1.删除opt目录中的文件:rm -fr /opt/*(rm -fr /opt/ros/kinetic/ardrone_autonomy)
2.basgrc文件的显示方法:linux的bashrc文件在/home目录下,但是是一个隐藏文件,在文件管理器里面按Ctrl+H即可显示(显示为.bashrc,前面小点儿表示隐藏文件)。也可以直接利用terminal直接打开
3.如何查看Ubuntu版本:cat /etc/issue
4.删除ROS的方法:sudo apt-get purge ros-*
sudo rm -rf /etc/ros
gedit ~/.bashrc 带有kinetic的那一行删除,保存,然后:
source ~/.bashrc
5.解决“Could not get lock /var/lib/dpkg/lock ”问题方法:
ps -A | grep apt-get(显示所有正在运行的线程)
sudo kill “processnumber”(关闭apt-get相关线程)
6.ardone_autonomy的源码安装:
$ cd ~/catkin_ws/src
$ git clone https://github.com/AutonomyLab/ardrone_autonomy.git -b indigo-devel
$ cd ~/catkin_ws
$ rosdep install --from-paths src -i
$ catkin_make ardrone_autonomy (注意单独编译ardrone_autonomy)
$ source ~/catkin_ws/devel/setup.bash
7.tum_ardrone安装总结
(1)在ubuntu 16.04.3 LTS下安装
(2)ROS版本为kinetic
(3)安装ardrone_autonomy:
$ cd ~/catkin_ws/src
$ git clone https://github.com/AutonomyLab/ardrone_autonomy.git -b indigo-devel
$ cd ~/catkin_ws
$ rosdep install --from-paths src -i
$ catkin_make --pkg ardrone_autonomy
(3)安装tum_ardrone
$ cd catkin_ws/src
$ git clone https://github.com/tum-vision/tum_ardrone.git -b hydro-devel
(
在/home/wm/catkin_ws/src/tum_ardrone/src/UINode中找到RosThread.cpp和RosThread.h文件,之后在包含文件前后添加:
#ifndef Q_MOC_RUN
#include...
#include...
#include...
#endif
)
$ cd ..
$ rosdep install tum_ardrone
$ catkin_make --pkg tum_ardrone
8.tum_adrone基本操作
(1)roscore
(2) roslaunch tum_ardrone ardrone_driver.launch
(3) roslaunch tum_ardrone tum_ardrone.launch
9.安装调试ORB_SLAM2相关
一,9.14日运行在线程序步骤:
1.roscore
2.roslaunch uvc_camera.launch (在~/catkin_ws/src/rbx1/rbx1_vision/launch中)
3.rostopic echo /camera/rgb/image_raw(正常的话可以看见视频流数据)
4.打开“/home/wm/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_mono.cc”
修改为“ros::Subscriber sub = nodeHandler.subscribe("/camera/rgb/image_raw", 1,
&ImageGrabber::GrabImage,&igb);”
5.$ cd ORB_SLAM2
$ chmod +x build.sh
$ ./build.sh
6.$ chmod +x build_ros.sh
$ ./build_ros.sh (重新编译执行文件)
7.rosrun ORB_SLAM2 Mono /home/wm/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/wm/catkin_ws/src/ORB_SLAM2/my.yaml (在//home/wm/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2中)
二,解决找不到Eigen 的问题
编译过程中遇到
/usr/local/include/vikit/math_utils.h:12:22: fatal error: Eigen/Core: No such file or directory
但是,我是确定安装了eigen的,这是怎么回事呢~
使用pkg-config 检测我的安装
pkg-config --cflags eigen
Package eigen was not found in the pkg-config search path.
Perhaps you should add the directory containing `eigen.pc'
to the PKG_CONFIG_PATH environment variable
No package 'eigen' found
再次检测
pkg-config --cflags eigen3
-I/usr/local/include/eigen3
于是cd /usr/local/include
$ sudo ln -s ./eigen3/Eigen/ ./Eigen
再次使用IDE编译,通过~
10.按照“https://turtlebot3.robotis.com/en/latest/sbc_software.html”介绍的Sbc软件安装方法时出现了找不到amcl定位包的解决方法
(1)执行ROS自动安装程序:
sudo apt-get update
sudo apt-get upgrade
wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh
之后观察ROS已经安装成功,但在编译Catkin_ws中的turtlebot相关包时提示“amcl”没有安装
(2)执行相关程序安装:
sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation
以上语句将安装相关定位程序包
(3)之后重新执行:
wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh
或在catkin_ws目录中执行:
catkin_make
编译应用程序包即可解决
11.Turtlebot3的PC端启动程序
(1)roscore
(2)roslaunch turtlebot3_bringup turtlebot3_model.launch (Run RViz)
(3)roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch (启动键盘控制程序)
12.Turtlebot3的Robot端启动程序
(1)roslaunch turtlebot3_bringup turtlebot3_robot.launch (Bring up basic packages to start TurtleBot3 applications.)
13.解决运用sudo apt-get install 安装软件时会出现一下的情况“E: Could not get lock /var/lib/dpkg/lock - open (11: Resource temporarily unavailable)E: Unable to lock the administration directory (/var/lib/dpkg/), is another process using it?”的问题。
(1)找到并且杀掉所有的apt-get 和apt进程:ps -A | grep apt
(2)杀死进程号ID: sudo kill -9 进程ID
2.basgrc文件的显示方法:linux的bashrc文件在/home目录下,但是是一个隐藏文件,在文件管理器里面按Ctrl+H即可显示(显示为.bashrc,前面小点儿表示隐藏文件)。也可以直接利用terminal直接打开
3.如何查看Ubuntu版本:cat /etc/issue
4.删除ROS的方法:sudo apt-get purge ros-*
sudo rm -rf /etc/ros
gedit ~/.bashrc 带有kinetic的那一行删除,保存,然后:
source ~/.bashrc
5.解决“Could not get lock /var/lib/dpkg/lock ”问题方法:
ps -A | grep apt-get(显示所有正在运行的线程)
sudo kill “processnumber”(关闭apt-get相关线程)
6.ardone_autonomy的源码安装:
$ cd ~/catkin_ws/src
$ git clone https://github.com/AutonomyLab/ardrone_autonomy.git -b indigo-devel
$ cd ~/catkin_ws
$ rosdep install --from-paths src -i
$ catkin_make ardrone_autonomy (注意单独编译ardrone_autonomy)
$ source ~/catkin_ws/devel/setup.bash
7.tum_ardrone安装总结
(1)在ubuntu 16.04.3 LTS下安装
(2)ROS版本为kinetic
(3)安装ardrone_autonomy:
$ cd ~/catkin_ws/src
$ git clone https://github.com/AutonomyLab/ardrone_autonomy.git -b indigo-devel
$ cd ~/catkin_ws
$ rosdep install --from-paths src -i
$ catkin_make --pkg ardrone_autonomy
(3)安装tum_ardrone
$ cd catkin_ws/src
$ git clone https://github.com/tum-vision/tum_ardrone.git -b hydro-devel
(
在/home/wm/catkin_ws/src/tum_ardrone/src/UINode中找到RosThread.cpp和RosThread.h文件,之后在包含文件前后添加:
#ifndef Q_MOC_RUN
#include...
#include...
#include...
#endif
)
$ cd ..
$ rosdep install tum_ardrone
$ catkin_make --pkg tum_ardrone
8.tum_adrone基本操作
(1)roscore
(2) roslaunch tum_ardrone ardrone_driver.launch
(3) roslaunch tum_ardrone tum_ardrone.launch
9.安装调试ORB_SLAM2相关
一,9.14日运行在线程序步骤:
1.roscore
2.roslaunch uvc_camera.launch (在~/catkin_ws/src/rbx1/rbx1_vision/launch中)
3.rostopic echo /camera/rgb/image_raw(正常的话可以看见视频流数据)
4.打开“/home/wm/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_mono.cc”
修改为“ros::Subscriber sub = nodeHandler.subscribe("/camera/rgb/image_raw", 1,
&ImageGrabber::GrabImage,&igb);”
5.$ cd ORB_SLAM2
$ chmod +x build.sh
$ ./build.sh
6.$ chmod +x build_ros.sh
$ ./build_ros.sh (重新编译执行文件)
7.rosrun ORB_SLAM2 Mono /home/wm/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/wm/catkin_ws/src/ORB_SLAM2/my.yaml (在//home/wm/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2中)
二,解决找不到Eigen 的问题
编译过程中遇到
/usr/local/include/vikit/math_utils.h:12:22: fatal error: Eigen/Core: No such file or directory
但是,我是确定安装了eigen的,这是怎么回事呢~
使用pkg-config 检测我的安装
pkg-config --cflags eigen
Package eigen was not found in the pkg-config search path.
Perhaps you should add the directory containing `eigen.pc'
to the PKG_CONFIG_PATH environment variable
No package 'eigen' found
再次检测
pkg-config --cflags eigen3
-I/usr/local/include/eigen3
于是cd /usr/local/include
$ sudo ln -s ./eigen3/Eigen/ ./Eigen
再次使用IDE编译,通过~
10.按照“https://turtlebot3.robotis.com/en/latest/sbc_software.html”介绍的Sbc软件安装方法时出现了找不到amcl定位包的解决方法
(1)执行ROS自动安装程序:
sudo apt-get update
sudo apt-get upgrade
wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh
之后观察ROS已经安装成功,但在编译Catkin_ws中的turtlebot相关包时提示“amcl”没有安装
(2)执行相关程序安装:
sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation
以上语句将安装相关定位程序包
(3)之后重新执行:
wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh
或在catkin_ws目录中执行:
catkin_make
编译应用程序包即可解决
11.Turtlebot3的PC端启动程序
(1)roscore
(2)roslaunch turtlebot3_bringup turtlebot3_model.launch (Run RViz)
(3)roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch (启动键盘控制程序)
12.Turtlebot3的Robot端启动程序
(1)roslaunch turtlebot3_bringup turtlebot3_robot.launch (Bring up basic packages to start TurtleBot3 applications.)
13.解决运用sudo apt-get install 安装软件时会出现一下的情况“E: Could not get lock /var/lib/dpkg/lock - open (11: Resource temporarily unavailable)E: Unable to lock the administration directory (/var/lib/dpkg/), is another process using it?”的问题。
(1)找到并且杀掉所有的apt-get 和apt进程:ps -A | grep apt
(2)杀死进程号ID: sudo kill -9 进程ID