在TX2上安装一些必要的库文件

1. liblas

sudo aptitude install liblas-c-dev liblas-bin liblas-dev liblas-c3 python-liblas liblas3

sudo apt-get install libatlas-base-dev

2. proj.4
   

Proj.4是开源GIS最著名的地图投影库，GRASS GIS, MapServer, PostGIS, Thuban, OGDI, Mapnik, TopoCad, GDAL/OGR等软件的投影都直接或间接的使用Proj.4。
Proj.4的功能主要有经纬度坐标与地理坐标的转换，坐标系的转换，包括基准变换等，下面以命令行方式和编程方式来说明经纬度坐标与地理坐标转换功能的使用。

3. 升级cmake
4. 路由优先级修改
5. 查看局域网IP

sudo arp-scan -I enp4s0  --localnet

6. 安装sqlite3

sudo apt-get install sqlite3

7. ssh 远程登录失败的问题
8. error while loading shared libraries: libboost_thread.so.1.70.0: cannot open shared object file: No such file or directory
   ​​https://www.codenong.com/cs80841895/​​
9. error while loading shared libraries: liblas.so.3: cannot open shared object file: No such file or directory

sudo apt-get install libatlas-base-dev

10. fatal error: Eigen/Core: No such file or directory
    

sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

11. error: ‘boost::placeholders’ has not been declared
12. undefined reference to boost::log::v2_mt_posix::
    
    在include <boost/log/**>前加上​​​#define BOOST_LOG_DYN_LINK 1​​
13. undefined reference to `pcl::KdTreeFLANN<pcl::PointXYZI, flann::L2_Simple >::KdTreeFLANN(bool)’

#include "pcl/kdtree/impl/kdtree_flann.hpp"

14. In function `pcl::PCDWriter::write(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool)’

• In function `sortPoint(pcl::PointCloudpcl::PointXYZI const&, pcl::PointCloudpcl::PointXYZI const&, boost::shared_ptr<pcl::PointCloudpcl::PointXYZI >)’:
• undefined reference to `pcl::KdTreeFLANN<pcl::PointXYZI, flann::L2_Simple >::KdTreeFLANN(bool)’
• undefined reference to `pcl::KdTreeFLANN<pcl::PointXYZI, flann::L2_Simple >::setInputCloud(boost::shared_ptr<pcl::PointCloudpcl::PointXYZI const> const&, boost::shared_ptr<std::vector<int, std::allocator > const> const&)’
  在CMakeLists.txt 中修改如下

target_link_libraries({PROJECTNAME}_node
......
        ${PCL_LIBRARIES}
        ......
)

15. undefined reference to ​​tf::TransformBroadcaster::TransformBroadcaster()' 在package.xml​​​ 中增加
    

<build_depend>tf</build_depend>

  <exec_depend>tf</exec_depend>

在CMakeLists.txt 中添加

find_package(catkin REQUIRED COMPONENTS
    ...
    tf
)

16. undefined reference to `vtkDebugLeaksManager::vtkDebugLeaksManager()’

• undefined reference to `vtkDebugLeaksManager::~vtkDebugLeaksManager()’
  在CMakeLists.txt 中添加

find_package(VTK REQUIRED)
target_link_libraries(${PROJECTNAME}
        ...
        ${VTK_LIBRARIES}
    )

17. undefined reference to `cv::String::deallocate()’
    在CMakeLists.txt 中添加

find_package(OpenCV REQUIRED)
target_link_libraries(${PROJECTNAME}
    ...
    ${OpenCV_LIBRARIES} 
    )

18. undefined reference to `cv::imwrite(cv::String const&, cv::_InputArray const&, std::vector<int, std::allocator > const&)’

• undefined reference to `cv::imread(cv::String const&, int)’
• undefined reference to `cv::VideoCapture::open(cv::String const&)’
• undefined reference to `cv::undistort(cv::_InputArray const&, cv::_OutputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&)’

修改CMakeLists.txt 如下：

find_package(OpenCV 3 REQUIRED)
target_link_libraries(${PROJECTLIB}
  ${OpenCV_LIBS}
  )

19. fatal error: proj_api.h

\sudo apt-get install libproj-dev

20. ​​escalating to SIGTERM​​

运行ros节点执行ctrl+c后进程会转而执行rosspin（）后面的程序，但是如果在一定时间内程序没有执行完毕，进程会强制退出，并抛出”escalating to SIGTERM“错误，为了解决此问题，可以修改/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch路径下的nodeprocess.py文件，将该文件第48行的“_TIMEOUT_SIGINT = 15.0 #seconds”中的15秒改为您期望运行的最大时间。