pl_vio编译记录

make

catkin_make -DCATKIN_WHITELIST_PACKAGES="benchmark_publisher;camera_model;custom_msgs;plvio_feature_tracker;pub_imu_features;plvio_estimator" -DPYTHON_EXECUTABLE=/usr/bin/python3

launch node gdb:

launch-prefix="gdb -ex run --args" 

set(cv_bridge_DIR /usr/local/share/cv_bridge/cmake)

删除ros-noetic-cv-bridge时，同时删除了一下包