Unbutu18.04+ros-melodic 安装使用 octomap

安装 octomap

sudo apt-get install ros-melodic-octomap-ros
sudo apt-get install ros-melodic-octomap-msgs
sudo apt-get install ros-melodic-octomap-server

sudo apt-get install ros-melodic-octomap-rviz-plugins

安装 OMPL

考虑 july0404 的 OMPL 库安装指南

sudo apt-get install ros-melodic-ompl*

或

git clone https://gitee.com/xjEzekiel/ompl.git
cd ompl
sudo ./install-ompl-ubuntu.sh.in

安装好后，如果还是报错，引用 /usr/share/ompl/ompl_config.cmake的错误

就把ompl目录删除掉，因为上面安装后，ompl的目录是： /usr/local/include/ompl-1.5/ompl
把omplConfig.cmake 复制为 OMPLConfig.cmake

nx@nx-desktop:/usr/local/share/ompl/cmake$ sudo cp omplConfig.cmake OMPLConfig.cmake

安装 fcl

见谢无忌的 ubuntu16.04安装fcl库出现的问题的文档：
安装 fcl 之前，要先安装 Eigen和libccd
安装 libccd ，下载地址：https://github.com/danfis/libccd.git
下载好后直接安装

$ cd src/
$ make
$ make install

如果安装FCL报错

/usr/bin/ld: /usr/local/lib/libccd.a(ccd.o): relocation R_X86_64_PC32 against symbol `ccd_vec3_origin' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: 最后的链结失败: 错误的值
collect2: error: ld returned 1 exit status
src/CMakeFiles/fcl.dir/build.make:2958: recipe for target 'lib/libfcl.so.0.6.1' failed
make[2]: *** [lib/libfcl.so.0.6.1] Error 1
CMakeFiles/Makefile2:1013: recipe for target 'src/CMakeFiles/fcl.dir/all' failed
make[1]: *** [src/CMakeFiles/fcl.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

使用下面的语句重新安装 libccd

mkdir build && cd build
cmake -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON ..
make && make install

之后再下载fcl ,地址 :https://gitee.com/xjEzekiel/fcl.git

mkdir build
cd build
cmake ..
make
make install