世界再一次被我拯救
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2022-03-03 12:42:06
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最近一直想要实现在ROS运行python3，但是搞砸了很多，其中有一些报错让我不得不重视一些之前没研究过的毛病。
1.cmake 中的find_package
2.错误:Could not find a package configuration file provided by xxx
当我们
FIND_PACKAGE( OpenCV REQUIRED ) 时
系统默认在/usr/share/OpenCV下找OpenCVConfig.cmake，确定引入的Opencv的头文件和库文件的位置。
我在catkin_make的中途报错，因为在navigation的pkg的fake_localization中的CMakelist.txt有一句find_package(Boost REQUIRED COMPONENTS signals)
CMake Error at /usr/local/lib/cmake/Boost-1.72.0/BoostConfig.cmake:120 (find_package):
Could not find a package configuration file provided by "boost_signals"
(requested version 1.72.0) with any of the following names:
boost_signalsConfig.cmake
boost_signals-config.cmake
Add the installation prefix of "boost_signals" to CMAKE_PREFIX_PATH or set
"boost_signals_DIR" to a directory containing one of the above files. If
"boost_signals" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
/usr/local/lib/cmake/Boost-1.72.0/BoostConfig.cmake:185 (boost_find_component)
/usr/share/cmake-3.5/Modules/FindBoost.cmake:245 (find_package)
navigation/fake_localization/CMakeLists.txt:17 (find_package)
python2安装教程,BOOST下载,安装及卸载BOOST
我之前是没有安装BOOST的，安装BOOST之后有尝试过很多个路径，如果在后面加了prefix参数则会安装include和lib在对应的目录下，如果不加，装好后，默认的头文件在/usr/local/include /boost目录下。库文件在/usr/local/lib/目录下。
如果编译好程序后，在运行时提示无法加载某个库文件，则把/usr/local/lib下的所有boost的库文件mv到/usr/lib目录下就可以了。
卸载方法:直接将以上两个目录中有关boost的内容删除就可以了。
检查过后发现除了在usr/local/include/boost这里貌似有一些signals signals2.hpp的头文件
以及在usr/local/lib下发现一些libboost开头的.so文件之外(可以看到是之前安装的时候安装的python2.7版本的1.67和python3.4的1.72)
其他地方是没有boost库的痕迹的。
将usr/local/lib下所有libboost开头的文件放到别的文件夹之后，我们开始python2的boost的安装
reference
./b2 install (默认安装的话是将头文件放在/usr/local/include/boost文件夹中，库文件放在/usr/local/lib当中)
这样的话在cm的时候依然是找不到的，我们接下来按照 ./b2 install --prefix=/usr进行安装
依然没找到，那说明这个不是普通的没有安装boost的问题
我们看报错
CMake Error at /usr/local/lib/cmake/Boost-1.72.0/BoostConfig.cmake:120 (find_package):
Could not find a package configuration file provided by “boost_signals”
(requested version 1.72.0) with any of the following names:
这说明Boost这个文件夹有问题，删除之后果然可以开始编译，虽然还有如下报错，我们之后再进行python3的Boost安装(如果有需要的话)
/usr/bin/ld: warning: libcudart.so.8.0, needed by /home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libcublas.so.8.0, needed by /home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libcurand.so.8.0, needed by /home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so, not found (try using -rpath or -rpath-link)
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaGetDevice’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaSetupArgument’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaFreeHost’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaStreamCreateWithFlags’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasDdot_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaMemcpyAsync’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaMallocHost’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaGetDeviceProperties’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaStreamCreate’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasDscal_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaConfigureCall’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasDestroy_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasDasum_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaSetDevice’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaGetErrorString’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaEventElapsedTime’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasSaxpy_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘curandSetGeneratorOffset’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaStreamDestroy’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasDgemm_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaGetDeviceCount’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasSasum_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘__cudaRegisterFunction’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasCreate_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaFree’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaPeekAtLastError’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasSetStream_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaEventDestroy’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘__cudaUnregisterFatBinary’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘curandGenerateUniform’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘__cudaRegisterFatBinary’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘curandGenerateUniformDouble’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaGetLastError’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaMalloc’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaMemcpy’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasDaxpy_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘__cudaRegisterVar’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘curandCreateGenerator’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasScopy_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaMemset’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasSgemv_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasSdot_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘curandSetPseudoRandomGeneratorSeed’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaStreamSynchronize’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘curandDestroyGenerator’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasDcopy_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘curandGenerateNormalDouble’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasSgemm_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasDgemv_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasGetStream_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaLaunch’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaEventSynchronize’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘curandGenerate’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cublasSscal_v2’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaEventCreate’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘curandGenerateNormal’未定义的引用
/home/asber/catkin_ws/src/ros_caffe/caffe/build/lib/libcaffe.so：对‘cudaEventRecord’未定义的引用
去掉ros_caffe之后报错
Traceback (most recent call last):
File "/home/asber/catkin_ws/src/rbx1/rbx1_nav/cfg/CalibrateAngular.cfg", line 5, in <module>
from dynamic_reconfigure.parameter_generator_catkin import *
File "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/__init__.py", line 38, in <module>
import roslib
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/__init__.py", line 50, in <module>
from roslib.launcher import load_manifest
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 42, in <module>
import rospkg
ImportError: No module named rospkg
Checking md5sum on /home/asber/catkin_ws/devel/share/pcl_ros/samples/data/table_scene_lms400.pcd
rbx1/rbx1_nav/CMakeFiles/rbx1_nav_gencfg.dir/build.make:65: recipe for target '/home/asber/catkin_ws/devel/include/rbx1_nav/CalibrateAngularConfig.h' failed
make[2]: *** [/home/asber/catkin_ws/devel/include/rbx1_nav/CalibrateAngularConfig.h] Error 1
make[2]: *** 正在等待未完成的任务....
Traceback (most recent call last):
File "/home/asber/catkin_ws/src/rbx1/rbx1_nav/cfg/CalibrateLinear.cfg", line 5, in <module>
from dynamic_reconfigure.parameter_generator_catkin import *
File "/opt/ros/kinetic/lib/python2.7/dist-packages/dynamic_reconfigure/__init__.py", line 38, in <module>
import roslib
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/__init__.py", line 50, in <module>
from roslib.launcher import load_manifest
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 42, in <module>
import rospkg
ImportError: No module named rospkg
rbx1/rbx1_nav/CMakeFiles/rbx1_nav_gencfg.dir/build.make:83: recipe for target '/home/asber/catkin_ws/devel/include/rbx1_nav/CalibrateLinearConfig.h' failed
make[2]: *** [/home/asber/catkin_ws/devel/include/rbx1_nav/CalibrateLinearConfig.h] Error 1
CMakeFiles/Makefile2:8121: recipe for target 'rbx1/rbx1_nav/CMakeFiles/rbx1_nav_gencfg.dir/all' failed
make[1]: *** [rbx1/rbx1_nav/CMakeFiles/rbx1_nav_gencfg.dir/all] Error 2
[ 15%] Built target table_scene_lms400.pcd
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
catkin config --no-cmake-args之后还是这样报错
然后我现在在系统默认的python环境下,cm结果一样，这不得不怀疑可能系统这边的pkg没做好。我在默认cmd下python竟然进入anaconda的python。usr/bin下的pthon指向python2.7 python2.7直接运行就是anaconda的python
lrwxrwxrwx 1 root root 26 8月 16 08:59 dh_pypy -> ../share/dh-python/dh_pypy
-rwxr-xr-x 1 root root 1056 11月 24 2017 dh_python2
lrwxrwxrwx 1 root root 29 8月 16 08:59 dh_python3 -> ../share/dh-python/dh_python3
lrwxrwxrwx 1 root root 23 10月 9 01:01 pdb2.7 -> ../lib/python2.7/pdb.py
lrwxrwxrwx 1 root root 23 10月 8 22:41 pdb3.5 -> ../lib/python3.5/pdb.py
-rwxr-xr-x 1 root root 73384 5月 16 2016 pvtkpython
lrwxrwxrwx 1 root root 31 12月 4 04:46 py3versions -> ../share/python3/py3versions.py
-rwxr-xr-x 1 root root 293 9月 17 2015 pybabel-python2
lrwxrwxrwx 1 root root 26 8月 16 08:59 pybuild -> ../share/dh-python/pybuild
lrwxrwxrwx 1 root root 9 12月 4 04:46 python -> python2.7
lrwxrwxrwx 1 root root 9 12月 4 04:46 python2 -> python2.7
-rwxr-xr-x 1 root root 3492656 10月 9 01:01 python2.7
lrwxrwxrwx 1 root root 33 10月 9 01:01 python2.7-config -> x86_64-linux-gnu-python2.7-config
lrwxrwxrwx 1 root root 16 11月 24 2017 python2-config -> python2.7-config
lrwxrwxrwx 1 root root 9 12月 4 04:46 python3 -> python3.5
-rwxr-xr-x 2 root root 4452016 10月 8 22:41 python3.5
lrwxrwxrwx 1 root root 33 10月 8 22:41 python3.5-config -> x86_64-linux-gnu-python3.5-config
-rwxr-xr-x 2 root root 4452016 10月 8 22:41 python3.5m
lrwxrwxrwx 1 root root 34 10月 8 22:41 python3.5m-config -> x86_64-linux-gnu-python3.5m-config
lrwxrwxrwx 1 root root 16 3月 23 2016 python3-config -> python3.5-config
lrwxrwxrwx 1 root root 10 12月 4 04:46 python3m -> python3.5m
lrwxrwxrwx 1 root root 17 3月 23 2016 python3m-config -> python3.5m-config
lrwxrwxrwx 1 root root 16 11月 24 2017 python-config -> python2.7-config
lrwxrwxrwx 1 root root 29 12月 4 04:46 pyversions -> ../share/python/pyversions.py
lrwxrwxrwx 1 root root 45 12月 5 21:06 sphinx-apidoc -> ../share/sphinx/scripts/python2/sphinx-apidoc
lrwxrwxrwx 1 root root 46 12月 5 21:06 sphinx-autogen -> ../share/sphinx/scripts/python2/sphinx-autogen
lrwxrwxrwx 1 root root 44 12月 5 21:06 sphinx-build -> ../share/sphinx/scripts/python2/sphinx-build
lrwxrwxrwx 1 root root 49 12月 5 21:06 sphinx-quickstart -> ../share/sphinx/scripts/python2/sphinx-quickstart
-rwxr-xr-x 1 root root 14704 5月 16 2016 vtk6python
-rwxr-xr-x 1 root root 2909 10月 9 00:59 x86_64-linux-gnu-python2.7-config
lrwxrwxrwx 1 root root 34 10月 8 22:41 x86_64-linux-gnu-python3.5-config -> x86_64-linux-gnu-python3.5m-config
-rwxr-xr-x 1 root root 3185 10月 8 22:39 x86_64-linux-gnu-python3.5m-config
lrwxrwxrwx 1 root root 33 3月 23 2016 x86_64-linux-gnu-python3-config -> x86_64-linux-gnu-python3.5-config
lrwxrwxrwx 1 root root 34 3月 23 2016 x86_64-linux-gnu-python3m-config -> x86_64-linux-gnu-python3.5m-config
lrwxrwxrwx 1 root root 33 11月 24 2017 x86_64-linux-gnu-python-config -> x86_64-linux-gnu-python2.7-config
把Anconda的bashrc注释之后然后把anaconda的文件夹删除(或者重命名)之后python就进入系统python，cm没有报错找不到rospkg，但是cm的时候还是如下报错
In file included from /opt/ros/kinetic/include/open_karto/Mapper.h:24:0,
from /home/asber/catkin_ws/src/slam_karto/src/spa_solver.h:21,
from /home/asber/catkin_ws/src/slam_karto/src/spa_solver.cpp:18:
/opt/ros/kinetic/include/open_karto/Karto.h: In member function ‘virtual kt_bool karto::OccupancyGrid::AddScan(karto::LocalizedRangeScan*, kt_bool)’:
/opt/ros/kinetic/include/open_karto/Karto.h:5857:59: error: ‘isnan’ was not declared in this scope
if (rangeReading >= maxRange || isnan(rangeReading))
^
/opt/ros/kinetic/include/open_karto/Karto.h:5857:59: note: suggested alternative:
In file included from /usr/include/c++/5/random:38:0,
from /usr/include/c++/5/bits/stl_algo.h:66,
from /usr/include/c++/5/algorithm:62,
from /opt/ros/kinetic/include/open_karto/Karto.h:24,
from /opt/ros/kinetic/include/open_karto/Mapper.h:24,
from /home/asber/catkin_ws/src/slam_karto/src/spa_solver.h:21,
from /home/asber/catkin_ws/src/slam_karto/src/spa_solver.cpp:18:
/usr/include/c++/5/cmath:641:5: note: ‘std::isnan’
isnan(_Tp __x)
^
我看了一下
from /home/asber/catkin_ws/src/slam_karto/src/spa_solver.cpp:18
调用#include “spa_solver.h”
/home/asber/catkin_ws/src/slam_karto/src/spa_solver.h:21
调用#include <open_karto/Mapper.h>
/opt/ros/kinetic/include/open_karto/Mapper.h:24:0
调用#include <open_karto/Karto.h>
然后在 <open_karto/Karto.h>的确如报错所示，是有isnan，按照此处有说要降低版本，但是5.5可以通过，我5.4自然可以，除非系统调用了其他g++ 来编译cm
我下面尝试将报错的文件进行修改
把if (rangeReading >= maxRange || isnan(rangeReading))修改为if (rangeReading >= maxRange || std::isnan(rangeReading))
通过。
然后删除报错包就完事了