AutoDL 上复现 OpenREALM ROS1 Bridge 全流程记录Ubuntu 20.04 ROS Noetic RTX 40901. 复现环境本次复现环境如下系统Ubuntu 20.04.5 平台AutoDL GPURTX 4090 CUDA11.8 ROSROS Noetic 工作目录/root/autodl-tmp/openrealm_ws 数据盘/root/autodl-tmp50GB可写前置状态roscore 可以正常启动 RViz 可以正常打开 VNC/noVNC 正常 rostopic list 可以看到 /rosout /tf /tf_static由于 AutoDL 访问 GitHub 经常出现 443 超时本次没有直接在服务器上git clone而是选择在本地下载源码压缩包再上传到 AutoDL。2. 源码与依赖包准备本地下载并上传到 AutoDL 的包如下OpenREALM-master.zip OpenREALM_ROS1_Bridge-master.zip PSL-master.zip openvslam-master.zip FBoW-master.zip g2o-9b41a4e.zip其中OpenREALM-master.zip OpenREALM 主库 OpenREALM_ROS1_Bridge-master.zip ROS1 Bridge PSL-master.zip OpenREALM densifier 的子模块 openvslam-master.zip OpenVSLAM FBoW-master.zip OpenVSLAM 的 BoW 依赖 g2o-9b41a4e.zip OpenVSLAM / OpenREALM 需要的 g2o上传后的目录cd /root/autodl-tmp/openrealm_ws ls -lh我的结果大致如下OpenREALM-master.zip OpenREALM_ROS1_Bridge-master.zip PSL-master.zip openvslam-master.zip FBoW-master.zip g2o-9b41a4e.zip3. 解压 OpenREALM 和 ROS1 Bridgecd /root/autodl-tmp/openrealm_ws unzip OpenREALM-master.zip unzip OpenREALM_ROS1_Bridge-master.zip mv OpenREALM-master OpenREALM mkdir -p catkin_ws/src mv OpenREALM_ROS1_Bridge-master catkin_ws/src/OpenREALM_ROS1_Bridge检查 ROS 包find catkin_ws/src/OpenREALM_ROS1_Bridge -maxdepth 2 -name package.xml正常输出应包含catkin_ws/src/OpenREALM_ROS1_Bridge/realm_msgs/package.xml catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/package.xml catkin_ws/src/OpenREALM_ROS1_Bridge/realm_rviz_plugin/package.xml4. 检查 PSL 子模块是否为空GitHub 页面直接 Download ZIP 时通常不会包含 git submodule。检查ls -lah /root/autodl-tmp/openrealm_ws/OpenREALM/modules/realm_densifier/realm_densifier_impl/psl我的结果是空目录total 0 drwxr-xr-x 2 root root 10 ... drwxr-xr-x 3 root root 25 ...这说明 PSL 子模块缺失后续 OpenREALM CMake 会报does not contain a CMakeLists.txt file因此需要手动补 PSL。5. 安装基础 apt 依赖先安装 OpenREALM / OpenVSLAM / ROS Bridge 可能用到的基础依赖sudo apt update sudo apt install -y \ build-essential cmake pkg-config git wget curl unzip \ apt-utils ca-certificates lsb-release gnupg2 \ libproj-dev libeigen3-dev gdal-bin \ libcgal-dev libcgal-qt5-dev \ libpcl-dev exiv2 libexiv2-dev \ libglew-dev libxkbcommon-dev libglu1-mesa-dev freeglut3-dev \ libxi-dev libxmu-dev libxmu-headers x11proto-input-dev \ libatlas-base-dev libsuitesparse-dev \ libgtk-3-dev ffmpeg \ libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev \ gfortran libyaml-cpp-dev libgoogle-glog-dev libgflags-dev \ libboost-all-dev libopencv-dev如果安装mesa-common-dev时出现类似mesa-common-dev : Depends: libdrm-dev but it is not going to be installed可以先跳过mesa-common-dev。我这里 RViz 已经能正常打开所以没有继续纠结 Mesa 依赖。ROS 相关依赖source /opt/ros/noetic/setup.bash sudo apt install -y \ python3-catkin-tools \ ros-noetic-geographic-msgs \ ros-noetic-geodesy \ ros-noetic-cv-bridge \ ros-noetic-rviz \ ros-noetic-pcl-ros \ ros-noetic-grid-map-core \ ros-noetic-grid-map-ros \ ros-noetic-grid-map-msgs \ ros-noetic-grid-map-rviz-plugin6. 补 PSL 子模块cd /root/autodl-tmp/openrealm_ws rm -rf /tmp/psl_unpack mkdir -p /tmp/psl_unpack unzip -q PSL-master.zip -d /tmp/psl_unpack rm -rf OpenREALM/modules/realm_densifier/realm_densifier_impl/psl mkdir -p OpenREALM/modules/realm_densifier/realm_densifier_impl mv /tmp/psl_unpack/PSL-master OpenREALM/modules/realm_densifier/realm_densifier_impl/psl test -f OpenREALM/modules/realm_densifier/realm_densifier_impl/psl/CMakeLists.txt echo PSL OK看到PSL OK说明 PSL 已经补好。7. 编译安装 g2o解压 g2ocd /root/autodl-tmp/openrealm_ws mkdir -p deps rm -rf deps/g2o deps/g2o-* unzip -q g2o-9b41a4e.zip -d deps/ mv deps/g2o-* deps/g2o配置cd /root/autodl-tmp/openrealm_ws/deps/g2o mkdir -p build cd build cmake .. \ -DCMAKE_BUILD_TYPERelease \ -DCMAKE_INSTALL_PREFIX/usr/local \ -DCMAKE_CXX_FLAGS-stdc11 \ -DBUILD_SHARED_LIBSON \ -DBUILD_UNITTESTSOFF \ -DG2O_USE_CHOLMODOFF \ -DG2O_USE_CSPARSEON \ -DG2O_USE_OPENGLOFF \ -DG2O_USE_OPENMPON第一次编译时我用了多线程结果报c: fatal error: Killed signal terminated program cc1plus这是内存不够导致的。解决方法是开启 swap并使用单线程编译。创建 16G swapcd /root/autodl-tmp fallocate -l 16G /root/autodl-tmp/swapfile chmod 600 /root/autodl-tmp/swapfile mkswap /root/autodl-tmp/swapfile swapon /root/autodl-tmp/swapfile free -h swapon --show如果fallocate不可用可用dd if/dev/zero of/root/autodl-tmp/swapfile bs1G count16 statusprogress chmod 600 /root/autodl-tmp/swapfile mkswap /root/autodl-tmp/swapfile swapon /root/autodl-tmp/swapfile重新编译 g2ocd /root/autodl-tmp/openrealm_ws/deps/g2o/build make -j1 21 | tee make_g2o_j1.log成功后安装sudo make install sudo ldconfig验证ls /usr/local/include/g2o ls /usr/local/lib | grep g2o | head正常可以看到apps config.h core examples solvers stuff types libg2o_core.so libg2o_solver_dense.so libg2o_solver_eigen.so ...注意我一开始误输入了~sudo make install导致bash: ~sudo: command not found正确命令是sudo make install8. 解压 OpenVSLAM 和 FBoWcd /root/autodl-tmp/openrealm_ws rm -rf deps/openvslam deps/openvslam-* unzip -q openvslam-master.zip -d deps/ mv deps/openvslam-master deps/openvslam rm -rf /tmp/fbow_unpack mkdir -p /tmp/fbow_unpack unzip -q FBoW-master.zip -d /tmp/fbow_unpack rm -rf deps/openvslam/3rd/FBoW mkdir -p deps/openvslam/3rd mv /tmp/fbow_unpack/FBoW-master deps/openvslam/3rd/FBoW test -f deps/openvslam/3rd/FBoW/CMakeLists.txt echo FBoW OK看到FBoW OK说明 FBoW 已经放到了 OpenVSLAM 的子模块位置。9. 安装 Pangolin Viewer可选但推荐如果开启 OpenVSLAM 的 Pangolin viewer需要先安装 Pangolin。我使用的 Pangolin 压缩包是Pangolin-ad8b5f8.zip上传到/root/autodl-tmp/openrealm_ws安装依赖sudo apt update sudo apt install -y \ libglew-dev \ libgl1-mesa-dev \ libegl1-mesa-dev \ libwayland-dev \ libxkbcommon-dev \ wayland-protocols \ libjpeg-dev \ libpng-dev \ libtiff-dev \ libopenexr-dev解压编译cd /root/autodl-tmp/openrealm_ws mkdir -p deps rm -rf deps/Pangolin deps/Pangolin-* unzip -q Pangolin-ad8b5f8.zip -d deps/ mv deps/Pangolin-* deps/Pangolin cd deps/Pangolin mkdir -p build cd build cmake .. \ -DCMAKE_BUILD_TYPERelease \ -DCMAKE_INSTALL_PREFIX/usr/local \ -DBUILD_EXAMPLESOFF make -j1 sudo make install sudo ldconfig验证ls /usr/local/include/pangolin find /usr/local -name PangolinConfig.cmake -o -name pangolin-config.cmake如果不需要 Pangolin viewer也可以在 OpenVSLAM 编译时关闭-DUSE_PANGOLIN_VIEWEROFF -DINSTALL_PANGOLIN_VIEWEROFF10. 编译安装 OpenVSLAM进入 OpenVSLAMcd /root/autodl-tmp/openrealm_ws/deps/openvslam rm -rf build mkdir build cd build如果已经安装 Pangolin可以开启 viewercmake .. \ -DUSE_PANGOLIN_VIEWERON \ -DINSTALL_PANGOLIN_VIEWERON \ -DUSE_SOCKET_PUBLISHEROFF \ -DUSE_STACK_TRACE_LOGGERON \ -DBUILD_TESTSOFF \ -DBUILD_EXAMPLESON如果没有安装 Pangolin则关闭 viewercmake .. \ -DUSE_PANGOLIN_VIEWEROFF \ -DINSTALL_PANGOLIN_VIEWEROFF \ -DUSE_SOCKET_PUBLISHEROFF \ -DUSE_STACK_TRACE_LOGGERON \ -DBUILD_TESTSOFF \ -DBUILD_EXAMPLESOFF编译安装make -j1 sudo make install sudo ldconfig验证ls /usr/local/include/openvslam ls /usr/local/lib | grep openvslam我的结果/usr/local/include/openvslam 下能看到 system.h、tracking_module.h 等 /usr/local/lib 下能看到 libopenvslam.so说明 OpenVSLAM 安装成功。11. 单独安装 FBoW虽然 FBoW 已经作为 OpenVSLAM 的子模块参与编译但 OpenREALM 后续 CMake 还需要能找到独立的fbowCMake package。因此需要单独安装 FBoWcd /root/autodl-tmp/openrealm_ws/deps/openvslam/3rd/FBoW rm -rf build mkdir build cd build cmake .. \ -DCMAKE_BUILD_TYPERelease \ -DCMAKE_INSTALL_PREFIX/usr/local make -j1 sudo make install sudo ldconfig验证find /usr/local -iname *fbow* find /usr/local -name *fbow*Config.cmake -o -name *FBoW*Config.cmake正常输出包括/usr/local/lib/libfbow.so /usr/local/share/cmake/fbow/fbowConfig.cmake /usr/local/include/fbow12. 第一次 CMake OpenREALM 遇到的问题进入 OpenREALMcd /root/autodl-tmp/openrealm_ws/OpenREALM rm -rf build mkdir build cd build cmake ..一开始主要报两个错误12.1 PSL 为空The source directory /root/autodl-tmp/openrealm_ws/OpenREALM/modules/realm_densifier/realm_densifier_impl/psl does not contain a CMakeLists.txt file.解决方法补 PSL 子模块见第 6 节。12.2 找不到 OpenVSLAMCould not find a package configuration file provided by openvslam解决方法编译安装 OpenVSLAM见第 10 节。13. OpenREALM 的 fbow::fbow 报错修复安装 OpenVSLAM 和 FBoW 后OpenREALM CMake 仍可能报Target realm_stages links to target fbow::fbow but the target was not found. Target realm_vslam_base links to target fbow::fbow but the target was not found.原因是 FBoW 安装后导出的 target 叫fbow但 OpenREALM 链接时需要fbow::fbow。先查看 FBoW 导出的 targetgrep -n add_library /usr/local/share/cmake/fbow/fbowTargets.cmake如果看到的是add_library(fbow SHARED IMPORTED)就需要给 OpenREALM 补 alias。修改 OpenREALM 两个 CMakeListscd /root/autodl-tmp/openrealm_ws/OpenREALM cp modules/realm_vslam/realm_vslam_base/CMakeLists.txt \ modules/realm_vslam/realm_vslam_base/CMakeLists.txt.bak_fbow cp modules/realm_stages/CMakeLists.txt \ modules/realm_stages/CMakeLists.txt.bak_fbow grep -q find_package(fbow REQUIRED) modules/realm_vslam/realm_vslam_base/CMakeLists.txt || \ sed -i /find_package(openvslam REQUIRED)/a find_package(fbow REQUIRED)\nif(TARGET fbow AND NOT TARGET fbow::fbow)\n add_library(fbow::fbow ALIAS fbow)\nendif() \ modules/realm_vslam/realm_vslam_base/CMakeLists.txt grep -q find_package(fbow REQUIRED) modules/realm_stages/CMakeLists.txt || \ sed -i /find_package(openvslam REQUIRED)/a find_package(fbow REQUIRED)\nif(TARGET fbow AND NOT TARGET fbow::fbow)\n add_library(fbow::fbow ALIAS fbow)\nendif() \ modules/realm_stages/CMakeLists.txt重新 CMakecd /root/autodl-tmp/openrealm_ws/OpenREALM rm -rf build mkdir build cd build cmake ..14. 编译安装 OpenREALM 主库CMake 通过后使用单线程编译cd /root/autodl-tmp/openrealm_ws/OpenREALM/build make -j1 21 | tee make_openrealm.log我的编译最终成功最后看到[100%] Built target realm_stages安装sudo make install sudo ldconfig验证ls /usr/local/lib | grep -E realm|open_realm find /usr/local/include -maxdepth 2 -iname *realm* | head -n 3015. 编译 ROS1 Bridge进入 catkin workspacesource /opt/ros/noetic/setup.bash cd /root/autodl-tmp/openrealm_ws/catkin_ws rm -rf build devel第一次编译catkin_make \ -DCMAKE_BUILD_TYPERelease \ -DPYTHON_EXECUTABLE/usr/bin/python3 \ 21 | tee make_bridge.log16. Bridge 编译问题 1conda Python 导致找不到 empy报错Could NOT find PY_em Unable to find either executable empy or Python module em try installing the package python3-empy同时日志显示Using PYTHON_EXECUTABLE: /root/miniconda3/bin/python3说明 catkin 用了 conda 的 Python而不是系统 Python。安装 empysudo apt update sudo apt install -y python3-empy检查系统 Python/usr/bin/python3 -c import em; print(em.__file__)重新编译时显式指定