编译报错

[zhlx007]

作者，你的pcl版本是多少？我编译的时候报错： /home/test/navigation/funny_lidar_slam_ws/src/funny_lidar_slam/src/slam/preprocessing.cpp:475:23: error: ‘isFinite’ is not a member of ‘pcl’; did you mean ‘isValueFinite’? 475 | if (!pcl::isFinite(cloud_none[i])) { | ^~~~ | isValueFinite funny_lidar_slam/CMakeFiles/funny_lidar_slam_lib.dir/build.make:369: recipe for target 'funny_lidar_slam/CMakeFiles/funny_lidar_slam_lib.dir/src/slam/preprocessing.cpp.o' failed make[2]: [funny_lidar_slam/CMakeFiles/funny_lidar_slam_lib.dir/src/slam/preprocessing.cpp.o] Error 1 make[2]: 正在等待未完成的任务.... CMakeFiles/Makefile2:2921: recipe for target 'funny_lidar_slam/CMakeFiles/funny_lidar_slam_lib.dir/all' failed make[1]: [funny_lidar_slam/CMakeFiles/funny_lidar_slam_lib.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j16 -l16" failed

[zm0612]

hello，我使用的是ROS Noetic自带的pcl，如果我没有记错的话，应该是pcl-1.10

[zm0612]

如果你的本地环境一直没法编译通过，可以尝试使用docker，我提供的有docker环境

[zhlx007]

我的系统是ubuntu18.04,这个bug解决了，缺少头文件，我加了头文件#include <pcl/common/point_tests.h>就好了，现在又出了个问题： [ 73%] Linking CXX executable /home/test/navigation/funny_lidar_slam_ws/devel/lib/funny_lidar_slam/funny_lidar_slam /home/test/navigation/funny_lidar_slam_ws/devel/lib/libfunny_lidar_slam_lib.so：对‘vtable for pcl::registration::TransformationEstimationSVD<pcl::PointXYZI, pcl::PointXYZI, float>’未定义的引用 /home/test/navigation/funny_lidar_slam_ws/devel/lib/libfunny_lidar_slam_lib.so：对‘pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI, float>::determineRequiredBlobData()’未定义的引用 /home/test/navigation/funny_lidar_slam_ws/devel/lib/libfunny_lidar_slam_lib.so：对‘tbb::interface7::internal::isolate_within_arena(tbb::interface7::internal::delegate_base&, long)’未定义的引用 /home/test/navigation/funny_lidar_slam_ws/devel/lib/libfunny_lidar_slam_lib.so：对‘vtable for pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI, float>’未定义的引用 /home/test/navigation/funny_lidar_slam_ws/devel/lib/libfunny_lidar_slam_lib.so：对‘typeinfo for pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI, float>’未定义的引用 /home/test/navigation/funny_lidar_slam_ws/devel/lib/libfunny_lidar_slam_lib.so：对‘pcl::IterativeClosestPoint<pcl::PointXYZI, pcl::PointXYZI, float>::transformCloud(pcl::PointCloud const&, pcl::PointCloud&, Eigen::Matrix<float, 4, 4, 0, 4, 4> const&)’未定义的引用 collect2: error: ld returned 1 exit status funny_lidar_slam/CMakeFiles/funny_lidar_slam.dir/build.make:327: recipe for target '/home/test/navigation/funny_lidar_slam_ws/devel/lib/funny_lidar_slam/funny_lidar_slam' failed make[2]: [/home/test/navigation/funny_lidar_slam_ws/devel/lib/funny_lidar_slam/funny_lidar_slam] Error 1 CMakeFiles/Makefile2:2947: recipe for target 'funny_lidar_slam/CMakeFiles/funny_lidar_slam.dir/all' failed make[1]: [funny_lidar_slam/CMakeFiles/funny_lidar_slam.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: *** [all] Error 2

[zm0612]

我觉得这里倒不是代码BUG，更多的原因还是因为你的环境存在不匹配，尽量还是使用ros noetic和ubuntu20。如果环境实在没法满足，尝试使用docker。