多机编队—(1)ubuntu 配置Fast_Planner

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前言

最近想要做有轨迹引导的多机器人编队，打算采用分布式的编队架构，实时的给每个机器人规划出目标位置，然后通过Fast_Planner生成避障路径，再通过改进的mpc进行跟踪。先记录下配置Fast_Planner时遇到的问题。

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一、Could not find package …

如果出现这样的报错：
(1)通过：sudo apt-get install ros-melodic-提示缺少的包的名字进行安装。
(2)如果上面的方法不管用，需要根据提示解决：
例如：CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by “NLopt”
with any of the following names:

NLoptConfig.cmake
nlopt-config.cmake

通过与github Fast_Planner原功能包进行对比，发现在（fast_planner/baspline_opt/CMakeList.txt）目录下
我的：/CMakeList.txt

cmake_minimum_required(VERSION 2.8.3)
project(bspline_opt)
find_package(NLopt REQUIRED)
set(NLopt_INCLUDE_DIRS ${NLOPT_INCLUDE_DIR})

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  visualization_msgs
  cv_bridge
  plan_env
)

catkin_package(
 INCLUDE_DIRS include
 LIBRARIES bspline_opt
 CATKIN_DEPENDS plan_env
#  DEPENDS system_lib
)

include_directories( 
    SYSTEM 
    include 
    ${catkin_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS} 
    ${PCL_INCLUDE_DIRS}
    ${NLOPT_INCLUDE_DIR}
)

set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS} -O3 -Wall")

add_library( bspline_opt 
    src/bspline_optimizer.cpp 
    )
target_link_libraries( bspline_opt
    ${catkin_LIBRARIES} 
    ${NLOPT_LIBRARIES}
    )  

github Fast_Planner /CMakeList.txt

cmake_minimum_required(VERSION 2.8.3)
project(bspline_opt)

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  visualization_msgs
  cv_bridge
  nlopt
  plan_env
)

catkin_package(
 INCLUDE_DIRS include
 LIBRARIES bspline_opt
 CATKIN_DEPENDS plan_env
#  DEPENDS system_lib
)

include_directories( 
    SYSTEM 
    include 
    ${catkin_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS} 
    ${PCL_INCLUDE_DIRS}
)

set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall")

add_library( bspline_opt 
    src/bspline_optimizer.cpp 
    )
target_link_libraries( bspline_opt
    ${catkin_LIBRARIES} 
    )  

即去掉find_package(NLopt REQUIRED)在后面find_package中加上nlopt。其他的根据提示缺什么包装什么即可，如果遇到有的包找不到就去原仓库中找一找。

二、使用error: no match for ‘operator=’…

如果出现这样的报错：

error: no match for ‘operator=’ (operand types are ‘Eigen::internal::enable_if<true, Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double> >::type {aka Eigen::IndexedView<Eigen::Matrix<double, -1, -1>, double, double>}’ and ‘double’)
i * (i - 1) * (i - 2) * j * (j - 1) * (j - 2) * pow(ts, i + j - 5) / (i + j - 5);

根据提示找到：fast_planner/poly_traj/include/poly_traj/polynomial_traj.h
根据提示的行数将for循环的圆括号里的double改为int，注意是两个！

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总结

（未完待续）…