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根据下面的工作空间目录是否完整实现建立二维图像用于导航ob@ubuntu:~/lio_ws/src$ ls CMakeLists.txt lite3_control.py pcl URDF_model faster-lio map_server rslidar_sdk VTK-7.1.1 imu_utils octomap_mapping rs_to_velodyne ob@ubuntu:~/lio_ws/src$ cd faster-lio/ ob@ubuntu:~/lio_ws/src/faster-lio$ ls app config include Log PCD rviz_cfg cmake doc launch msg README.MD src CMakeLists.txt docker LICENSE package.xml result thirdparty ob@ubuntu:~/lio_ws/src/faster-lio$ cd thirdparty/ ob@ubuntu:~/lio_ws/src/faster-lio/thirdparty$ ls livox_ros_driver tbb2018_20170726oss_lin.tgz tbb-2018-source.tar.gz ob@ubuntu:~/lio_ws/src/faster-lio/thirdparty$

时间: 2025-06-22 21:17:11 浏览: 27
<think>好的,我需要帮助用户分析他们提供的ROS工作空间目录是否完整支持建立二维图像用于导航。首先,用户之前询问过目录的完整性,现在他们更具体地想知道是否能够实现二维导航地图。我需要结合之前的分析和新的信息来回答。 首先,回顾用户当前的工作空间内容。src目录中包含了一些关键包,如faster-lio用于SLAM,map_server可能用于地图服务,octomap_mapping用于八叉树地图,rslidar_sdk是雷达驱动,还有imu_utils和URDF_model等。用户现在进入了faster-lio的thirdparty目录,发现里面有livox_ros_driver和tbb的相关文件,但似乎没有直接处理二维图像的组件。 接下来,我需要确定二维导航通常需要的组件。ROS导航堆栈(navigation)包括map_server、amcl、move_base等,用于生成和维护二维栅格地图,并执行路径规划。用户目录中有map_server,但需要确认其是否正常工作,并且是否有生成二维地图的工具,比如gmapping或cartographer。此外,是否有将三维点云数据转换为二维地图的节点,比如pointcloud_to_laserscan,或者使用octomap转换的工具? 用户的工作空间中有octomap_mapping,这主要用于三维环境建模,而二维导航需要的是二维栅格地图。因此,可能需要额外的包来将三维数据投影到二维,或者直接使用二维SLAM算法如gmapping。查看用户提供的faster-lio的thirdparty目录,里面没有提到这些包,可能需要用户安装相关依赖。 此外,用户是否有适当的启动文件和配置文件来启动SLAM生成地图,并将其保存为pgm/yaml格式?需要检查faster-lio的launch和config目录是否有相关配置,或者是否依赖其他包来实现。 还需要确认传感器数据是否正确输入,比如雷达数据是否通过rs_to_velodyne转换为Velodyne格式,是否发布到正确的topic,如/scan用于二维导航。如果使用的是3D雷达,可能需要pointcloud_to_laserscan节点将点云转换为激光扫描数据。 总结,用户当前的工作空间主要支持3D SLAM和点云处理,缺少直接生成二维栅格地图的关键组件,如gmapping或cartographer,以及相应的转换工具。建议用户安装这些缺失的包,并配置相应的launch文件和参数,才能完整实现二维导航地图的建立。</think>--- ### 一、现状分析:当前工作空间的二维导航能力评估 #### ✅ 已具备的基础能力 1. **传感器数据输入** - `rslidar_sdk` + `rs_to_velodyne`:支持三维雷达数据采集与格式转换 - `imu_utils`:提供IMU校准能力(对SLAM稳定性关键) 2. **三维建图基础** - `faster-lio`:实现激光惯性里程计(LIO) - `octomap_mapping`:可将点云转换为三维八叉树地图 3. **模型定义** - `URDF_model`:机器人物理模型描述文件(导航需依赖底盘坐标系) #### ❌ 直接缺失的二维导航组件 | 关键模块 | 作用 | 当前状态 | |----------|------|----------| | `gmapping`/`cartographer` | 实时二维栅格地图生成 | 未发现相关代码包 | | `amcl` | 定位算法 | 依赖`navigation`包组 | | `move_base` | 路径规划核心 | 依赖`navigation`包组 | | `map_saver` | 地图存储工具 | 需确认`map_server`功能完整性 | --- ### 二、二维地图生成的关键技术缺口 #### 1. 三维到二维的投影能力缺失 - **问题表现**:`faster-lio`输出为三维点云,但二维导航需要二维栅格地图(PGM+ YAML) - **解决方案**:需部署以下任一方案: ```bash # 方案1:安装点云转激光工具 sudo apt install ros-<distro>-pointcloud-to-laserscan # 方案2:使用 octomap 的二维投影功能 roslaunch octomap_server octomap_mapping.launch projection_mode=2D ``` #### 2. 导航算法堆栈缺失 - **核心依赖**:ROS官方导航包组未安装 ```bash # 必须安装的基础包 sudo apt install ros-<distro>-navigation ros-<distro>-gmapping ``` --- ### 三、可行性改造方案 #### 方案A:基于现有组件的快速补全 1. **安装导航包组** ```bash sudo apt install ros-noetic-navigation ros-noetic-map-server ros-noetic-amcl ``` 2. **添加点云降维节点** 创建新包 `laser_projection`,实现以下功能: ```python # 示例代码片段(需完整实现) from sensor_msgs.msg import PointCloud2, LaserScan def project_3D_to_2D(pointcloud): # 提取z轴近地平面点云 # 转换为LaserScan格式 return laserscan ``` 3. **修改启动配置** 在 `faster-lio` 的 launch 文件中添加: ```xml <!-- 添加激光投影节点 --> <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pc2laser"> <remap from="cloud_in" to="/rslidar_points"/> <param name="target_frame" value="base_link"/> </node> ``` --- #### 方案B:深度集成 octomap 1. **启用 octomap 的二维模式** ```xml <!-- 在 octomap_mapping 启动文件中添加 --> <param name="projection_mode" type="string" value="2D" /> <param name="height_threshold" type="double" value="0.3" /> ``` 2. **导出二维地图** ```bash # 保存地图时指定二维模式 rosrun octomap_server octomap_saver -f mymap.bt --project 2D ``` 3. **格式转换工具** 开发 `.bt` 到 `.pgm` 的转换脚本(需处理灰度值映射) --- ### 四、关键验证步骤 #### 阶段1:传感器数据流验证 ```bash # 检查二维激光数据是否生成 rostopic echo /scan -n1 | grep "angle_min" # 验证坐标系树完整性 rosrun tf view_frames && evince frames.pdf ``` #### 阶段2:建图功能测试 ```bash # 启动完整SLAM链 roslaunch faster-lio run.launch roslaunch octomap_mapping my_2d_projection.launch # 保存并可视化地图 rosrun map_server map_saver -f mymap gimp mymap.pgm # 检查地图细节 ``` --- ### 五、最终结论 当前工作空间 **无法直接生成二维导航地图**,但可通过以下改造实现: 1. **硬件层面**:确认雷达安装高度和俯角是否适合平面扫描 2. **软件层面**:按方案A/B补充导航包组和投影组件 3. **验证重点**:检查 `/map` 话题是否持续输出二维栅格数据 > 建议优先采用 **方案A**,预计可在2-4小时内完成功能补全。若追求地图精度,可进一步集成 `cartographer` 的二维建图模式。
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==> Processing catkin package: 'li_calib' ==> Creating build directory: 'build_isolated/li_calib' ==> Building with env: '/home/ob/lio_ws/devel_isolated/ndt_omp/env.sh' ==> cmake /home/ob/lio_ws/src/thirdp/lidar_imu_calib -DCATKIN_DEVEL_PREFIX=/home/ob/lio_ws/devel_isolated/li_calib -DCMAKE_INSTALL_PREFIX=/home/ob/lio_ws/install_isolated -G Unix Makefiles in '/home/ob/lio_ws/build_isolated/li_calib' -- 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 -- Found OpenMP_C: -fopenmp (found version "4.5") -- Found OpenMP_CXX: -fopenmp (found version "4.5") -- Found OpenMP: TRUE (found version "4.5") -- Using CATKIN_DEVEL_PREFIX: /home/ob/lio_ws/devel_isolated/li_calib -- Using CMAKE_PREFIX_PATH: /home/ob/lio_ws/devel_isolated/ndt_omp;/home/ob/lio_ws/devel_isolated/map_server;/home/ob/lio_ws/devel_isolated/lite3_description;/home/ob/lio_ws/devel_isolated/imu_utils;/home/ob/lio_ws/devel_isolated/faster_lio;/home/ob/lio_ws/devel_isolated/code_utils;/opt/ros/noetic -- This workspace overlays: /home/ob/lio_ws/devel_isolated/ndt_omp;/home/ob/lio_ws/devel_isolated/map_server;/home/ob/lio_ws/devel_isolated/lite3_description;/home/ob/lio_ws/devel_isolated/imu_utils;/home/ob/lio_ws/devel_isolated/faster_lio;/home/ob/lio_ws/devel_isolated/code_utils;/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/ob/lio_ws/build_isolated/li_calib/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 0.8.10 -- BUILD_SHARED_LIBS is on -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: system filesystem thread date_time CMake Error at CMakeLists.txt:31 (find_package): By not providing "FindPangolin.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "Pangolin", but CMake did not find one. Could not find a package configuration file provided by "Pangolin" with any of the following names: PangolinConfig.cmake pangolin-config.cmake Add the installation prefix of "Pangolin" to CMAKE_PREFIX_PATH or set "Pangolin_DIR" to a directory containing one of the above files. If "Pangolin" provides a separate development package or SDK, be sure it has been installed. -- Configuring

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

mymymy@raspberrypi:~/catkin_ws$ catkin_make Base path: /home/mymymy/catkin_ws Source space: /home/mymymy/catkin_ws/src Build space: /home/mymymy/catkin_ws/build Devel space: /home/mymymy/catkin_ws/devel Install space: /home/mymymy/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/mymymy/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/mymymy/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/mymymy/catkin_ws/devel;/opt/ros/noetic -- This workspace overlays: /home/mymymy/catkin_ws/devel;/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/mymymy/catkin_ws/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 4 packages in topological order: -- ~~ - learning_communication1 -- ~~ - livox_ros_driver2 -- ~~ - point_lio -- ~~ - learning_tf -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'learning_communication1' -- ==> add_subdirectory(learning_communication1) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- learning_communication1: 1 messages, 1 services -- +++ processing catkin package: 'livox_ros_driver2' -- ==> add_subdirectory(livox_ros_driver2/livox_ros_driver2) -- livox_ros_driver2 version: 1.2.4 CMake Error at livox_ros_driver2/livox_ros_driver2/CMakeLists.txt:224 (find_package): By not providing "Findament_cmake_auto.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "ament_cmake_auto", but CMake did not find one. Could not find a package configuration file provided by "ament_cmake_auto" with any of the following names: ament_cmake_autoConfig.cmake ament_cmake_auto-config.cmake Add the installation prefix of "ament_cmake_auto" to CMAKE_PREFIX_PATH or set "ament_cmake_auto_DIR" to a directory containing one of the above files. If "ament_cmake_auto" provides a separate development package or SDK, be sure it has been installed. -- Configuring incomplete, errors occurred! See also "/home/mymymy/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/mymymy/catkin_ws/build/CMakeFiles/CMakeError.log". make: *** [Makefile:1356:cmake_check_build_system] 错误 1 Invoking "make cmake_check_build_system" failed mymymy@raspberrypi:~/catkin_ws$

-- ~~ - rslidar_sdk -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:100 (message): This workspace contains non-catkin packages in it, and catkin cannot build a non-homogeneous workspace without isolation. Try the 'catkin_make_isolated' command instead. Call Stack (most recent call first): CMakeLists.txt:83 (catkin_workspace) -- Configuring incomplete, errors occurred! See also "/home/ob/lio_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/ob/lio_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed ob@ubuntu:~/lio_ws$ # toplevel CMakeLists.txt for a catkin workspace # catkin/cmake/toplevel.cmake cmake_minimum_required(VERSION 3.0.2) project(Project) cmake_policy(SET CMP0074 NEW) set(CATKIN_TOPLEVEL TRUE) # search for catkin within the workspace set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}") execute_process(COMMAND ${_cmd} RESULT_VARIABLE _res OUTPUT_VARIABLE _out ERROR_VARIABLE _err OUTPUT_STRIP_TRAILING_WHITESPACE ERROR_STRIP_TRAILING_WHITESPACE ) if(NOT _res EQUAL 0 AND NOT _res EQUAL 2) # searching fot catkin resulted in an error string(REPLACE ";" " " _cmd_str "${_cmd}") message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}") endif() # include catkin from workspace or via find_package() if(_res EQUAL 0) set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake") # include all.cmake without add_subdirectory to let it operate in same scope include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE) add_subdirectory("${_out}") else() # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument # or CMAKE_PREFIX_PATH from the environment if(NOT DEFINED CMAKE_PREFIX_PATH) if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "") if(NOT WIN32) string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) else() set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) endif() endif() endif() # list of catkin workspaces set(catkin_search_path "") foreach(path ${CMAKE_PREFIX_PATH}) if(EXISTS "${path}/.catkin") list(FIND catkin_search_path ${path} _index) if(_index EQUAL -1) list(APPEND catkin_search_path ${path}) endif() endif() endforeach() # search for catkin in all workspaces set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE) find_package(catkin QUIET NO_POLICY_SCOPE PATHS ${catkin_search_path} NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) unset(CATKIN_TOPLEVEL_FIND_PACKAGE) if(NOT catkin_FOUND) message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.") endif() endif() set(PCL_DIR "/usr/lib/x86_64-linux-gnu/cmake/pcl") find_package(PCL REQUIRED ) include_directories(${PCL_INCLUDE_DIRS}) link_directories(${PCL_LIBRARY_DIRS}) add_definitions(${PCL_DEFINITIONS}) find_package(Eigen3 REQUIRED) include_directories(${EIGEN3_INCLUDE_DIRS}) catkin_workspace()

lixing@lixing:~/fast_livo2/devel$ cd .. lixing@lixing:~/fast_livo2$ catkin_make install 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" #### #### #### Running command: "make install -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_lisp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomMsg [ 20%] Built target vikit_common [ 20%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomPoint [ 26%] Built target vio [ 30%] Built target imu_proc [ 33%] Built target laser_mapping [ 36%] Built target lio [ 39%] Built target pre [ 42%] Built target test_vk_common_patch_score [ 46%] Built target test_vk_common_camera [ 49%] Built target livox_ros_driver2_generate_messages_nodejs [ 52%] Built target livox_ros_driver2_generate_messages_lisp [ 55%] Built target livox_ros_driver2_generate_messages_cpp [ 58%] Built target test_vk_common_triangulation [ 65%] Built target vikit_ros [ 66%] Built target livox_ros_driver2_generate_messages_eus [ 71%] Built target livox_ros_driver2_generate_messages_py [ 71%] Built target livox_ros_driver2_generate_messages [ 96%] Built target livox_ros_driver2_node [100%] Built target fastlivo_mapping Install the project... -- Install configuration: "Release" -- Installing: /home/lixing/fast_livo2/install/_setup_util.py -- Installing: /home/lixing/fast_livo2/install/env.sh -- Installing: /home/lixing/fast_livo2/install/setup.bash -- Installing: /home/lixing/fast_livo2/install/local_setup.bash -- Installing: /home/lixing/fast_livo2/install/setup.sh -- Installing: /home/lixing/fast_livo2/install/local_setup.sh -- Installing: /home/lixing/fast_livo2/install/setup.zsh -- Installing: /home/lixing/fast_livo2/install/local_setup.zsh -- Installing: /home/lixing/fast_livo2/install/setup.fish -- Installing: /home/lixing/fast_livo2/install/local_setup.fish -- Installing: /home/lixing/fast_livo2/install/.rosinstall -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/msg/CustomPoint.msg -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/msg/CustomMsg.msg -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2-msg-paths.cmake -- Installing: /home/lixing/fast_livo2/install/include/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/include/livox_ros_driver2/CustomMsg.h -- Installing: /home/lixing/fast_livo2/install/include/livox_ros_driver2/CustomPoint.h -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/msg/CustomMsg.l -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/msg/CustomPoint.l -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/manifest.l -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/_package_CustomMsg.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/CustomPoint.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/_package_CustomPoint.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/livox_ros_driver2-msg.asd -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/_package.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/CustomMsg.lisp -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg/CustomMsg.js -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg/CustomPoint.js -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg/_index.js -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/_index.js Listing '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/__init__.py'... Listing '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomMsg.py'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomPoint.py'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg/__init__.py'... -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/__init__.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__init__.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomMsg.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__ -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__/__init__.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__/_CustomMsg.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__/_CustomPoint.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomPoint.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/__pycache__ -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/__pycache__/__init__.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/livox_ros_driver2.pc -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2-msg-extras.cmake -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2Config.cmake -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2Config-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/package.xml -- Installing: /home/lixing/fast_livo2/install/lib/livox_ros_driver2/livox_ros_driver2_node -- Set runtime path of "/home/lixing/fast_livo2/install/lib/livox_ros_driver2/livox_ros_driver2_node" to "" -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1 -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/msg_mixed.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/msg_HAP.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/msg_MID360.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/rviz_MID360.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/rviz_mixed.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/rviz_HAP.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/HAP_config.json -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/display_point_cloud_ROS1.rviz -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/mixed_HAP_MID360_config.json -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/display_point_cloud_ROS2.rviz -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/MID360_config.json -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/vikit_common.pc -- Installing: /home/lixing/fast_livo2/install/share/vikit_common/cmake/vikit_commonConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_common/cmake/vikit_commonConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_common/package.xml + cd /home/lixing/fast_livo2/src/rpg_vikit/vikit_py + mkdir -p /home/lixing/fast_livo2/install/lib/python3/dist-packages + /usr/bin/env PYTHONPATH=/home/lixing/fast_livo2/install/lib/python3/dist-packages:/home/lixing/fast_livo2/build/lib/python3/dist-packages:/home/lixing/fast_livo2/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages CATKIN_BINARY_DIR=/home/lixing/fast_livo2/build /usr/bin/python3 /home/lixing/fast_livo2/src/rpg_vikit/vikit_py/setup.py build --build-base /home/lixing/fast_livo2/build/rpg_vikit/vikit_py install --root=/ --install-layout=deb --prefix=/home/lixing/fast_livo2/install --install-scripts=/home/lixing/fast_livo2/install/bin running build running build_py creating /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib creating /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/depthmap_utils.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/__init__.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/math_utils.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/transformations.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/align_trajectory.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/ros_node.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/cpu_info.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py running install running install_lib creating /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/depthmap_utils.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/__init__.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/math_utils.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/transformations.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/align_trajectory.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/ros_node.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/cpu_info.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/depthmap_utils.py to depthmap_utils.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/__init__.py to __init__.cpython-38.pyc byte-compiling /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

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