move_base导航、RRT仿真步骤和遇到的错误

一、move_base步骤：
roscore
roslaunch rbx1_bringup fake_turtlebot.launch（运行机器人节点）
roslaunch rbx1_nav fake_amcl.launch map:=test_map.yaml（地图）
rosrun rviz rviz -d 'rospack find rbx1_nav'/nav_fuerte.rviz
打开rviz后，add-by topic-①map②current_goal-pose③odometry
点击上面的 2D Nav Goal ,在地图上点击确定目标点，会自动导航。

二、RRT步骤（用rrt_planner替代ros中默认的planner，默认的全局路径规划算法是Dijkstra/A*）
1.下载并编译 path-planning中的rrt_planner包
2.在/home/y/turtlebot1_ws/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes路径下的move_base.launch.xml文件中添加
<param name="base_global_planner" value="rrt_plan/rrt_planner"/>
3.运行roslaunch turtlebot_stage turtlebot_in_stage.launch

备注：修改move_base参数：可以设置哪种包优先。

/home/y/turtlebot1_ws/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/move_base_params.yaml，

三、编译运行过程遇到的错误：
1.错误：
  at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "turtlebot_msgs"
  with any of the following names:

    turtlebot_msgsConfig.cmake
    turtlebot_msgs-config.cmake
  ……
解决：sudo apt-get install ros-kinetic-turtlebot-msgs

2.错误：
  at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "depth_image_proc"
  with any of the following names:

    depth_image_procConfig.cmake
    depth_image_proc-config.cmake
  ……
解决：sudo apt-get install ros-kinetic-depth-image-proc

3.错误：
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
解决：放弃catkin_make，直接用cmake ../make编译。

4.错误：
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "joy" with any of
  the following names:

    joyConfig.cmake
    joy-config.cmake
……
解决：sudo apt-get install ros-kinetic-joy*

5.错误：
Could not find the GUI, install the ‘joint_state_publisher_gui’ package
解决：sudo apt-get install ros-kinetic-joint-state-publisher-gui

6.错误：
[ERROR] [1598543901.958695971]: Failed to load nodelet [/kobuki_safety_controller] of type [kobuki_safety_controller/SafetyControllerNodelet] even after refreshing the cache:
……
解决：sudo apt-get install ros-kinetic-kobuki-safety-controller

7.错误：
[ERROR] [1598546190.149222800, 0.600000000]: Failed to load nodelet [/cmd_vel_mux] of type [yocs_cmd_vel_mux/CmdVelMuxNodelet] even after refreshing the cache: 
……
解决：sudo apt-get install ros-kinetic-yocs-cmd-vel-mux

8.错误：
[ERROR] [1598546357.316421397, 0.600000000]: Failed to load nodelet [/navigation_velocity_smoother] of type [yocs_velocity_smoother/VelocitySmootherNodelet] even after refreshing the cache: 
……
解决：sudo apt-get install ros-kinetic-yocs-velocity-smoother

9.错误：
[ERROR] Failed to load nodelet [/navigation_velocity_smoother] of type [yocs_velocity_smoother/VelocitySmootherNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class yocs_velocity_smoother/VelocitySmootherNodelet with base class type nodelet::Nodelet does not exist.
……
解决：sudo apt-get install ros-kinetic-yocs-velocity-smoother

10.错误：
[ERROR] Failed to create the rrt_plan/rrt_planner planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class rrt_plan/rrt_planner with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are  carrot_planner/CarrotPlanner global_planner/GlobalPlanner navfn/NavfnROS
……
解决：source一下rrt的路径。