1 異常報警:package ‘orocos-bfl’ not found：
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.26")
-- checking for module 'orocos-bfl'
-- package 'orocos-bfl' not found
CMake Error at /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:283 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:337 (_pkg_check_modules_internal)
CMakeLists.txt:5 (pkg_check_modules)
解決方案：
參考鏈接：https://blog.csdn.net/start_from_scratch/article/details/51160893
安裝bfl包：
sudo apt-get install ros-indigo-bfl
2 編譯報警:not providing “FindCeres.cmake” in CMAKE_MODULE_PATH
CMake Error at CMakeLists.txt:32 (find_package):
By not providing "FindCeres.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Ceres", but
CMake did not find one.
Could not find a package configuration file provided by "Ceres" with any of
the following names:
CeresConfig.cmake
ceres-config.cmake
Add the installation prefix of "Ceres" to CMAKE_PREFIX_PATH or set
"Ceres_DIR" to a directory containing one of the above files. If "Ceres"
provides a separate development package or SDK, be sure it has been
installed.
原因：上述報警可能是ceres-solver包沒有安裝成功，或沒有編譯ceres-solver包
解決方案：
（1）先將ceres-solver放到待編譯工作空間下，與cartographer同目錄進行編譯，若編譯成功，則繼續；（我遇到的問題在這一步解決）
（2）若還有該編譯錯誤，則根據安裝教程 從新安裝ceres-solver庫。
3 編譯報警":This workspace contains non-catkin packages in it
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkin_workspace.cmake:95 (message):
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation. Try the
'catkin_make_isolated' command instead.
Call Stack (most recent call first):
CMakeLists.txt:63 (catkin_workspace)
根據報警提示：
This workspace contains non-catkin packages in it, and catkin cannot build a non-homogeneous workspace without isolation.
該工作空間包含了非catkin類型的package，並且catkin不能編譯一個“非同步的工作空間” without isolation
解決方案：
'catkin_make_isolated' command instead
使用‘catkin_make_isolated’代替‘catkin_make’進行編譯
4 編譯報警：not providing “FindEigen3.cmake” in CMAKE_MODULE_PATH
CMake Error at CMakeLists.txt:33 (find_package):
By not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Eigen3", but
CMake did not find one.
Could not find a package configuration file provided by "Eigen3" with any
of the following names:
Eigen3Config.cmake
eigen3-config.cmake
Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set
"Eigen3_DIR" to a directory containing one of the above files. If "Eigen3"
provides a separate development package or SDK, be sure it has been
installed.
方案一：
（1）首先在主文件中搜索“FindEigen3.cmake”文件，搜索到後將其複製到/src/cartographer/cmake/modules/ 目錄下（或 將FindEigen3.cmake拷貝到與CMakeLists.txt同目錄下），再進行編譯即可。
（2）若（1）中方法沒有解決問題，則參考鏈接https://answers.ros.org/question/250727/error-findeigen3cmake-during-install-kinetic-on-rpi/，在(1)的基礎上，在cartographer所在的CMakeLists.txt中find_package(Eigen3 REQUIRED)對應位置添加如下指令，在進行編譯即可。
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR})
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
（3）若（1）中沒有搜索到FindEigen3.cmake文件，則說明系統中沒有Eigen3，則參考鏈接https://www.jianshu.com/p/20eb596b7eb5，下載並安裝Eigen3，並再按（1）中將對應的文件進行拷貝處理。
下載網址：
eigen官網
方案二：
參考鏈接：https://blog.csdn.net/qq_35508344/article/details/80485973
安裝eigen3到系統中：
#github 有個mirror,版本3.3.4 from 2017
git clone https://github.com/eigenteam/eigen-git-mirror
#安裝
cd eigen-git-mirror
mkdir build
cd build
cmake ..
sudo make install
#安裝後,頭文件安裝在/usr/local/include/eigen3/
4 編譯報警:Could NOT find Bullet
CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:108 (message):
Could NOT find Bullet (missing: BULLET_DYNAMICS_LIBRARY
BULLET_COLLISION_LIBRARY BULLET_MATH_LIBRARY BULLET_SOFTBODY_LIBRARY
BULLET_INCLUDE_DIR)
Call Stack (most recent call first):
/usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:315 (_FPHSA_FAILURE_MESSAGE)
/usr/share/cmake-2.8/Modules/FindBullet.cmake:76 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
CMakeLists.txt:15 (find_package)
分析：根據報警提示，缺少bullet庫
解決方案，安裝bullet庫 。參考鏈接：https://blog.csdn.net/Groot_Lee/article/details/79202507
sudo apt-get install libbullet-dev
5 編譯報警 :Could NOT find SDL
CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:108 (message):
Could NOT find SDL (missing: SDL_LIBRARY SDL_INCLUDE_DIR)
Call Stack (most recent call first):
/usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:315 (_FPHSA_FAILURE_MESSAGE)
/usr/share/cmake-2.8/Modules/FindSDL.cmake:176 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
CMakeLists.txt:16 (find_package)
分析：根據報警提示，缺少SDL庫
解決方案，安裝SDL庫 。參考鏈接：https://blog.csdn.net/Groot_Lee/article/details/79202507
sudo apt-get install libsdl1.2-dev
7 編譯報警：Could NOT find SDL_image
CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:108 (message):
Could NOT find SDL_image (missing: SDL_IMAGE_LIBRARIES
SDL_IMAGE_INCLUDE_DIRS)
Call Stack (most recent call first):
/usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:315 (_FPHSA_FAILURE_MESSAGE)
/usr/share/cmake-2.8/Modules/FindSDL_image.cmake:79 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
CMakeLists.txt:17 (find_package)
分析：根據報警提示，缺少SDL_image庫
解決方案，安裝SDL_image庫 。參考鏈接：https://blog.csdn.net/Groot_Lee/article/details/79202507
sudo apt-get install libsdl-image1.2-dev