hku-mars
When I executed catkin_make, there were warnings and errors.
Built target vikit_ros make: *** [Makefile:146: all] Error 2 Invoking "make -j8 -l8" failed CMake Warning (dev) at /opt/ros/noetic/share/catkin/cmake/python.cmake:4 (find_package): Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules are removed. Run "cmake --help-policy CMP0148" for policy details. Use the cmake_policy command to set the policy and suppress this warning.
Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/all.cmake:164 (include) /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:20 (include) CMakeLists.txt:58 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/dante/catkin_ws/build/test_results -- Forcing gtest/gmock from source, though one was otherwise available. -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:4 (cmake_minimum_required): Compatibility with CMake < 3.5 will be removed from a future version of CMake.
Update the VERSION argument
CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:45 (cmake_minimum_required): Compatibility with CMake < 3.5 will be removed from a future version of CMake.
Update the VERSION argument
CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:56 (cmake_minimum_required): Compatibility with CMake < 3.5 will be removed from a future version of CMake.
Update the VERSION argument
CMake Warning (dev) at /usr/src/googletest/googletest/cmake/internal_utils.cmake:249 (find_package): Policy CMP0148 is not set: The FindPythonInterp and FindPythonLibs modules are removed. Run "cmake --help-policy CMP0148" for policy details. Use the cmake_policy command to set the policy and suppress this warning.
Call Stack (most recent call first): /usr/src/googletest/googletest/CMakeLists.txt:91 (include) This warning is for project developers. Use -Wno-dev to suppress it.
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10") -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.10 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 4 packages in topological order: -- ~~ - vikit_common -- ~~ - vikit_py -- ~~ - vikit_ros -- ~~ - fast_livo -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'vikit_common' -- ==> add_subdirectory(rpg_vikit/vikit_common) CMake Deprecation Warning at rpg_vikit/vikit_common/CMakeLists.txt:3 (CMAKE_MINIMUM_REQUIRED): Compatibility with CMake < 3.5 will be removed from a future version of CMake.
Update the VERSION argument
Current CPU archtecture: x86_64 -- Found Eigen: /usr/local/include/eigen3 -- Eigen found (include: /usr/local/include/eigen3) CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'Sophus' but neither 'Sophus_INCLUDE_DIRS' nor 'Sophus_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) rpg_vikit/vikit_common/CMakeLists.txt:46 (catkin_package)
-- +++ processing catkin package: 'vikit_py' -- ==> add_subdirectory(rpg_vikit/vikit_py) CMake Deprecation Warning at rpg_vikit/vikit_py/CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 3.5 will be removed from a future version of CMake.
Update the VERSION argument
-- +++ processing catkin package: 'vikit_ros' -- ==> add_subdirectory(rpg_vikit/vikit_ros) CMake Deprecation Warning at rpg_vikit/vikit_ros/CMakeLists.txt:3 (CMAKE_MINIMUM_REQUIRED): Compatibility with CMake < 3.5 will be removed from a future version of CMake.
Update the VERSION argument
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'Sophus' but neither 'Sophus_INCLUDE_DIRS' nor 'Sophus_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) rpg_vikit/vikit_ros/CMakeLists.txt:34 (catkin_package)
-- +++ processing catkin package: 'fast_livo' -- ==> add_subdirectory(FAST-LIVO2) CMake Deprecation Warning at FAST-LIVO2/CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 3.5 will be removed from a future version of CMake.
Update the VERSION argument
-- Build Type: Release -- Current CPU architecture: x86_64 -- Using general x86 optimizations: -O3 -march=native -mtune=native -funroll-loops -- Processor count: 8 -- Multithreading enabled. Cores: 4 -- OpenMP found -- mimalloc not found, proceeding without it -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:152 (find_package): Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT variables. Run "cmake --help-policy CMP0144" for policy details. Use the cmake_policy command to set the policy and suppress this warning.
CMake variable EIGEN_ROOT is set to:
/usr/include/eigen3
For compatibility, find_package is ignoring the variable, but code in a .cmake module might still use it. Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:316 (find_eigen) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library) FAST-LIVO2/CMakeLists.txt:97 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.
-- Found Eigen: /usr/local/include/eigen3 (Required is at least version "3.1") -- Eigen found (include: /usr/local/include/eigen3, version: 3.4.0) CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:134 (find_package): Policy CMP0167 is not set: The FindBoost module is removed. Run "cmake --help-policy CMP0167" for policy details. Use the cmake_policy command to set the policy and suppress this warning.
Call Stack (most recent call first): /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:314 (find_boost) /usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake:551 (find_external_library) FAST-LIVO2/CMakeLists.txt:97 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.
-- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindFLANN.cmake:44 (find_package): Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT variables. Run "cmake --help-policy CMP0144" for policy details. Use the cmake_policy command to set the policy and suppress this warning.
CMake variable FLANN_ROOT is set to:
/usr
make[1]: *** [CMakeFiles/Makefile2:963: rpg_vikit/vikit_common/CMakeFiles/test_vk_common_camera.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 88%] Linking CXX shared library /home/dante/catkin_ws/devel/lib/liblaser_mapping.so
/usr/bin/ld: /home/dante/catkin_ws/devel/lib/libvikit_common.so: undefined reference to Sophus::SE3::operator*(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const' /usr/bin/ld: /home/dante/catkin_ws/devel/lib/libvikit_common.so: undefined reference to Sophus::SE3::operator=(Sophus::SE3 const&)'
/usr/bin/ld: /home/dante/catkin_ws/devel/lib/libvikit_common.so: undefined reference to Sophus::SE3::SE3()' /usr/bin/ld: /home/dante/catkin_ws/devel/lib/libvikit_common.so: undefined reference to Sophus::SE3::SE3(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)'
/usr/bin/ld: /home/dante/catkin_ws/devel/lib/libvikit_common.so: undefined reference to Sophus::SE3::exp(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)' /usr/bin/ld: /home/dante/catkin_ws/devel/lib/libvikit_common.so: undefined reference to Sophus::SE3::SE3(Sophus::SE3 const&)'
/usr/bin/ld: /home/dante/catkin_ws/devel/lib/libvikit_common.so: undefined reference to Sophus::SE3::operator*(Sophus::SE3 const&) const' /usr/bin/ld: /home/dante/catkin_ws/devel/lib/libvikit_common.so: undefined reference to Sophus::SO3::matrix() const'
collect2: error: ld returned 1 exit status
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/test_vk_common_triangulation.dir/build.make:180: /home/dante/catkin_ws/devel/lib/vikit_common/test_vk_common_triangulation] Error 1
make[1]: *** [CMakeFiles/Makefile2:989: rpg_vikit/vikit_common/CMakeFiles/test_vk_common_triangulation.dir/all] Error 2
[ 88%] Built target laser_mapping
[ 91%] Linking CXX shared library /home/dante/catkin_ws/devel/lib/libvikit_ros.so
[ 91%] Built target vikit_ros
[ 94%] Linking CXX shared library /home/dante/catkin_ws/devel/lib/liblio.so
[ 94%] Built target lio
make: *** [Makefile:146: all] Error 2
Invoking "make -j8 -l8" failed
我也报错了，错误信息是
5%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/performance_monitor.cpp.o [ 5%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o [ 5%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/user_input_thread.cpp.o [ 5%] Building CXX object FAST-LIVO2/CMakeFiles/vio.dir/src/visual_point.cpp.o [ 6%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o [ 6%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/equidistant_camera.cpp.o [ 6%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/polynomial_camera.cpp.o [ 6%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/homography.cpp.o make[2]: *** No rule to make target '/home/wang/ros_t/Sophus/libSophus.so', needed by '/home/wang/catkin_ws/devel/lib/libvikit_common.so'. Stop. make[2]: *** Waiting for unfinished jobs.... [ 6%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/img_align.cpp.o [ 6%] Built target _waterplus_map_tools_generate_messages_check_deps_GetWaypointByIndex [ 6%] Built target _waterplus_map_tools_generate_messages_check_deps_Waypoint [ 6%] Built target _waterplus_map_tools_generate_messages_check_deps_SaveWaypoints [ 6%] Built target _waterplus_map_tools_generate_messages_check_deps_AddNewWaypoint [ 6%] Built target _waterplus_map_tools_generate_messages_check_deps_GetChargerByName [ 6%] Built target _catkin_empty_exported_target [ 6%] Built target visualization_msgs_generate_messages_py [ 6%] Built target visualization_msgs_generate_messages_nodejs [ 6%] Built target visualization_msgs_generate_messages_eus [ 6%] Built target visualization_msgs_generate_messages_lisp [ 6%] Built target visualization_msgs_generate_messages_cpp [ 6%] Built target std_srvs_generate_messages_py [ 6%] Built target std_srvs_generate_messages_nodejs [ 6%] Built target std_srvs_generate_messages_eus [ 6%] Built target std_srvs_generate_messages_lisp [ 6%] Built target nav_msgs_generate_messages_py [ 6%] Linking CXX shared library /home/wang/catkin_ws/devel/lib/libvio.so [ 6%] Built target vio make[1]: *** [CMakeFiles/Makefile2:4174: rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 6%] Linking CXX shared library /home/wang/catkin_ws/devel/lib/liblaser_mapping.so [ 6%] Built target laser_mapping make: *** [Makefile:141: all] Error 2 Invoking "make -j5 -l5" failed
The same issue occurs during the catkin_make process:
(base) root@ubuntu20:~/catkin_ws# catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
Base path: /root/catkin_ws
Source space: /root/catkin_ws/src
Build space: /root/catkin_ws/build
Devel space: /root/catkin_ws/devel
Install space: /root/catkin_ws/install
####
#### Running command: "cmake /root/catkin_ws/src -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCATKIN_DEVEL_PREFIX=/root/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install -G Unix Makefiles" in "/root/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /root/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /root/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.12
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 4 packages in topological order:
-- ~~ - vikit_common
-- ~~ - vikit_py
-- ~~ - vikit_ros
-- ~~ - fast_livo
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'vikit_common'
-- ==> add_subdirectory(rpg_vikit/vikit_common)
Current CPU archtecture: x86_64
-- Found OpenCV: /usr (found version "4.2.0")
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'eigen3'
-- Found eigen3, version 3.3.7
-- Found Eigen: /usr/include/eigen3
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'vikit_py'
-- ==> add_subdirectory(rpg_vikit/vikit_py)
-- +++ processing catkin package: 'vikit_ros'
-- ==> add_subdirectory(rpg_vikit/vikit_ros)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'fast_livo'
-- ==> add_subdirectory(FAST-LIVO2)
-- Build Type: Release
-- Current CPU architecture: x86_64
-- Using general x86 optimizations: -O3 -march=native -mtune=native -funroll-loops
-- Processor count: 8
-- Multithreading enabled. Cores: 4
-- OpenMP found
-- mimalloc not found, proceeding without it
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Eigen: /usr/include/eigen3 (Required is at least version "3.1")
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- Found Boost: /usr/include (found suitable version "1.71.0", minimum required is "1.55.0") found components: system filesystem date_time iostreams regex
-- Checking for module 'flann'
-- Found flann, version 1.9.1
-- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so
-- The imported target "vtkParseOGLExt" references the file
"/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "pvtk" references the file
"/usr/bin/pvtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- Checking for module 'libusb-1.0'
-- Found libusb-1.0, version 1.0.23
-- Found USB_10: /usr/lib/x86_64-linux-gnu/libusb-1.0.so
-- Found OpenNI: /usr/lib/libOpenNI.so
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- Found OpenNI2: /usr/lib/libOpenNI2.so
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- Found libusb-1.0: /usr/include
** WARNING ** io features related to libusb-1.0 will be disabled
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- Found Qhull: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- looking for PCL_COMMON
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
-- looking for PCL_SEARCH
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
-- looking for PCL_SAMPLE_CONSENSUS
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
-- looking for PCL_FILTERS
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
-- looking for PCL_2D
-- Found PCL_2D: /usr/include/pcl-1.10
-- looking for PCL_GEOMETRY
-- Found PCL_GEOMETRY: /usr/include/pcl-1.10
-- looking for PCL_IO
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
-- looking for PCL_FEATURES
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
-- looking for PCL_ML
-- Found PCL_ML: /usr/lib/x86_64-linux-gnu/libpcl_ml.so
-- looking for PCL_SEGMENTATION
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
-- looking for PCL_VISUALIZATION
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
-- looking for PCL_SURFACE
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
-- looking for PCL_REGISTRATION
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
-- looking for PCL_KEYPOINTS
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
-- looking for PCL_TRACKING
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
-- looking for PCL_RECOGNITION
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
-- looking for PCL_STEREO
-- Found PCL_STEREO: /usr/lib/x86_64-linux-gnu/libpcl_stereo.so
-- looking for PCL_APPS
-- Found PCL_APPS: /usr/lib/x86_64-linux-gnu/libpcl_apps.so
-- looking for PCL_IN_HAND_SCANNER
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.10
-- looking for PCL_POINT_CLOUD_EDITOR
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.10
-- looking for PCL_OUTOFCORE
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
-- looking for PCL_PEOPLE
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN
-- Found Boost: /usr/include (found version "1.71.0") found components: thread chrono date_time atomic
-- Configuring done
-- Generating done
-- Build files have been written to: /root/catkin_ws/build
####
#### Running command: "make -j8 -l8" in "/root/catkin_ws/build"
####
Scanning dependencies of target lio
Scanning dependencies of target laser_mapping
Scanning dependencies of target vikit_common
Scanning dependencies of target imu_proc
Scanning dependencies of target vio
Scanning dependencies of target pre
[ 5%] Building CXX object FAST-LIVO2/CMakeFiles/imu_proc.dir/src/IMU_Processing.cpp.o
[ 5%] Building CXX object FAST-LIVO2/CMakeFiles/lio.dir/src/voxel_map.cpp.o
[ 8%] Building CXX object FAST-LIVO2/CMakeFiles/pre.dir/src/preprocess.cpp.o
[ 11%] Building CXX object FAST-LIVO2/CMakeFiles/laser_mapping.dir/src/LIVMapper.cpp.o
[ 17%] Building CXX object FAST-LIVO2/CMakeFiles/vio.dir/src/vio.cpp.o
[ 20%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o
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make[2]: *** 没有规则可制作目标“/root/Sophus/build/libSophus.so”，由“/root/catkin_ws/devel/lib/libvikit_common.so” 需求。 停止。
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make[1]: *** [CMakeFiles/Makefile2:651：rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/all] 错误 2
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make: *** [Makefile:141：all] 错误 2
Invoking "make -j8 -l8" failed
