ROS 开发环境搭建

一.安装ROS:
依次执行如下命令：
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*

sudo apt install python-rosdep2

sudo rosdep init
rosdep update

sudo apt-get install python-rosinstall

source /opt/ros/melodic/setup.bash

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ~/catkin_ws/

catkin_make

sudo apt install net-tools

sudo apt install python-catkin-pkg

git clone https://github.com/ros/catkin.git

二：安装依赖
- grid_map   
 安装：  sudo apt-get install ros-melodic-grid-map

- ros-melodic-pcl-ros  
 安装：  sudo apt-get install ros-melodic-pcl-ros
 
 - mosquittopp 为mosquitto-1.4.15 版本的CPP wrapper
- sudo apt install libmosquitto-dev
 

sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
    

5.安装ceres
# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev
We are now ready to build, test, and install Ceres.

git clone https://ceres-solver.googlesource.com/ceres-solver

cd ceres-solver/
mkdir build
cd build/
cmake  ../
make -j3
make 
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
sudo make install