9

Jiqiang_z

@小鱼

--2022-11-07 12:31:08--  http://fishros.com/install/install1s/tools/tool_install_cartographer.py
正在解析主机 fishros.com (fishros.com)... 139.9.131.171
正在连接 fishros.com (fishros.com)|139.9.131.171|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 3063 (3.0K) [application/octet-stream]
正在保存至: “/tmp/fishinstall/tools/tool_install_cartographer.py”

/tmp/fishinstall/to 100%[===================>]   2.99K  --.-KB/s    用时 0s    

2022-11-07 12:31:09 (351 MB/s) - 已保存 “/tmp/fishinstall/tools/tool_install_cartographer.py” [3063/3063])

--2022-11-07 12:31:09--  http://fishros.com/install/install1s/tools/tool_config_rosdep.py
正在解析主机 fishros.com (fishros.com)... 139.9.131.171
正在连接 fishros.com (fishros.com)|139.9.131.171|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度： 857 [application/octet-stream]
正在保存至: “/tmp/fishinstall/tools/tool_config_rosdep.py”

/tmp/fishinstall/to 100%[===================>]     857  --.-KB/s    用时 0s    

2022-11-07 12:31:09 (113 MB/s) - 已保存 “/tmp/fishinstall/tools/tool_config_rosdep.py” [857/857])

欢迎使用一键安装Cartographer,本工具由作者众筹提供
欢迎使用一键编译安装Cartographer，该工具将会以当前目录作为工作区，创建src文件夹并进行cartographer的编译安装
使用一键安装前，若未安装ROS或出现错误，可以使用一键安装ROS
检测到您的系统版ROS版本为：noetic
Run CMD Task:[sudo apt update]
[|]获取:2 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal InRelease [4,685[-]Result:success                            --upgradable’ 来查看它们。

Run CMD Task:[sudo apt install ninja-build stow git -y]
[/]升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 140 个软件包未[-]Result:success                           

Run CMD Task:[mkdir -p cartographer_ws/src]
[-]Result:success                           

Run CMD Task:[git clone https://gitee.com/yuzi99url/cartographer_ros.git]
[-]Result:success                           

Run CMD Task:[git clone https://gitee.com/yuzi99url/cartographer.git]
[-]Result:success                           

欢迎使用模板工程,本工具由作者小鱼提供
Run CMD Task:[sudo apt install python3-pip -y]
[|]升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 140 个软件包未[-]Result:success                           

Run CMD Task:[sudo pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple rosdepc]
[|]Requirement already satisfied: rosdepc in /usr/local/lib/python3.8/dist-packa[-]Requirement already satisfied: rosdep in /usr/lib/python3/dist-packages (from[/]Requirement already satisfied: PyYAML>=3.1 in /usr/lib/python3/dist-packages [\]Requirement already satisfied: setuptools in /usr/lib/python3/dist-packages ([-]Result:success                           

Run CMD Task:[sudo rosdepc init]
[\]如果再使用过程中遇到任何问题，欢迎通过fishros.org.cn反馈，或者加入QQ交流群(13[-]Result:success                           

Run CMD Task:[sudo rosdepc fix-permissions]
[-]Recursively changing ownership of ros home directory '/root/.ros' to 'root:ro[|]如果再使用过程中遇到任何问题，欢迎通过fishros.org.cn反馈，或者加入QQ交流群(13[-]Result:success                           

已为您安装好rosdepc,请使用:
rosdepc update 
进行测试更新,最后欢迎关注微信公众号《鱼香ROS》
Run CMD Task:[rosdepc update --include-eol-distros]
[|]Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosd[-]Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosd[/]Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosd[\]Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosd[|]Query rosdistro index https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4[\]如果再使用过程中遇到任何问题，欢迎通过fishros.org.cn反馈，或者加入QQ交流群(13[-]Result:success                           

Run CMD Task:[rosdepc install --from-paths src --ignore-src --rosdistro=noetic -y]
[\]如果再使用过程中遇到任何问题，欢迎通过fishros.org.cn反馈，或者加入QQ交流群(13[-]Result:success                           

Run CMD Task:[sudo apt-get remove ros-noetic-abseil-cpp -y]
[-]Result:code:100                           

Run CMD Task:[bash src/cartographer/scripts/install_abseil.sh]
[-]-- Build files have been written to: /home/xiaoqiang/cartographer_ws/abseil-c[/][1/105] Building CXX object absl/base/CMakeFiles/spinlock_wait.dir/internal/s[\][2/105] Building CXX object absl/base/CMakeFiles/dynamic_annotations.dir/dyna[/][5/105] Building CXX object absl/base/CMakeFiles/base.dir/internal/cycleclock[\][6/105] Building CXX object absl/base/CMakeFiles/base.dir/internal/unscaledcy[|][7/105] Building CXX object absl/base/CMakeFiles/base.dir/internal/raw_loggin[-][8/105] Building CXX object absl/base/CMakeFiles/base.dir/internal/thread_ide[/][9/105] Building CXX object absl/base/CMakeFiles/base.dir/internal/spinlock.c[|][11/105] Building CXX object absl/base/CMakeFiles/base.dir/internal/sysinfo.c[/][13/105] Building CXX object absl/base/CMakeFiles/malloc_internal.dir/interna[|][15/105] Building CXX object absl/base/CMakeFiles/throw_delegate.dir/internal[/][17/105] Building CXX object absl/base/CMakeFiles/scoped_set_env.dir/internal[|][19/105] Building CXX object 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[-]-- Old export file "/usr/local/stow/absl/lib/cmake/absl/abslTargets.cmake" will be replaced.  Removing files [/usr/local/stow/absl/lib/cmake/absl/abslTargets

Jiqiang_z

此回复已被删除！

Jiqiang_z

@小鱼

[-]-- Installing: /usr/local/stow/absl/include/absl/container/internal/hashtable[/]-- Installing: /usr/local/stow/absl/include/absl/container/internal/test_inst[\]-- Installing: /usr/local/stow/absl/include/absl/container/internal/hash_gene[|]-- Installing: /usr/local/stow/absl/include/absl/container/internal/hashtable[-]-- Installing: /usr/local/stow/absl/include/absl/container/internal/unordered[/]-- Installing: /usr/local/stow/absl/include/absl/container/internal/have_sse.[\]-- Installing: /usr/local/stow/absl/include/absl/container/internal/container[|]-- Installing: /usr/local/stow/absl/include/absl/container/internal/unordered[/]-- Installing: /usr/local/stow/absl/include/absl/container/internal/unordered[\]-- Installing: /usr/local/stow/absl/include/absl/container/internal/unordered[-]-- Installing: /usr/local/stow/absl/include/absl/container/internal/unordered[/]-- Installing: /usr/local/stow/absl/include/absl/container/internal/hash_func[\]-- Installing: /usr/local/stow/absl/include/absl/container/internal/hash_poli[|]-- Installing: /usr/local/stow/absl/include/absl/container/internal/unordered[-]-- Installing: /usr/local/stow/absl/include/absl/container/internal/unordered[/]-- Installing: /usr/local/stow/absl/include/absl/container/internal/compresse[\]-- Installing: /usr/local/stow/absl/include/absl/container/internal/hash_poli[|]-- Installing: /usr/local/stow/absl/include/absl/container/internal/counting_[-]-- Installing: /usr/local/stow/absl/include/absl/container/internal/node_hash[/]-- Installing: /usr/local/stow/absl/include/absl/container/internal/unordered[\]-- Installing: /usr/local/stow/absl/include/absl/container/internal/inlined_v[|]-- Installing: /usr/local/stow/absl/include/absl/container/internal/raw_hash_[/]-- Installing: /usr/local/stow/absl/include/absl/container/internal/hashtable[\]-- Installing: /usr/local/stow/absl/include/absl/container/internal/raw_hash_[-]-- Installing: 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/usr/local/stow/absl/include/absl/strings/internal/resize_unin[/]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/charconv_pa[|]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/str_format/[-]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/str_format/[/]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/str_format/[\]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/str_format/[|]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/str_format/[-]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/str_format/[/]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/str_format/[\]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/str_join_in[|]-- Installing: /usr/local/stow/absl/include/absl/strings/internal/ostringstre[/]-- Installing: /usr/local/stow/absl/include/absl/synchronization/notification[|]-- Installing: 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/usr/local/stow/absl/include/absl/time/internal/cctz/include/c[/]-- Installing: /usr/local/stow/absl/include/absl/time/internal/cctz/include/c[|]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[-]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[/]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[\]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[|]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[-]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[/]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[\]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[|]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[-]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[/]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[\]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[|]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[-]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[/]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[\]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[|]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[-]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[/]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[\]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[|]-- Up-to-date: /usr/local/stow/absl/include/absl/time/internal/cctz/testdata/[/]-- Installing: /usr/local/stow/absl/include/absl/time/internal/cctz/src/time_[\]-- Installing: /usr/local/stow/absl/include/absl/time/internal/cctz/src/time_[|]-- Installing: /usr/local/stow/absl/include/absl/time/internal/cctz/src/time_[-]-- Installing: /usr/local/stow/absl/include/absl/time/internal/cctz/src/time_[/]-- Installing: /usr/local/stow/absl/include/absl/time/internal/cctz/src/tzfil[\]-- Installing: /usr/local/stow/absl/include/absl/time/internal/cctz/src/time_[|]-- Installing: /usr/local/stow/absl/include/absl/time/internal/cctz/src/time_[/]-- Installing: /usr/local/stow/absl/include/absl/time/internal/get_current_ti[|]-- Installing: /usr/local/stow/absl/include/absl/base/internal/spinlock_wait.[-]-- Installing: /usr/local/stow/absl/include/absl/base/internal/pretty_functio[/]-- Installing: /usr/local/stow/absl/include/absl/base/internal/low_level_allo[\]-- Installing: /usr/local/stow/absl/include/absl/base/internal/exception_safe[-]-- Installing: /usr/local/stow/absl/include/absl/base/internal/spinlock_posix[/]-- Installing: /usr/local/stow/absl/include/absl/base/internal/thread_identit[/]-- Installing: /usr/local/stow/absl/include/absl/base/internal/low_level_sche[|]-- Installing: /usr/local/stow/absl/include/absl/base/internal/per_thread_tls[/]-- Installing: /usr/local/stow/absl/include/absl/base/internal/spinlock_akaro[\]-- Installing: /usr/local/stow/absl/include/absl/base/internal/unaligned_acce[|]-- Installing: /usr/local/stow/absl/include/absl/base/internal/throw_delegate[-]-- Installing: /usr/local/stow/absl/include/absl/base/internal/spinlock_win32[\]-- Installing: /usr/local/stow/absl/include/absl/base/internal/scoped_set_env[|]-- Installing: /usr/local/stow/absl/include/absl/base/internal/scheduling_mod[-]-- Installing: /usr/local/stow/absl/include/absl/base/internal/unscaledcyclec[/]-- Installing: /usr/local/stow/absl/include/absl/base/internal/tsan_mutex_int[\]-- Installing: /usr/local/stow/absl/include/absl/base/internal/spinlock_linux[|]-- Installing: /usr/local/stow/absl/include/absl/base/internal/inline_variabl[\]-- Installing: /usr/local/stow/absl/include/absl/base/internal/exception_test[-]-- Installing: /usr/local/stow/absl/include/absl/base/internal/inline_variabl[-]-- Installing: /usr/local/stow/absl/include/absl/numeric/int128_no_intrinsic.[/]-- Installing: /usr/local/stow/absl/include/absl/numeric/int128_have_intrinsi[|]-- Installing: /usr/local/stow/absl/include/absl/hash/internal/spy_hash_state[-]Result:success                           ibabsl_bad_variant_access.aaa.a

Run CMD Task:[sudo mv /usr/bin/protoc /usr/bin/protoc.bk]
[-]Result:success                           

Run CMD Task:[sudo ln -s /usr/local/bin/protoc /usr/bin/protoc]
[-]Result:success                           

Run CMD Task:[bash src/cartographer/scripts/install_proto3.sh]
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/usr/local/include/google/protobuf/compiler/python/python_gene[|]-- Installing: /usr/local/include/google/protobuf/compiler/ruby/ruby_generato[\]-- Installing: /usr/local/include/google/protobuf/generated_message_reflectio[|]-- Installing: /usr/local/include/google/protobuf/generated_message_table_dri[/]-- Installing: /usr/local/include/google/protobuf/io/zero_copy_stream_impl_li[/]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_a[\]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_a[|]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_a[-]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_a[/]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_g[\]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_g[|]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_m[-]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_p[/]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_p[\]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_s[|]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_t[-]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_x[/]-- Installing: /usr/local/include/google/protobuf/stubs/atomicops_internals_x[\]-- Installing: /usr/local/include/google/protobuf/util/delimited_message_util[\]-- Old export file "/usr/local/lib/cmake/protobuf/protobuf-targets.cmake" will be replaced.  Removing files [/usr/local/lib/cmake/protobuf/protobuf-targets-r[-]Result:success                           buf/protobuf-module.cmakeen.cmakee

Run CMD Task:[catkin_make_isolated --install --use-ninja]
[-]Result:code:127                           

Run CMD Task:[sudo chmod -R 777 cartographer_ws]
[-]Result:success                           

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如在使用过程中遇到问题，请打开：https://fishros.org.cn/forum 进行反馈

小鱼

@1509012872 在 ros noetic版本利用鱼香ros安装cartographer后,编译报错中说：

catkin_make_isolated --install --use-ninja

重新手动运行该指令，应该可以解决

2167775992

@小鱼大佬，这个报错是为什么呢？absl库装不上去

wwwwhy

编译后为什么我的cartographer—ws文件夹下没有install-isolated文件