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在ROS使用自己安装的eigen时的cmake错误



  • 在我在自己的ROS系统中安装最新的eigen后,在自己的工作空间执行catkin_make后出现了如下的错误

    CMake Error at /opt/ros/kinetic/share/eigen_conversions/cmake/eigen_conversionsConfig.cmake:106 (message):
      Project 'eigen_conversions' specifies '/usr/include/eigen3' as an include
      dir, which is not found.  It does neither exist as an absolute directory
      nor in '/opt/ros/kinetic//usr/include/eigen3'.  Ask the maintainer 'Tully
      Foote <tfoote@osrfoundation.org>' to fix it.
    Call Stack (most recent call first):
      /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
      image_pipeline/depth_image_proc/CMakeLists.txt:4 (find_package)
    
    
    -- Configuring incomplete, errors occurred!
    See also "/home/randoms/Documents/ros/workspace/build/CMakeFiles/CMakeOutput.log".
    See also "/home/randoms/Documents/ros/workspace/build/CMakeFiles/CMakeError.log".
    Makefile:3692: recipe for target 'cmake_check_build_system' failed
    make: *** [cmake_check_build_system] Error 1
    Invoking "make cmake_check_build_system" failed
    

    错误原因是CMake没有找到Eigen。我的Eigen的安装位置是/usr/local/include/eigen而ROS系统中Eigen的默认安装位置是/usr/include/eigen.很显然系统在旧的位置寻找eigen包。

    可能影响到CMake寻找软件包软件包的目录有以下几个

    /opt/ros/kinetic/share/cmake_modules/cmake/Modules # ros 系统环境的cmake_modules
    /usr/share/cmake-3.5/Modules # 系统cmake_modules, 不同版本cmake可能有些区别
    /usr/lib/cmake/eigen3 # 系统的cmake环境配置
    /usr/local/lib/cmake/eigen3 # 可能的另外一个路径
    /usr/local/share/eigen3/cmake # eigen的CMake配置文件
    

    排查后以上的几个位置的文件后发现没有对/usr/include/eigen的引用。
    当然如果你遇到这个问题,是有可能这几个文件配置有问题的。

    然后顺着catkin_make一路向下查找。终于发现了问题。
    /opt/ros/kinetic/share/orocos_kdl这个包中orocos_kdl-config.cmake这个文件把eigen的路径写死成了/usr/include/eigen
    把文件修改成下面这样就可以了

    # - Config file for the orocos-kdl package
    # It defines the following variables
    #  orocos_kdl_INCLUDE_DIRS - include directories for Orocos KDL
    #  orocos_kdl_LIBRARIES    - libraries to link against for Orocos KDL
    #  orocos_kdl_PKGCONFIG_DIR - directory containing the .pc pkgconfig files
    
    # Compute paths
    get_filename_component(SELF_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
    find_package(Eigen3)
    set(orocos_kdl_INCLUDE_DIRS "${EIGEN3_INCLUDE_DIRS};/opt/ros/kinetic/include")
    
    if(NOT TARGET orocos-kdl)
      include("${SELF_DIR}/OrocosKDLTargets.cmake")
    endif()
    
    set(orocos_kdl_LIBRARIES orocos-kdl)
    
    # where the .pc pkgconfig files are installed
    set(orocos_kdl_PKGCONFIG_DIR "/opt/ros/kinetic/lib/pkgconfig")
    

    如果你也遇到类似的问题就要定位到具体的package然后找到对应的路径进行修改就可以了。


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