测试LOAM以及LEGO-LOAM过程中遇到的坑

1、LEGO-LOAM编译出错 ：fatal error: cloud_msgs/cloud_info.h: No such file or directory

 

解决方法：

catkin_make -j1

或者：

catkin_make -DCATKIN_WHITELIST_PACKAGES="cloud_msgs"

　　

2、 LEGO-LOAM编译出错 ：Project ‘cv_bridge‘ specifies ‘/usr/include/opencv‘ as an include dir, which is not found

CMake Error at /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message):
  Project 'cv_bridge' specifies '/usr/include/opencv' as an include dir,
  which is not found.  It does neither exist as an absolute directory nor in
  '/opt/ros/melodic//usr/include/opencv'.  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.
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
  open_quadtree_mapping/CMakeLists.txt:24 (find_package)

解决办法：

ubuntu18.04上面安装的是opencv4，位置命名成了/usr/include/opencv4

sudo vim /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

第96行改为opencv4