Lego-LOAM Install fail

Hello, I’m a Jetson Xavier AGX user. When I try to run LeGO-LOAM through Velodyne VLP-16, the following error occurs in “catkin_make”. What’s the solution?

uavxavier@uavxavier-desktop:~/catkin_ws$ catkin_make
Base path: /home/uavxavier/catkin_ws
Source space: /home/uavxavier/catkin_ws/src
Build space: /home/uavxavier/catkin_ws/build
Devel space: /home/uavxavier/catkin_ws/devel
Install space: /home/uavxavier/catkin_ws/install

Running command: “make cmake_check_build_system” in “/home/uavxavier/catkin_ws/build”

Running command: “make -j8 -l8” in “/home/uavxavier/catkin_ws/build”

[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target nav_msgs_generate_messages_cpp
[ 0%] Built target nav_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target nav_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target nav_msgs_generate_messages_lisp
[ 0%] Built target nav_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target _cloud_msgs_generate_messages_check_deps_cloud_info
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target topic_tools_generate_messages_py
[ 0%] Built target actionlib_msgs_generate_messages_nodejs
[ 0%] Built target actionlib_msgs_generate_messages_cpp
[ 0%] Built target _catkin_empty_exported_target
[ 0%] Built target actionlib_msgs_generate_messages_lisp
[ 0%] Built target actionlib_msgs_generate_messages_eus
[ 0%] Built target actionlib_msgs_generate_messages_py
[ 0%] Built target tf_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 0%] Built target rosgraph_msgs_generate_messages_py
[ 21%] Built target sensor_msgs_generate_messages_cpp
[ 30%] Built target loam
[ 30%] Built target rosgraph_msgs_generate_messages_nodejs
[ 30%] Built target pcl_msgs_generate_messages_lisp
[ 30%] Built target rosgraph_msgs_generate_messages_eus
[ 30%] Built target rosgraph_msgs_generate_messages_cpp
[ 30%] Built target tf_generate_messages_eus
[ 30%] Built target roscpp_generate_messages_eus
[ 30%] Built target sensor_msgs_generate_messages_lisp
[ 30%] Built target roscpp_generate_messages_nodejs
[ 30%] Built target roscpp_generate_messages_py
[ 30%] Built target pcl_msgs_generate_messages_cpp
[ 30%] Built target actionlib_generate_messages_eus
[ 30%] Built target rosgraph_msgs_generate_messages_lisp
[ 30%] Built target roscpp_generate_messages_lisp
[ 30%] Built target sensor_msgs_generate_messages_py
[ 30%] Built target tf_generate_messages_lisp
[ 30%] Built target tf2_msgs_generate_messages_eus
[ 30%] Built target tf_generate_messages_py
[ 30%] Built target actionlib_generate_messages_cpp
[ 30%] Built target roscpp_generate_messages_cpp
[ 30%] Built target sensor_msgs_generate_messages_nodejs
[ 30%] Built target tf_generate_messages_nodejs
[ 30%] Built target actionlib_generate_messages_lisp
[ 30%] Built target pcl_msgs_generate_messages_nodejs
[ 30%] Built target tf2_msgs_generate_messages_nodejs
[ 30%] Built target actionlib_generate_messages_nodejs
[ 30%] Built target actionlib_generate_messages_py
[ 30%] Built target tf2_msgs_generate_messages_cpp
[ 30%] Built target pcl_msgs_generate_messages_eus
[ 30%] Built target tf2_msgs_generate_messages_lisp
[ 30%] Built target tf2_msgs_generate_messages_py
[ 30%] Built target pcl_msgs_generate_messages_py
[ 30%] Built target dynamic_reconfigure_generate_messages_nodejs
[ 30%] Built target bond_generate_messages_eus
[ 30%] Built target bond_generate_messages_cpp
[ 30%] Built target nodelet_generate_messages_py
[ 30%] Built target nodelet_generate_messages_lisp
[ 30%] Built target nodelet_generate_messages_nodejs
[ 30%] Built target bond_generate_messages_nodejs
[ 30%] Built target dynamic_reconfigure_generate_messages_lisp
[ 30%] Built target nodelet_generate_messages_eus
[ 30%] Built target topic_tools_generate_messages_cpp
[ 30%] Built target dynamic_reconfigure_generate_messages_cpp
[ 30%] Built target topic_tools_generate_messages_eus
[ 30%] Built target bond_generate_messages_lisp
[ 30%] Built target std_srvs_generate_messages_lisp
[ 30%] Built target nodelet_topic_tools_gencfg
[ 30%] Built target topic_tools_generate_messages_lisp
[ 30%] Built target topic_tools_generate_messages_nodejs
[ 30%] Built target dynamic_reconfigure_generate_messages_py
[ 30%] Built target pcl_ros_gencfg
[ 30%] Built target std_srvs_generate_messages_cpp
[ 30%] Built target dynamic_reconfigure_generate_messages_eus
[ 30%] Built target std_srvs_generate_messages_eus
[ 30%] Built target std_srvs_generate_messages_nodejs
[ 30%] Built target bond_generate_messages_py
[ 30%] Built target nodelet_generate_messages_cpp
[ 30%] Built target std_srvs_generate_messages_py
[ 30%] Built target dynamic_reconfigure_gencfg
[ 33%] Built target cloud_msgs_generate_messages_cpp
[ 36%] Built target cloud_msgs_generate_messages_lisp
[ 39%] Built target cloud_msgs_generate_messages_nodejs
[ 45%] Built target cloud_msgs_generate_messages_py
[ 48%] Building CXX object LeGO-LOAM/LeGO-LOAM/CMakeFiles/transformFusion.dir/src/transformFusion.cpp.o
[ 54%] Built target cloud_msgs_generate_messages_eus
[ 57%] Building CXX object LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o
[ 57%] Built target cloud_msgs_gencpp
[ 63%] Built target transformMaintenance
[ 63%] Built target cloud_msgs_generate_messages
[ 75%] Built target laserOdometry
[ 75%] Built target multiScanRegistration
[ 81%] Built target laserMapping
[ 87%] Building CXX object LeGO-LOAM/LeGO-LOAM/CMakeFiles/imageProjection.dir/src/imageProjection.cpp.o
[ 87%] Building CXX object LeGO-LOAM/LeGO-LOAM/CMakeFiles/featureAssociation.dir/src/featureAssociation.cpp.o
In file included from /home/uavxavier/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/transformFusion.cpp:33:0:
/home/uavxavier/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/include/utility.h:13:10: fatal error: opencv/cv.h: No such file or directory
#include <opencv/cv.h>
^~~~~~~~~~~~~
compilation terminated.
LeGO-LOAM/LeGO-LOAM/CMakeFiles/transformFusion.dir/build.make:62: recipe for target ‘LeGO-LOAM/LeGO-LOAM/CMakeFiles/transformFusion.dir/src/transformFusion.cpp.o’ failed
make[2]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/transformFusion.dir/src/transformFusion.cpp.o] Error 1
CMakeFiles/Makefile2:4115: recipe for target ‘LeGO-LOAM/LeGO-LOAM/CMakeFiles/transformFusion.dir/all’ failed
make[1]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/transformFusion.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs…
In file included from /home/uavxavier/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:34:0:
/home/uavxavier/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/include/utility.h:13:10: fatal error: opencv/cv.h: No such file or directory
#include <opencv/cv.h>
^~~~~~~~~~~~~
compilation terminated.
LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/build.make:62: recipe for target ‘LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o’ failed
make[2]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o] Error 1
CMakeFiles/Makefile2:4470: recipe for target ‘LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/all’ failed
make[1]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/all] Error 2
In file included from /home/uavxavier/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/imageProjection.cpp:35:0:
/home/uavxavier/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/include/utility.h:13:10: fatal error: opencv/cv.h: No such file or directory
#include <opencv/cv.h>
^~~~~~~~~~~~~
compilation terminated.
In file included from /home/uavxavier/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/featureAssociation.cpp:35:0:
/home/uavxavier/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/include/utility.h:13:10: fatal error: opencv/cv.h: No such file or directory
#include <opencv/cv.h>
^~~~~~~~~~~~~
compilation terminated.
LeGO-LOAM/LeGO-LOAM/CMakeFiles/featureAssociation.dir/build.make:62: recipe for target ‘LeGO-LOAM/LeGO-LOAM/CMakeFiles/featureAssociation.dir/src/featureAssociation.cpp.o’ failed
make[2]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/featureAssociation.dir/src/featureAssociation.cpp.o] Error 1
LeGO-LOAM/LeGO-LOAM/CMakeFiles/imageProjection.dir/build.make:62: recipe for target ‘LeGO-LOAM/LeGO-LOAM/CMakeFiles/imageProjection.dir/src/imageProjection.cpp.o’ failed
make[2]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/imageProjection.dir/src/imageProjection.cpp.o] Error 1
CMakeFiles/Makefile2:4433: recipe for target ‘LeGO-LOAM/LeGO-LOAM/CMakeFiles/featureAssociation.dir/all’ failed
make[1]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/featureAssociation.dir/all] Error 2
CMakeFiles/Makefile2:4014: recipe for target ‘LeGO-LOAM/LeGO-LOAM/CMakeFiles/imageProjection.dir/all’ failed
make[1]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/imageProjection.dir/all] Error 2
Makefile:140: recipe for target ‘all’ failed
make: *** [all] Error 2
Invoking “make -j8 -l8” failed

We don’t have expereince with LeGO-LOAM, may other developers help to share experiences. Thanks

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