PCL三维避障

kartoslam(simulation):
#建图
rosrun slam_karto slam_karto
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
rosrun map_server map_saver -f /home/asber/turtlebot_custom_maps/tutorial
#定位导航
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/asber/turtlebot_custom_maps/tutorial.yaml
roslaunch turtlebot_rviz_launchers view_navigation.launch

/camera/depth/image_raw 深度图
/camera/rgb/image_raw RGB图像
/camera/depth/points 点云数据

把所有点云全部传入costmap

ubuntu16下配置搭建PCL开发环境

有两种方式：1.aptget的方式获取二进制库

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-dev

2.源码安装¹²
官方地址：http://pointclouds.org/downloads

下载github之后
cmake -DCMAKE_BUILD_TYPE=Release …
apt-get install cmake g++ libboost1.58-all-dev libeigen3-dev libflann-dev python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz libpng12-dev libgtest-dev libxmu-dev libxi-dev libpcap-dev libqhull-dev libvtk5-qt4-dev python-vtk libvtk-java（这一步可以先省略，看到哪里报错再安装相关的包）
最后make -j2
make -j2 install或sudo make -j2 install

在sudo apt-get install python-vtk libvtk-java的时候发现要删除，一不小心按了Y 千万不要按 不然会各种报错

The following packages will be REMOVED:
  libpcl-dev libvtk6-dev libvtk6-qt-dev python-vtk6 ros-kinetic-astra-launch ros-kinetic-base-local-planner ros-kinetic-camera-calibration ros-kinetic-carrot-planner ros-kinetic-clear-costmap-recovery  ros-kinetic-compressed-depth-image-transport ros-kinetic-compressed-image-transport ros-kinetic-costmap-2d ros-kinetic-cv-bridge ros-kinetic-depth-image-proc ros-kinetic-depthimage-to-laserscan ros-kinetic-desktop ros-kinetic-desktop-full ros-kinetic-dwa-local-planner ros-kinetic-freenect-launch ros-kinetic-gazebo-plugins ros-kinetic-gazebo-ros-pkgs ros-kinetic-global-planner ros-kinetic-image-geometry ros-kinetic-image-pipeline  ros-kinetic-image-proc ros-kinetic-image-publisher ros-kinetic-image-rotate ros-kinetic-image-transport-plugins ros-kinetic-image-view ros-kinetic-kobuki-gazebo-plugins ros-kinetic-move-base ros-kinetic-move-slow-and-clear  ros-kinetic-nav-core ros-kinetic-navfn ros-kinetic-navigation ros-kinetic-opencv3 ros-kinetic-openni-launch ros-kinetic-openni2-launch ros-kinetic-pcl-conversions ros-kinetic-pcl-ros ros-kinetic-perception  ros-kinetic-perception-pcl ros-kinetic-realsense-camera ros-kinetic-rgbd-launch ros-kinetic-rotate-recovery ros-kinetic-rqt-common-plugins ros-kinetic-rqt-image-view ros-kinetic-simulators ros-kinetic-stereo-image-proc  ros-kinetic-theora-image-transport ros-kinetic-turtlebot ros-kinetic-turtlebot-actions ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-bringup r