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在pi上使用RPLIDAR A2在catkin_make命令上出错HectorSLAM

• 问答

我正在研究一个机器人项目。我们正在建造一款自主的遥控车。因此我们使用ROS通过RPLIDAR SDK和HECTOR SLAM在raspberryPi 3B +上对其进行管理。

catkin_make命令仅对RPLIDAR成功，并且当将cater_make复制到相同的src文件夹（src / hector_slam和src / rplidar_ros）时，将hector slam克隆到同一src文件夹中时，现在已经引入了HECTOR_SLAM，但我没有得到这些错误确定如何解决

catkin_make
Base path: /home/bres/rplidar_ws
Source space: /home/bres/rplidar_ws/src
Build space: /home/bres/rplidar_ws/build
Devel space: /home/bres/rplidar_ws/devel
Install space: /home/bres/rplidar_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/bres/rplidar_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/bres/rplidar_ws/build"
####
[  0%] Built target nav_msgs_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target _hector_nav_msgs_generate_messages_check_deps_GetRecoveryInfo
[  0%] Built target _hector_nav_msgs_generate_messages_check_deps_GetSearchPosition
[  0%] Built target _hector_nav_msgs_generate_messages_check_deps_GetNormal
[  0%] Built target _hector_nav_msgs_generate_messages_check_deps_GetDistanceToObstacle
[  0%] Built target nav_msgs_generate_messages_py
[  0%] Built target nav_msgs_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target _hector_nav_msgs_generate_messages_check_deps_GetRobotTrajectory
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target nav_msgs_generate_messages_cpp
[  0%] Built target nav_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target rosgraph_msgs_generate_messages_cpp
[  0%] Built target _catkin_empty_exported_target
[  0%] Built target actionlib_msgs_generate_messages_py
[  0%] Built target actionlib_msgs_generate_messages_eus
[  0%] Built target actionlib_msgs_generate_messages_lisp
[  0%] Built target geometry_msgs_generate_messages_cpp
[  0%] Built target actionlib_msgs_generate_messages_cpp
[  0%] Built target geometry_msgs_generate_messages_eus
[  0%] Built target actionlib_msgs_generate_messages_nodejs
[  0%] Built target geometry_msgs_generate_messages_lisp
[  0%] Built target geometry_msgs_generate_messages_nodejs
[  0%] Built target roscpp_generate_messages_py
[  0%] Built target geometry_msgs_generate_messages_py
[  0%] Built target roscpp_generate_messages_nodejs
[  0%] Built target roscpp_generate_messages_eus
[  0%] Built target rosgraph_msgs_generate_messages_eus
[  0%] Built target roscpp_generate_messages_cpp
[  0%] Built target rosgraph_msgs_generate_messages_lisp
[  0%] Built target rosgraph_msgs_generate_messages_nodejs
[  0%] Built target roscpp_generate_messages_lisp
[  0%] Built target rosgraph_msgs_generate_messages_py
[  1%] Building CXX object hector_slam/hector_compressed_map_transport/CMakeFiles/map_to_image_node.dir/src/map_to_image_node.cpp.o
[  4%] Built target rplidarNodeclient
[ 14%] Built target rplidarNode
[ 17%] Built target imu_attitude_to_tf_node
[ 17%] Built target visualization_msgs_generate_messages_eus
[ 17%] Built target visualization_msgs_generate_messages_cpp
[ 20%] Built target pose_and_orientation_to_imu_node
[ 20%] Built target visualization_msgs_generate_messages_lisp
[ 20%] Built target visualization_msgs_generate_messages_py
[ 20%] Built target visualization_msgs_generate_messages_nodejs
[ 20%] Built target sensor_msgs_generate_messages_eus
[ 20%] Built target sensor_msgs_generate_messages_lisp
[ 20%] Built target sensor_msgs_generate_messages_nodejs
[ 20%] Built target sensor_msgs_generate_messages_cpp
[ 20%] Built target sensor_msgs_generate_messages_py
[ 20%] Built target tf_generate_messages_py
[ 20%] Built target tf_generate_messages_cpp
[ 20%] Built target actionlib_generate_messages_cpp
[ 20%] Built target tf_generate_messages_eus
[ 20%] Built target actionlib_generate_messages_eus
[ 20%] Built target actionlib_generate_messages_lisp
[ 20%] Built target actionlib_generate_messages_nodejs
[ 20%] Built target tf_generate_messages_lisp
[ 20%] Built target tf2_msgs_generate_messages_eus
[ 20%] Built target tf_generate_messages_nodejs
[ 20%] Built target tf2_msgs_generate_messages_nodejs
[ 20%] Built target actionlib_generate_messages_py
[ 20%] Built target tf2_msgs_generate_messages_lisp
[ 20%] Built target tf2_msgs_generate_messages_py
[ 20%] Built target tf2_msgs_generate_messages_cpp
[ 20%] Built target _hector_mapping_generate_messages_check_deps_HectorDebugInfo
[ 20%] Built target _hector_mapping_generate_messages_check_deps_HectorIterData
[ 35%] Built target hector_nav_msgs_generate_messages_nodejs
[ 35%] Built target hector_nav_msgs_generate_messages_py
[ 42%] Built target hector_nav_msgs_generate_messages_lisp
[ 50%] Built target hector_nav_msgs_generate_messages_cpp
[ 58%] Built target hector_nav_msgs_generate_messages_eus
[ 61%] Built target hector_mapping_generate_messages_cpp
[ 65%] Built target hector_mapping_generate_messages_py
[ 70%] Built target hector_mapping_generate_messages_eus
[ 72%] Built target hector_mapping_generate_messages_lisp
[ 75%] Built target hector_mapping_generate_messages_nodejs
[ 75%] Built target hector_nav_msgs_generate_messages
[ 77%] Building CXX object hector_slam/hector_trajectory_server/CMakeFiles/hector_trajectory_server.dir/src/hector_trajectory_server.cpp.o
[ 78%] Building CXX object hector_slam/hector_map_server/CMakeFiles/hector_map_server.dir/src/hector_map_server.cpp.o
[ 81%] Built target geotiff_writer
[ 82%] Building CXX object hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/src/HectorMappingRos.cpp.o
virtual memory exhausted: Cannot allocate memory
hector_slam/hector_map_server/CMakeFiles/hector_map_server.dir/build.make:62: recipe for target 'hector_slam/hector_map_server/CMakeFiles/hector_map_server.dir/src/hector_map_server.cpp.o' failed
make[2]: *** [hector_slam/hector_map_server/CMakeFiles/hector_map_server.dir/src/hector_map_server.cpp.o] Error 1
CMakeFiles/Makefile2:3580: recipe for target 'hector_slam/hector_map_server/CMakeFiles/hector_map_server.dir/all' failed
make[1]: *** [hector_slam/hector_map_server/CMakeFiles/hector_map_server.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/build.make:62: recipe for target 'hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/src/HectorMappingRos.cpp.o' failed
make[2]: *** [hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/src/HectorMappingRos.cpp.o] Error 4
make[2]: *** Waiting for unfinished jobs....
[ 84%] Building CXX object hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/src/main.cpp.o
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
hector_slam/hector_trajectory_server/CMakeFiles/hector_trajectory_server.dir/build.make:62: recipe for target 'hector_slam/hector_trajectory_server/CMakeFiles/hector_trajectory_server.dir/src/hector_trajectory_server.cpp.o' failed
make[2]: *** [hector_slam/hector_trajectory_server/CMakeFiles/hector_trajectory_server.dir/src/hector_trajectory_server.cpp.o] Error 4
CMakeFiles/Makefile2:3689: recipe for target 'hector_slam/hector_trajectory_server/CMakeFiles/hector_trajectory_server.dir/all' failed
make[1]: *** [hector_slam/hector_trajectory_server/CMakeFiles/hector_trajectory_server.dir/all] Error 2
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
hector_slam/hector_compressed_map_transport/CMakeFiles/map_to_image_node.dir/build.make:62: recipe for target 'hector_slam/hector_compressed_map_transport/CMakeFiles/map_to_image_node.dir/src/map_to_image_node.cpp.o' failed
make[2]: *** [hector_slam/hector_compressed_map_transport/CMakeFiles/map_to_image_node.dir/src/map_to_image_node.cpp.o] Error 4
CMakeFiles/Makefile2:2767: recipe for target 'hector_slam/hector_compressed_map_transport/CMakeFiles/map_to_image_node.dir/all' failed
make[1]: *** [hector_slam/hector_compressed_map_transport/CMakeFiles/map_to_image_node.dir/all] Error 2
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,with preprocessed source if appropriate.
See <file:///usr/share/doc/gcc-7/README.Bugs> for instructions.
hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/build.make:86: recipe for target 'hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/src/main.cpp.o' failed
make[2]: *** [hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/src/main.cpp.o] Error 4
CMakeFiles/Makefile2:3758: recipe for target 'hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/all' failed
make[1]: *** [hector_slam/hector_mapping/CMakeFiles/hector_mapping.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
redrex5 回答：在pi上使用RPLIDAR A2在catkin_make命令上出错HectorSLAM
  

虚拟内存已耗尽：无法分配内存

以上显示您的内存不足。您可以通过增加系统上的交换空间来解决此问题。以下命令将在您的系统上创建4GB的额外交换空间

library(shiny)
library(shinydashboard)
library(shinydashboardPlus)

shinyApp(
  ui = tags$body(class="skin-blue sidebar-mini control-sidebar-open",dashboardPagePlus(
    header = dashboardHeaderPlus(
      enable_rightsidebar = TRUE,rightSidebarIcon = "gears"
    ),sidebar = dashboardSidebar(),body = dashboardBody(
    ),rightsidebar = rightSidebar(
      background = "dark",rightSidebarTabContent(
        id = 1,title = "Tab 1",icon = "desktop",active = TRUE,sliderInput(
          "obs","Number of observations:",min = 0,max = 1000,value = 500
        )
      )
    ),title = "Right Sidebar"
  )),server = function(input,output) {
  }
)

要使更改永久生效，请添加到/ etc / fstab 

sudo dd if=/dev/zero of=/swapfile bs=1024 count=4194304
sudo chmod 600 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile

编译时，您可以使用来检查其他终端中的交换使用情况

/swapfile swap swap defaults 0 0

如果仍然不够，请增加交换大小。

,

有2个选项：

  • 根据建议添加交换文件
  • 使用-j1进行编译以停止溢出
c++hectorrosslam
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