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RobustFieldAutonomyLab / DiSCo-SLAM

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problem about "libnano" while compiling and methods to solve #4

Open BIT-TYJ opened 1 year ago

BIT-TYJ commented 1 year ago

Hello, someting goes wrong when I compile DiSCo-SLAM, in the following: (1)_Target "lio_sammapFusion" links to target "libnabo::nabo" but the target was not found.

SOLVE: I change: # Map Fushion libnabo::nabo add_executable(${PROJECT_NAME}_mapFusion src/DiSCo-SLAM/mapFusion.cpp) add_dependencies(${PROJECT_NAME}_mapFusion ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp) target_link_libraries(${PROJECT_NAME}_mapFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} libnabo::nabo} to # Map Fushion libnabo::nabo add_executable(${PROJECT_NAME}_mapFusion src/DiSCo-SLAM/mapFusion.cpp) add_dependencies(${PROJECT_NAME}_mapFusion ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp) target_link_libraries(${PROJECT_NAME}_mapFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} nabo} (2) the second problem is: _/usr/bin/ld: //usr/local/lib/libnabo.a(kdtree_cpu.cpp.o): undefined reference to symbol 'GOMP_parallel@@GOMP_4.0' //usr/lib/x8664-linux-gnu/libgomp.so.1: 无法添加符号: DSO missing from command line

SOLVE: I change: # Map Fushion libnabo::nabo add_executable(${PROJECT_NAME}_mapFusion src/DiSCo-SLAM/mapFusion.cpp) add_dependencies(${PROJECT_NAME}_mapFusion ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp) target_link_libraries(${PROJECT_NAME}_mapFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} nabo} to # Map Fushion libnabo::nabo add_executable(${PROJECT_NAME}_mapFusion src/DiSCo-SLAM/mapFusion.cpp) add_dependencies(${PROJECT_NAME}_mapFusion ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp) target_link_libraries(${PROJECT_NAME}_mapFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} nabo gtsam fast_max-clique_finder scan_context "/usr/local/lib/libnabo.a" "/usr/lib/x86_64-linux-gnu/libgomp.so.1")

Then the compilation succeeded.

YunjuanSUN commented 1 year ago

I change

target_link_libraries(${PROJECT_NAME}_mapFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} libnabo::nabo}

to

target_link_libraries(${PROJECT_NAME}_mapFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${libnabo_LIBRARIES} gtsam fast_max-clique_finder scan_context)

haonimaqaq commented 1 year ago

change ${PCL_LIBRARIES} libnabo::nabo} to ${PCL_LIBRARIES} nabo add gtsam fast_max-clique_finder scan_context "/usr/local/lib/libnabo.a" "/usr/lib/x86_64-linux-gnu/libgomp.so.1")