lio_sam_6axis编译报错解决办法

lio_sam_6axis编译需要现安装gtsam4.0.2
git clone https://github.com/borglab/gtsam.git
&& cd gtsam && git checkout b10963802c13893611d5a88894879bed47adf9e0
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
make -j8
sudo make install
安装完如果还报错：

/home/ant/work/autoware.ai/install/lio_sam_6axis/lib/lio_sam_6axis/lio_sam_6axis_mapOptmization: symbol lookup error: /home/ant/work/autoware.ai/install/lio_sam_6axis/lib/lio_sam_6axis/lio_sam_6axis_mapOptmization: undefined symbol: _ZNK5gtsam16NoiseModelFactor5printERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKN5boost8functionIFS6_mEEE

原因可能是多次版一gtsam的源文件，导致共享文件出问题了，可以尝试删除/usr/lib下的共享文件，从/usr/local/lib拷贝过去。

cd /usr/lib
sudo rm -rf libgtsam.so.4 
sudo rm -rf libmetis.so
 
cd /usr/local/lib
sudo cp libgtsam.so.4 /usr/lib
sudo cp libmetis.so  /usr/lib

再重新安装gtsam即可。

cd ~/work/tools/gtsam/build
sudo make install

还报错的话尝试降低gtsam的版本，用4.0.1试试。
conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’解决

sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak

sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h