ubuntu20.04下编译仿真智能车racecar的错误解决汇总

john19762

已于 2022-08-24 10:53:30 修改

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文章标签： ubuntu linux 运维

于 2022-08-12 09:30:41 首次发布

本文链接：https://blog.csdn.net/john19762/article/details/126296745

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一、运行环境

Ubuntu 20.04 Ros noetic

二、下载源码包

先创建ros的工作区域catkin_racecar

mkdir -p ~/catkin_racecar/src

并转换到工作区域目录，
cd ~/catkin_racecar/src
把当前目录初始化为一个ROS工作空间
catkin_init_workspace

开始下载Gazebo搭建赛道功能包racecar（这里使用的别人github上开源出来的代码）

1	git clone https://github.com/xmy0916/racecar.git

三、安装本次运行需要的控件

1
2
3
4
5
6
7

sudo apt-get install ros-noetic-driver-base
sudo apt-get install ros--noetic-gazebo-ros-control
sudo apt-get install ros--noetic-effort-controllers
sudo apt-get install ros--noetic-joint-state-controller
sudo apt-get install ros-noetic-ackermann-msgs
sudo apt-get install ros-noetic-global-planner
sudo apt-get install ros-noetic-teb-local-planner

四、racecar功能包编译

1 2	cd ~/catkin_racecar catkin_make

遇见的问题及解决办法

问题一
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by “driver_base” with
any of the following names:

driver_baseConfig.cmake
driver_base-config.cmake

Add the installation prefix of “driver_base” to CMAKE_PREFIX_PATH or set
“driver_base_DIR” to a directory containing one of the above files. If
“driver_base” provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
racecar/system/hokuyo_node/CMakeLists.txt:13 (find_package)

– Configuring incomplete, errors occurred!
See also “/home/bcsf/catkin_racecar/build/CMakeFiles/CMakeOutput.log”.
See also “/home/bcsf/catkin_racecar/build/CMakeFiles/CMakeError.log”.
Invoking “cmake” failed

解决办法：
原因是确少driver_base功能包，安上它就好了

sudo apt-get install ros-noetic-driver-base

问题二
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by “OpenCV” with any
of the following names:

OpenCVConfig.cmake
opencv-config.cmake

Add the installation prefix of “OpenCV” to CMAKE_PREFIX_PATH or set
“OpenCV_DIR” to a directory containing one of the above files. If “OpenCV”
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
racecar/racecar_gazebo/CMakeLists.txt:8 (find_package)

解决办法：

首先使用指令搜索OpenCVConfig.cmake文件的路径：

locate OpenCVConfig.cmake

得到

/usr/lib/x86_64-linux-gnu/cmake/opencv4/OpenCVConfig.cmake

在racecar中把racecar/racecar_gazebo/CMakeLists.txt:中的

set(OpenCV_DIR /opt/ros/kinetic/share/OpenCV-3.3.1-dev/)改成

set(OpenCV_DIR /usr/lib/x86_64-linux-gnu/cmake/opencv4/)

问题三
/home/bcsf/catkin_racecar/src/racecar/racecar_gazebo/src/findLine.cpp:7:10: fatal e
rror: ackermann_msgs/AckermannDrive.h: 没有那个文件或目录
#include “ackermann_msgs/AckermannDrive.h”
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
racecar/racecar_gazebo/CMakeFiles/findLine.dir/build.make:62: recipe for target
‘racecar/racecar_gazebo/CMakeFiles/findLine.dir/src/findLine.cpp.o’ failed
make[2]: *** [racecar/racecar_gazebo/CMakeFiles/findLine.dir/src/findLine.cpp.o]
Error 1
CMakeFiles/Makefile2:4559: recipe for target ‘racecar/racecar_gazebo/CMakeFiles/
findLine.dir/all’ failed
make[1]: *** [racecar/racecar_gazebo/CMakeFiles/findLine.dir/all] Error 2
Makefile:140: recipe for target ‘all’ failed
make: *** [all] Error 2
Invoking “make -j1 -l1” failed