ROS2安装EVO工具包

简单记录ROS2安装EVO评估工具--

1.安装EVO

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pip install evo --upgrade --no-binary evo

若提示找不到pip，则先安装pip：

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sudo apt install python3-pip

2.安装EVO后，直接运行

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evo_traj tum pose.txt -p

发现报错：

WARNING: The scripts f2py and numpy-config are installed in '/home/siliya/.local/bin' which is not on PATH.

Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.

WARNING: The script natsort is installed in '/home/siliya/.local/bin' which is not on PATH.

Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.

WARNING: The script rosbags-convert is installed in '/home/siliya/.local/bin' which is not on PATH.

Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.

WARNING: The scripts evo, evo_ape, evo_config, evo_ipython, evo_res, evo_rpe and evo_traj are installed in '/home/siliya/.local/bin' which is not on PATH.

Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.

证明路径不对，输入以下指令：

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echo 'export PATH="$HOME/.local/bin:$PATH"' >> ~/.bashrc^C
source ~/.bashrc

然后再次查看轨迹，发现报错为：

/usr/lib/python3/dist-packages/scipy/init.py:146: UserWarning: A NumPy version >=1.17.3 and <1.25.0 is required for this version of SciPy (detected version 2.2.6

warnings.warn(f"A NumPy version >={np_minversion} and <{np_maxversion}"

证明相关的依赖版本不正确，则运行以下命令：

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# 卸载当前版本的相关依赖
pip uninstall numpy scipy matplotlib -y 

# 安装兼容版本
pip install numpy==1.24.4 scipy==1.9.3 matplotlib==3.7.3

# 安装EVO
pip install evo --upgrade --no-binary evo

# 路径添加
echo 'export PATH="$HOME/.local/bin:$PATH"' >> ~/.bashrc^C
source ~/.bashrc

3.再次运行查看轨迹，发现报错：

Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.

$ERROR$ Unhandled error in evo.cli.traj

提示为没有PyQT6，安装即可：

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# 安装PyQt6
pip install PyQt6

# 再次测试EVO
evo_traj tum pose_tum.txt -p

然后即可正常运行，查看轨迹，如图：