search

ZJU-FAST-Lab / ego-planner-swarm

An efficient single/multi-agent trajectory planner for multicopters.
GNU General Public License v3.0
1.2k stars 231 forks source link

Fixed opencv dependencies and support catkin build in ROS melodic #7

Closed surfii3z closed 3 years ago

surfii3z commented 3 years ago

My environment Ubuntu 18.04LTS, ROS melodic, OpenCV 3.4.13

OpenCV dependency on plan_env package

When I tried to compile with catkin_make, it would show the following error.

CMakeFiles/ego_planner_node.dir/src/planner_manager.cpp.o: In function `ego_planner::EGOPlannerManager::initPlanModules(ros::NodeHandle&, std::shared_ptr<ego_planner::PlanningVisualization>)':
/home/nvadmin/ego_planner_ws/src/ego-planner-swarm/src/planner/plan_env/include/plan_env/grid_map.h:90: undefined reference to `cv::Mat::Mat()'
/home/nvadmin/ego_planner_ws/src/ego-planner-swarm/src/planner/plan_env/include/plan_env/grid_map.h:90: undefined reference to `cv::Mat::Mat()'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/nvadmin/ego_planner_ws/devel/.private/ego_planner/lib/ego_planner/ego_planner_node] Error 1
make[1]: *** [CMakeFiles/ego_planner_node.dir/all] Error 2
make: *** [all] Error 2

I added OpenCV dependencies to plan_env to fix this issue.

Support catkin build in ROS melodic

Moreover, when compiling with catkin build in ROS melodic, it showed this error

Errors     << multi_map_server:make /home/nvadmin/ego_planner_ws/logs/multi_map_server/build.make.005.log                               
/usr/bin/ld: cannot find -lpose_utils
collect2: error: ld returned 1 exit status
make[2]: *** [/home/nvadmin/ego_planner_ws/devel/.private/multi_map_server/lib/multi_map_server/multi_map_visualization] Error 1
make[1]: *** [CMakeFiles/multi_map_visualization.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2

and

Errors     << odom_visualization:make /home/nvadmin/ego_planner_ws/logs/odom_visualization/build.make.005.log                           
/usr/bin/ld: cannot find -lpose_utils
collect2: error: ld returned 1 exit status
make[2]: *** [/home/nvadmin/ego_planner_ws/devel/.private/odom_visualization/lib/odom_visualization/odom_visualization] Error 1
make[1]: *** [CMakeFiles/odom_visualization.dir/all] Error 2
make: *** [all] Error 2
bigsuperZZZX commented 3 years ago

Thank you very much for your contribuction! However, I can't merge this pull request directly, since there are too many irrelevant deletions in file "src/planner/plan_env/include/plan_env/grid_map.h". So I changed the code by hand.