一、问题现象

    进入docker后，在docker内执行date命令，其结果与在Host的结果不一致.

    docker内的时间: Wed Sep  3 01:11:14 UTC 2025

          Host的时间: Wed Sep  3 09:13:36 AM CST 2025

二、问题原因

    docker内的/etc/目录下没有配置与host一致的时区配置文件.

三、解决方法： 临时修改 (1)

    拷贝当地对应的时区配置文件,直接在docker内操作.

    cp    /usr/share/zoneinfo/Asia/Shanghai     /etc/

    mv   /etc/Shanghai    /etc/localtime

此时再次执行date:

   Wed Sep  3 09:17:55 CST 2025

时间就对了，但是每次退出docker容器后，再次进入docker时，又得重复这样的操作.

四、解决方法: 不用手动修改(2)

就是启动镜像时挂载host端的时区信息:-v /etc/localtime:/etc/localtime:ro 写入挂载脚本，即将host系统里的时区信息文件/etc/localtime以只读的方式挂载至docker系统里同样的路径，例如

docker run -it --rm --privileged -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v "$MOUNT_HOST_DIR":$MOUNT_DOCKER_DIR -v /etc/localtime:/etc/localtime:ro --name $MOUNT_DOCKER_NAME $DOCKER_IMAGE_NAME:$DOCKER_IMAGE_TAG_NAME  /bin/bash

1、错误信息

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
MATLAB_ENG_LIBRARY (ADVANCED)
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_INCLUDE_DIR (ADVANCED)
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
   used as include directory in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_MAT_LIBRARY (ADVANCED)
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_MEX_LIBRARY (ADVANCED)
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_MX_LIBRARY (ADVANCED)
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert
MATLAB_UT_LIBRARY
    linked by target "bagconvert" in directory /sad/IAM20680HT/tools/kalibr_allan-master/bagconvert

-- Configuring incomplete, errors occurred!

2、问题原因

     kalibr_allan工具中的ROS bag包转成Matlab中的mat数据格式时，bagconvert小工具需要知道Matlab安装包在Ubuntu系统下的路径，找不到Matlab的安装路径则会出现上面的错误.

3、解决办法

    (1): 先确定Ubuntu上自己安装的Matlab路径，例如: /home/flmxi/INSTALL_Matlab/bin

    (2): 根据自己的matlab安装路径修改文件: kalibr_allan-master/bagconvert/cmake/FindMatlab.cmake

    (3): 找到设置matlab路径的地方

            if (NOT MATLAB_ROOT)
 
                 # get path to the Matlab executable
                 find_program(MATLAB_EXE_PATH matlab   PATHS   /sad/INSTALL_Matlab/bin)
                 if (MATLAB_EXE_PATH)

     (4): 替换自己的matlab安装路径

1、github

https://github.com/ToruNiina/toml11