ros_navigation安装

http://wiki.ros.org/mrpt_navigation/Tutorials/Installing

Get from apt packages

*Note*: Only available in indigo or newer ROS distributions. In older versions, just build the package from sources as explained below.

# This will install all packages in the mrpt_navigation metapackage
# Alternatively, install individual packages only as you need them
sudo apt-get install ros-$ROS_DISTRO-mrpt-navigation

Build from sources

1. Make sure ROS is installed in your system!

2. Make sure to have MRPT compiled or installed in your system. Choose one of the following:

• Install MRPT from official Debian / Ubuntu repositories:

      sudo apt-get install libmrpt-dev

• Install the latest MRPT version from PPA repositories.

• Compile MRPT from sources (see instructions) and either install in system with sudo make install or add this to your ~/.bashrc for CMake to easily find it:

      export MRPT_DIR=YOUR_MRPT_BUILD_DIR

3. Make sure to be familiar with ROS' catkin build system!

• Oficial tutorials

• J.Bohren's tutorial

4. Clone this repository in your catkin workspace (you may have to switch to the corresponding branch according to your ROS distro):

cd <your_catkin_ws>/src
git clone https://github.com/mrpt-ros-pkg/mrpt_navigation.git
cd ..
#rosdep install --from-paths src --ignore-src --rosdistro indigo # Only if you want MRPT to be installed from Ubuntu repos
catkin_make

5. You can run unit tests:

 catkin_make run_tests # to execute the gtests

6. For ROS to find these packages, read the catkin documentation and run (or add to your ~/.bashrc):

source <your_catkin_ws>/devel/setup.bash