navigation 环境安装

 

ros-planning/navigation 代码库：https://github.com/ros-planning/navigation

 

navigation环境安装

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# 下载与编译
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$ cd catkin_ws/src
$ git clone https://github.com/ros-planning/navigation.git
$ cd ..
$ catkin_make
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# 出现问题与解决方案
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# 出现错误1
Could NOT find Bullet (missing: BULLET_DYNAMICS_LIBRARY
  BULLET_COLLISION_LIBRARY BULLET_MATH_LIBRARY BULLET_SOFTBODY_LIBRARY
  BULLET_INCLUDE_DIR)
#解决方法（参考：https://blog.csdn.net/qq_35379989/article/details/79964317）
$rosdep where-defined bullet
$sudo apt-get install libbullet-dev

#出现错误2
Could not find a package configuration file provided by "tf2_sensor_msgs"
    tf2_sensor_msgsConfig.cmake
    tf2_sensor_msgs-config.cmake
#解决办法  （参考：https://github.com/ros/geometry2）
$git clone https://github.com/ros/geometry2.git --branch melodic-devel

#出现错误3
Could not find a package configuration file provided by "move_base_msgs"
  with any of the following names:

    move_base_msgsConfig.cmake
    move_base_msgs-config.cmake
#解决方法 (参考：http://wiki.ros.org/move_base_msgs)
$git clone https://github.com/ros-planning/navigation_msgs.git

出现错误4：
/usr/include/c++/5/bits/c++0x_warning.h:32:2: error: #error This file requires compiler and library support for the ISO C++ 2011 standard. This support must be enabled with the -std=c++11 or -std=gnu++11 compiler options.
解决：
对应CMakeList.txt文件中添加下方语句：
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wno-deprecated-declarations")