cankaole
要注意的地方:
1、telep_key找不到报错!!!
cannot launch node of type [teleop/teleop_key]: can‘t locate node [teleop_key] in package [teleop]
报错原因:权限不够!需要把telep_key.py改成可执行文件权限。
2、要修改的地方
rosinstall_generator desktop_full serial yocs_velocity_smoother gmapping navigation joystick_drivers robot_pose_ekf --rosdistro melodic --deps --wet-only --tar > melodic-desktop-wet.rosinstall
wstool init -j8 src melodic-desktop-full-wet.rosinstall
整体流程、
下载过程中,有问题的话,切换为手机热点,多次切换即可
如果sudo rosdep init还有有问题,可尝试解决方法
sudo rosdep init
sudo c_rehash /etc/ssl/certs
wget https://raw.github.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
rosdep update
三、整体流程
1、下载的部分
(1)
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
(2)
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
(3)
sudo apt-get update
(4)
sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake
(5)
sudo rosdep init
(6)
rosdep update
(7)
mkdir ~/ros_catkin_ws
(8)
cd ~/ros_catkin_ws
(9)安装桌面版本,我多装了几个包
rosinstall_generator desktop_full serial yocs_velocity_smoother gmapping navigation joystick_drivers robot_pose_ekf --rosdistro melodic --deps --wet-only --tar > melodic-desktop-full-wet.rosinstall
(10)
wstool init -j8 src melodic-desktop-full-wet.rosinstall
(11)万一中断了续传,下面命令
wstool update -j 4 -t src
2、打一些包
(1)
mkdir -p ~/ros_catkin_ws/external_src
(2)
cd ~/ros_catkin_ws/external_src
(3)
wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
(4)
unzip assimp-3.1.1_no_test_models.zip
(5)
cd assimp-3.1.1
(6)
cmake .
(7)
make
(8)
sudo make install
(9)
sudo apt-get install libogre-1.9-dev
(10)
cd ~/ros_catkin_ws
(11)安装ros的依赖,
rosdep install --from-paths src --ignore-src --rosdistro melodic -y
(12)
sudo apt-get install python-empy
(13)
cd ~/ros_catkin_ws/external_src
sudo apt-get install checkinstall cmake
sudo sh -c 'echo "deb-src http://mirrordirector.raspbian.org/raspbian/ testing main contrib non-free rpi" >> /etc/apt/sources.list'
sudo apt-get update
sudo apt-get build-dep console-bridge
apt-get source -b console-bridge
sudo dpkg -i libconsole-bridge0.4*.deb libconsole-bridge-dev_*.deb
(14)
sudo apt-get install libpoco-dev
(15)
sudo apt-get install python-sip
(16)
下载压缩包sip-4.19.5.tar.gz后解压
虚拟环境下:
python configure.py
make
sudo make install
(17)
sudo apt-get install libboost-filesystem-dev
sudo apt-get install libboost-program-options-dev
sudo apt-get install libboost-all-dev
(18)log4xx
sudo apt-get install liblog4cxx-dev
(19)
sudo apt-get install libtinyxml-dev
(20)
sudo apt-get install python-pyqt5 pyqt5*
sudo apt-get install pyqt5*
下面不用
sudo apt install qt5-default
sudo apt install python3-all-dev python3-pyqt5
(21)
sudo apt-get install libcurl4-openssl-dev
(22)
sudo apt-get install libjpeg-dev
sudo apt-get install libfltk1.3-dev
sudo apt-get install libbullet-dev
sudo apt-get install libsdl1.2-dev
sudo apt-get install libsdl-image1.2-dev
sudo apt-get install libyaml-cpp-dev
sudo apt-get install libbz2-dev
sudo apt-get install libgpgme-dev
sudo apt-get update
sudo apt-get install libopencv-dev
sudo apt-get install libpcl-dev
sudo apt-get install libusb-dev
sudo apt-get install libspnav-dev
sudo apt-get install libgtk*
-----buyong
sudo apt-get install libgtk-3-dev
sudo apt-get install libgtk*-dev
3、编译和安装
(1)
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic -j2
(2)
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
4、安装A1激光雷达
(1)重新启动一个命令窗口
mkdir -p ~/catkin_ws/src
(2)
cd ~/catkin_ws/src
(3)
catkin_init_workspace
(4)
cd ~/catkin_ws
(5)
catkin_make
(6)
echo "source $HOME/catkin_ws/devel/setup.bash" >> ~/.bashrc
(7)下载激光雷达驱动
cd ~/catkin_ws/src
sudo git clone https://github.com/Slamtec/rplidar_ros.git
(8)
catkin_make