XTDrone+Mavros+PX4+VINS-Fusion:涉及VINS在XTDrone环境,Ubuntu20.04系统下,修改好了相关的报错问题,类似于C++库的问题

上传者: 45390670 | 上传时间: 2025-03-30 15:51:30 | 文件大小: 64.09MB | 文件类型: ZIP
在 Ubuntu 20.04 系统下搭建 XTDrone 环境并集成 VINS-Fusion 时,我遇到了一系列与 C++ 库相关的报错问题。XTDrone 作为一个用于无人机开发的综合性平台,需要与 Mavros(用于无人机通信的中间件)以及 PX4(开源的无人机飞控软件)协同工作,而 VINS-Fusion 则为系统提供视觉惯性导航解决方案。 在编译和运行过程中,频繁出现错误。这些问题主要源于不同组件对 C++ 库的依赖不一致,以及部分库路径配置不当。例如,某些组件依赖较新的 C++ 标准库特性,而系统默认安装的库版本较低;或者在项目的 CMake 配置中,没有正确指定第三方库的路径,导致链接器无法找到所需的库文件。 为解决这些问题,我们首先对每个组件的依赖库进行了详细梳理。通过查阅 XTDrone、Mavros、PX4 和 VINS-Fusion 的官方文档,明确了各自所需的 C++ 库版本和依赖关系。

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