teb安装

记忆最不靠谱的东西

1 依赖
有些不知道有没有用，全装上
sudo apt install ros-melodic-costmap-converter ros-melodic-libg2o ros-melodic-mbf-costmap-core ros-melodic-mbf-costmap-nav ros-melodic-move-base-flex ros-melodic-moveit-kinematics ros-melodic-moveit-ros-manipulation ros-melodic-moveit-ros-move-group ros-melodic-moveit-ros-perception ros-melodic-moveit-ros-planning ros-melodic-moveit-ros-planning-interface ros-melodic-moveit-ros-warehouse ros-melodic-assisted-teleop ros-melodic-carrot-planner ros-melodic-dwa-local-planner ros-melodic-global-planner ros-melodic-goal-passer ros-melodic-move-slow-and-clear ros-melodic-navigation ros-melodic-navigation-experimental ros-melodic-navigation-layers ros-melodic-navigation-stage ros-melodic-navigation-tutorials ros-melodic-pose-follower ros-melodic-range-sensor-layer ros-melodic-roomba-stage ros-melodic-sbpl-lattice-planner ros-melodic-sbpl-recovery ros-melodic-social-navigation-layers ros-melodic-twist-recovery ros-melodic-assisted-teleop ros-melodic-carrot-planner ros-melodic-dwa-local-planner ros-melodic-global-planner ros-melodic-goal-passer ros-melodic-move-slow-and-clear ros-melodic-navigation ros-melodic-navigation-experimental ros-melodic-navigation-layers ros-melodic-navigation-stage ros-melodic-navigation-tutorials ros-melodic-pose-follower ros-melodic-range-sensor-layer ros-melodic-roomba-stage ros-melodic-sbpl-lattice-planner ros-melodic-sbpl-recovery ros-melodic-social-navigation-layers ros-melodic-twist-recovery ros-melodic-assisted-teleop ros-melodic-carrot-planner ros-melodic-dwa-local-planner ros-melodic-global-planner ros-melodic-goal-passer ros-melodic-move-slow-and-clear ros-melodic-navigation ros-melodic-navigation-experimental ros-melodic-navigation-layers ros-melodic-navigation-stage ros-melodic-navigation-tutorials ros-melodic-pose-follower ros-melodic-range-sensor-layer ros-melodic-roomba-stage ros-melodic-sbpl-lattice-planner ros-melodic-sbpl-recovery ros-melodic-social-navigation-layers ros-melodic-twist-recovery ros-melodic-grid-map-costmap-2d ros-melodic-grid-map-cv ros-melodic-grid-map-ros ros-melodic-grid-map-visualization

2 源码
从github上下载源码：https://github.com/rst-tu-dortmund/teb_local_planner

     3、放入工作空间的/src文件夹中

    4、catkin_make -DCATKIN_WHITELIST_PACKAGES=“源码存放的文件夹名字”（单独编译teb_local_planner）

     5、查看teb_local_planner的plugin是否安装完成

          rospack plugins --attrib=plugin nav_core

          如果能查询到teb_local_planner，则表明以及准备就绪。

3 使用

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