{"id":63115,"date":"2026-01-21T09:57:53","date_gmt":"2026-01-21T01:57:53","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/63115.html"},"modified":"2026-01-21T09:57:53","modified_gmt":"2026-01-21T01:57:53","slug":"wsl2ubuntu20-04ros1noetic%e4%b8%8b%e9%85%8d%e7%bd%aevins-fusion%e7%8e%af%e5%a2%83","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/63115.html","title":{"rendered":"WSL2+Ubuntu20.04+ROS1(noetic)\u4e0b\u914d\u7f6evins-fusion\u73af\u5883"},"content":{"rendered":"<p>\u00a0\u56e0\u4e3aUbuntu20.04\u5b89\u88c5ROS\u65f6\u9ed8\u8ba4\u4f1a\u5b89\u88c5Opencv4.x\u7248\u672c\u548cvins-fusion\u8981\u6c42\u76843.x\u7248\u672c\u6709\u51b2\u7a81&#xff0c;\u9700\u8981\u4fee\u6539\u4e00\u4e0b\u6587\u4ef6&#xff0c;\u5426\u5219\u4f1a\u51fa\u73b0CV\u7684\u62a5\u9519<\/p>\n<p><span style=\"color:#4da8ee\">\u65b9\u6cd5\u4e00\u00a0<\/span><\/p>\n<p>\u7528\u4e0b\u9762up\u4fee\u6539\u597d\u540e\u7684vins\u6587\u4ef6\u8fdb\u884c\u91cd\u65b0\u7f16\u8bd1<\/p>\n<p>mkdir -p ~\/vins_ws\/src<\/p>\n<p>cd ~\/vins_ws<\/p>\n<p>catkin_make<\/p>\n<p>#\u82e5\u521d\u6b21\u4e0d\u884c\u53ef\u5220\u9664devel\u548cbuild\u6587\u4ef6\u91cd\u65b0catkin_make <\/p>\n<p>\u901a\u8fc7\u7f51\u76d8\u5206\u4eab\u7684\u6587\u4ef6&#xff1a;vins_ws.zip \u94fe\u63a5: https:\/\/pan.baidu.com\/s\/1xFwEMjFOiuuMY0hROzErSA?pwd&#061;1234 \u63d0\u53d6\u7801: 1234 \u590d\u5236\u8fd9\u6bb5\u5185\u5bb9\u540e\u6253\u5f00\u767e\u5ea6\u7f51\u76d8\u624b\u673aApp&#xff0c;\u64cd\u4f5c\u66f4\u65b9\u4fbf\u54e6<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"822\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015745-69703299de5f0.png\" width=\"1603\" \/><\/p>\n<p>\u7f16\u8bd1\u6210\u529f\u4e3a100%<\/p>\n<p>#\u8fd0\u884c\u6d4b\u8bd5<br \/>\nroslaunch vins vins_rviz.launch     <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"822\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015746-6970329a7d871.png\" width=\"1459\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"1080\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015746-6970329ae45fc.png\" width=\"1920\" \/><\/p>\n<p><span style=\"color:#4da8ee\">\u65b9\u6cd5\u4e8c<\/span><\/p>\n<p>\u4ecegithub\u4e0a\u4e0b\u8f7d\u4e00\u6b65\u4e00\u6b65\u6765\u53ef\u4ee5\u719f\u6089\u914d\u7f6evins-fusion\u73af\u5883<\/p>\n<p># \u521b\u5efa\u76ee\u5f55\u7ed3\u6784<br \/>\nmkdir -p ~\/vins_ws\/src<\/p>\n<p>cd ~\/vins_ws\/src<\/p>\n<p># \u521d\u59cb\u5316\u5de5\u4f5c\u7a7a\u95f4&#xff08;\u751f\u6210 CMakeLists.txt&#xff09;<br \/>\ncatkin_init_workspace<\/p>\n<p># \u514b\u9686\u5b98\u7f51\u7684\u4ee3\u7801<br \/>\ngit clone https:\/\/github.com\/HKUST-Aerial-Robotics\/VINS-Fusion.git<\/p>\n<p>#\u82e5github\u901f\u5ea6\u8f83\u6162<br \/>\n       \u65b9\u6cd5\u4e00 git clone https:\/\/gitcode.com\/HKUST-Aerial-Robotics\/VINS-Fusion.git<\/p>\n<p>       \u65b9\u6cd5\u4e8c sudo gedit \/etc\/hosts  \u5728\u672b\u5c3e\u6dfb\u52a0199.232.28.133 raw.githubusercontent.com <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"154\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015747-6970329bb0e33.png\" width=\"494\" \/><\/p>\n<p>\u4e4b\u540e\u65b0\u5f00\u4e00\u4e2a\u7ec8\u7aef&#xff08;WSL\u4e0b\u7ec8\u7aef\u6709\u65f6\u9700\u8981\u65b0\u5efa\u4e00\u4e2a\u8fd0\u884c\u624d\u53ef\u4ee5&#xff09;<\/p>\n<p>cd ~\/vins_ws\/<\/p>\n<p>catkin_make <\/p>\n<p>\u4fee\u6539\u6b65\u9aa4\u4e00&#xff1a;<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u00a0\u5c06\u6240\u6709\u6587\u4ef6\u5939\u4e0b\u7684CMakeLists.txt\u6587\u4ef6\u7531C&#043;&#043;11\u5168\u90e8\u4fee\u6539\u4e3aC&#043;&#043;14&#xff0c;\u5176\u4e2d\u6709\u4ee5\u4e0b\u56db\u4e2a\u6587\u4ef6\u5939\u5185\u7684CMakeLists.txt\u3002<\/p>\n<p>#\u5c06\u7b2c\u4e94\u884c\u66ff\u6362<br \/>\n#set(CMAKE_CXX_FLAGS &#034;-std&#061;c&#043;&#043;11&#034;)<\/p>\n<p>set(CMAKE_CXX_FLAGS &#034;-std&#061;c&#043;&#043;14&#034;) <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"700\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015747-6970329bc1ad5.png\" width=\"1102\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"815\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015748-6970329c18b6d.png\" width=\"982\" \/><\/p>\n<p>\u4fee\u6539\u6b65\u9aa4\u4e8c&#xff1a;<\/p>\n<p>\u6dfb\u52a0\u5934\u6587\u4ef6<\/p>\n<p>\\\\vins_ws\\\\src\\\\VINS-Fusion\\\\camera_models\\\\include\\\\camodocal\\\\chessboard \u4e0bchessboard.h<\/p>\n<p>#include &lt;opencv2\/imgproc\/types_c.h&gt;<br \/>\n#include &lt;opencv2\/calib3d\/calib3d_c.h&gt; <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"700\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015748-6970329c584aa.png\" width=\"1102\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"815\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015748-6970329cd185d.png\" width=\"982\" \/><\/p>\n<p>\u4fee\u6539\u6b65\u9aa4\u4e09&#xff1a;<\/p>\n<p>\u00a0\u6dfb\u52a0\u5934\u6587\u4ef6<\/p>\n<p>vins_ws\\\\src\\\\VINS-Fusion\\\\camera_models\\\\include\\\\camodocal\\\\calib\u4e0bCameraCalibration.h<\/p>\n<p>vins_ws\\\\src\\\\VINS-Fusion\\\\loop_fusion\\\\src\u4e0bpose_graph.h<\/p>\n<p>\\\\vins_ws\\\\src\\\\VINS-Fusion\\\\loop_fusion\\\\src\\\\ThirdParty\\\\DVision\u4e0bBRIEF.h<\/p>\n<p>\\\\vins_ws\\\\src\\\\VINS-Fusion\\\\vins_estimator\\\\src\\\\featureTracker\u4e0bfeature_tracker.h<\/p>\n<p>#include &lt;opencv2\/imgproc\/types_c.h&gt;<br \/>\n#include &lt;opencv2\/imgproc\/imgproc_c.h&gt; <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"700\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015749-6970329d44f52.png\" width=\"1102\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"700\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015749-6970329dc4099.png\" width=\"1102\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"700\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015750-6970329e5de49.png\" width=\"1102\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"700\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015750-6970329ebce19.png\" width=\"1102\" \/><\/p>\n<p>\u4fee\u6539\u6b65\u9aa4\u56db&#xff1a;<\/p>\n<p>\u66ff\u6362<\/p>\n<p>\\\\vins_ws\\\\src\\\\VINS-Fusion\\\\vins_estimator\\\\src\u4e0b\u7684KITTIGPSTest.cpp\u548cKITTIOdomTest.cpp<\/p>\n<p>CV_LOAD_IMAGE_GRAYSCALE  \u66ff\u6362\u4e3a  cv::IMREAD_GRAYSCALE <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"700\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015751-6970329f21e68.png\" width=\"1102\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"815\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015751-6970329f71f7d.png\" width=\"982\" \/><\/p>\n<p>\u81f3\u6b64\u4fee\u6539\u5b8c\u6210\u3002\u63a5\u7740<\/p>\n<p>#\u7528WSL\u7684\u5efa\u8bae\u65b0\u5f00\u4e00\u4e2a\u7ec8\u7aef<br \/>\ncd ~\/vins_ws<\/p>\n<p>catkin_make<\/p>\n<p>echo &#034;source ~\/vins_ws\/devel\/setup.bash&#034; &gt;&gt; ~\/.bashrc <\/p>\n<p>\u7f16\u8bd1\u5b8c\u6210\u4e3a100%&#xff0c;\u671f\u95f4\u5982\u679c\u663e\u793a\u6709\u672a\u5b89\u88c5\u7684\u5e93\u9700\u8865\u5168\u624d\u884c\u3002<\/p>\n<p>\u82e5\u7528WSL\u53ef\u80fd\u4f1a\u663e\u793a\u4ee5\u4e0b\u62a5\u9519&#xff0c;<\/p>\n<p>c&#043;&#043;: fatal error: Killed signal terminated program cc1plus<br \/>\ncompilation terminated.<br \/>\nmake[2]: *** [VINS-Fusion\/vins_estimator\/CMakeFiles\/vins_lib.dir\/build.make:115: VINS-Fusion\/vins_estimator\/CMakeFiles\/vins_lib.dir\/src\/factor\/projectionTwoFrameOneCamFactor.cpp.o] Error 1<br \/>\nmake[2]: *** Waiting for unfinished jobs&#8230;.<br \/>\n[ 83%] Linking CXX executable \/home\/hzzy\/vins_ws\/devel\/lib\/loop_fusion\/loop_fusion_node<br \/>\n[ 83%] Built target loop_fusion_node<br \/>\nmake[1]: *** [CMakeFiles\/Makefile2:1680: VINS-Fusion\/vins_estimator\/CMakeFiles\/vins_lib.dir\/all] Error 2<br \/>\nmake: *** [Makefile:141: all] Error 2<br \/>\nInvoking &#034;make -j12 -l12&#034; failed <\/p>\n<p>\u8fd9\u662f\u56e0\u4e3a\u9ed8\u8ba4\u5b89\u88c5WSL\u5206\u914d\u7684\u5185\u5b58\u4e3a8G&#xff0c;\u4ea4\u6362\u5185\u5b58\u4e3a&#xff12;G\u5185\u5b58\u592a\u5c0f\u53ef\u5728WSLsettings\u4e2d\u66f4\u8be5<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"824\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015751-6970329fb1fb5.png\" width=\"1329\" \/><\/p>\n<p>#\u4ee5\u4e0b\u547d\u4ee4\u5728Windows powershell\u4e2d\u8fd0\u884c\u4e0d\u662fUbuntu\u7ec8\u7aef<\/p>\n<p>wsl &#8211;shutdown   #\u5173\u95edwsl <\/p>\n<p>wsl  #\u91cd\u542f<br \/>\n#\u5185\u5b58\u5728Ubuntu\u7ec8\u7aef\u4e2d\u67e5\u770b<\/p>\n<p>free -h <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"697\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015752-697032a0285e5.png\" width=\"1225\" \/><\/p>\n<p>\u66f4\u6539\u5b8c\u6210\u540e\u518d\u6b21\u8fdb\u884c\u7f16\u8bd1<\/p>\n<p>#\u7528WSL\u7684\u5efa\u8bae\u65b0\u5f00\u4e00\u4e2a\u7ec8\u7aef&#xff0c;\u53ef\u80fd\u9700\u8981\u5220\u9664\u4e4b\u524d\u7684build\u548cdevel<br \/>\ncd ~\/vins_ws<\/p>\n<p>catkin_make<\/p>\n<p>echo &#034;source ~\/vins_ws\/devel\/setup.bash&#034; &gt;&gt; ~\/.bashrc<br \/>\n#\u8fd0\u884c\u6d4b\u8bd5<br \/>\nroslaunch vins vins_rviz.launch <\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u56e0\u4e3aUbuntu20.04\u5b89\u88c5ROS\u65f6\u9ed8\u8ba4\u4f1a\u5b89\u88c5Opencv4.x\u7248\u672c\u548cvins-fusion\u8981\u6c42\u76843.x\u7248\u672c\u6709\u51b2\u7a81&#xff0c;\u9700\u8981\u4fee\u6539\u4e00\u4e0b\u6587\u4ef6&#xff0c;\u5426\u5219\u4f1a\u51fa\u73b0CV\u7684\u62a5\u9519<br \/>\n\u65b9\u6cd5\u4e00\u00a0<br \/>\n\u7528\u4e0b\u9762up\u4fee\u6539\u597d\u540e\u7684vins\u6587\u4ef6\u8fdb\u884c\u91cd\u65b0\u7f16\u8bd1<br \/>\nmkdir -p ~\/vins_ws\/srccd ~\/vins_wscatkin_make#\u82e5\u521d\u6b21\u4e0d\u884c\u53ef\u5220\u9664devel\u548cbuild\u6587\u4ef6\u91cd\u65b0catkin_make<br \/>\n\u901a\u8fc7\u7f51\u76d8\u5206\u4eab\u7684\u6587\u4ef6&#xff1a;vins_ws.zip \u94fe\u63a5: h<\/p>\n","protected":false},"author":2,"featured_media":63099,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[6671,81,1966],"topic":[],"class_list":["post-63115","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-wins_fusion","tag-python","tag-ros"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>WSL2+Ubuntu20.04+ROS1(noetic)\u4e0b\u914d\u7f6evins-fusion\u73af\u5883 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/63115.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"WSL2+Ubuntu20.04+ROS1(noetic)\u4e0b\u914d\u7f6evins-fusion\u73af\u5883 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u56e0\u4e3aUbuntu20.04\u5b89\u88c5ROS\u65f6\u9ed8\u8ba4\u4f1a\u5b89\u88c5Opencv4.x\u7248\u672c\u548cvins-fusion\u8981\u6c42\u76843.x\u7248\u672c\u6709\u51b2\u7a81&#xff0c;\u9700\u8981\u4fee\u6539\u4e00\u4e0b\u6587\u4ef6&#xff0c;\u5426\u5219\u4f1a\u51fa\u73b0CV\u7684\u62a5\u9519 \u65b9\u6cd5\u4e00\u00a0 \u7528\u4e0b\u9762up\u4fee\u6539\u597d\u540e\u7684vins\u6587\u4ef6\u8fdb\u884c\u91cd\u65b0\u7f16\u8bd1 mkdir -p ~\/vins_ws\/srccd ~\/vins_wscatkin_make#\u82e5\u521d\u6b21\u4e0d\u884c\u53ef\u5220\u9664devel\u548cbuild\u6587\u4ef6\u91cd\u65b0catkin_make \u901a\u8fc7\u7f51\u76d8\u5206\u4eab\u7684\u6587\u4ef6&#xff1a;vins_ws.zip \u94fe\u63a5: h\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/63115.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-01-21T01:57:53+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/01\/20260121015745-69703299de5f0.png\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"2 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/63115.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/63115.html\",\"name\":\"WSL2+Ubuntu20.04+ROS1(noetic)\u4e0b\u914d\u7f6evins-fusion\u73af\u5883 - 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