【声呐仿真】学习记录1.5-使用docker配置dave（先看这个！）、解决一些问题

docker配置dave

1

之前文章中手动配置的环境，在运行dave_demo的时候有报错，很长时间没能解决

所以又试了试官方提供的docker版本，可以正常运行demo

所以建议直接用docker配，除了最开始拉取docker镜像部分有差别，其它基本一样

步骤参考Docker环境|DAVE项目 — Docker Environment | Project DAVE

2

在执行./run.bash -c dockwater:noetic时，如果报错：在运行docker run …时，docker 未找到

关闭ssh，重新连接

然后使用以下命令创建容器（不要复制我的，可能会有信息不一样，复制你报错里的命令。然后可以参照我的，添加一下你需要的，命令介绍在之前的文章里有，dave官方的我也看不懂）：

注意：可能需要删除官方命令中的–rm，我有这个参数的话就会失败（报错docker未找到）

docker run -it -p 50004:22 -v /home/ouc/ros_dave:/home/ouc --name dockwater_noetic_runtime --gpus all -v /dev:/dev -e DISPLAY -e TERM -e XAUTHORITY=/tmp/.dockerpznw0d90.xauth -v /tmp/.dockerpznw0d90.xauth:/tmp/.dockerpznw0d90.xauth -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro -e NVIDIA_DRIVER_CAPABILITIES=compute,utility -e NVIDIA_VISIBLE_DEVICES=all 869c5ad477cb /bin/bash

3

创建完容器后，就按照我之前的文章，配置可视化、配置cuda、下载代码编译运行，选配ssh远程

运行demo结果如下：

roslaunch dave_demo_launch dave_demo.launch

---

以下为未完全解决问题的随手记录，待日后解决再补充

1.pcap、png解决，libusb未解决（不要修改libusb相关的）

WARNING ** io features related to openni2 pcap png will be disabled_io features related to openni will be disabled-

经查，png和usb系统都有：

locate libpng | grep cmake
locate libusb

只需安装pcap、配置：

sudo apt-get install libpcap-dev

sudo gedit `locate PCLConfig.cmake`

搜索openni()，在下面添加：

  elseif("${_lib}" STREQUAL "png")
    find_package(PNG)
  elseif("${_lib}" STREQUAL "pcap")
    find_package(PCAP)  
  elseif("${_lib}" STREQUAL "libusb-1.0")
    find_package(LIBUSB_1)

cp `locate libusb | grep cmake` /usr/share/cmake-3.16/Modules/FindLIBUSB_1.cmake

 sudo gedit /usr/share/cmake-3.16/Modules/FindPCAP.cmake

# - Try to find libpcap include dirs and libraries
#
# Usage of this module as follows:
#
#     find_package(PCAP)
#
# Variables used by this module, they can change the default behaviour and need
# to be set before calling find_package:
#
#  PCAP_ROOT_DIR             Set this variable to the root installation of
#                            libpcap if the module has problems finding the
#                            proper installation path.
#
# Variables defined by this module:
#
#  PCAP_FOUND                System has libpcap, include and library dirs found
#  PCAP_INCLUDE_DIR          The libpcap include directories.
#  PCAP_LIBRARY              The libpcap library (possibly includes a thread
#                            library e.g. required by pf_ring's libpcap)
#  HAVE_PF_RING              If a found version of libpcap supports PF_RING
#  HAVE_PCAP_IMMEDIATE_MODE  If the version of libpcap found supports immediate mode
 
find_path(PCAP_ROOT_DIR
    NAMES include/pcap.h
)
 
find_path(PCAP_INCLUDE_DIR
    NAMES pcap.h
    HINTS ${PCAP_ROOT_DIR}/include
)
 
set (HINT_DIR ${PCAP_ROOT_DIR}/lib)
 
# On x64 windows, we should look also for the .lib at /lib/x64/
# as this is the default path for the WinPcap developer's pack
if (${CMAKE_SIZEOF_VOID_P} EQUAL 8 AND WIN32)
    set (HINT_DIR ${PCAP_ROOT_DIR}/lib/x64/ ${HINT_DIR})
endif ()
 
find_library(PCAP_LIBRARY
    NAMES pcap wpcap
    HINTS ${HINT_DIR}
)
 
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(PCAP DEFAULT_MSG
    PCAP_LIBRARY
    PCAP_INCLUDE_DIR
)
 
include(CheckCXXSourceCompiles)
set(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARY})
check_cxx_source_compiles("int main() { return 0; }" PCAP_LINKS_SOLO)
set(CMAKE_REQUIRED_LIBRARIES)
 
# check if linking against libpcap also needs to link against a thread library
if (NOT PCAP_LINKS_SOLO)
    find_package(Threads)
    if (THREADS_FOUND)
        set(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARY} ${CMAKE_THREAD_LIBS_INIT})
        check_cxx_source_compiles("int main() { return 0; }" PCAP_NEEDS_THREADS)
        set(CMAKE_REQUIRED_LIBRARIES)
    endif (THREADS_FOUND)
    if (THREADS_FOUND AND PCAP_NEEDS_THREADS)
        set(_tmp ${PCAP_LIBRARY} ${CMAKE_THREAD_LIBS_INIT})
        list(REMOVE_DUPLICATES _tmp)
        set(PCAP_LIBRARY ${_tmp}
            CACHE STRING "Libraries needed to link against libpcap" FORCE)
    else (THREADS_FOUND AND PCAP_NEEDS_THREADS)
        message(FATAL_ERROR "Couldn't determine how to link against libpcap")
    endif (THREADS_FOUND AND PCAP_NEEDS_THREADS)
endif (NOT PCAP_LINKS_SOLO)
 
include(CheckFunctionExists)
set(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARY})
check_function_exists(pcap_get_pfring_id HAVE_PF_RING)
check_function_exists(pcap_set_immediate_mode HAVE_PCAP_IMMEDIATE_MODE)
check_function_exists(pcap_set_tstamp_precision HAVE_PCAP_TIMESTAMP_PRECISION)
set(CMAKE_REQUIRED_LIBRARIES)
 
mark_as_advanced(
    PCAP_ROOT_DIR
    PCAP_INCLUDE_DIR
    PCAP_LIBRARY
)

2.ISO C++

不知道做了什么，突然成功了：

3.换源

ROS换源（除了清华之外的ROS源）-

Ubuntu22.04 解决 E: 无法定位软件包 yum_e: 无法定位软件包 libqt6opengl6-dev-
以上没解决

sudo cp -ra /etc/apt/sources.list /etc/apt/sources.list.bak
sudo vi /etc/apt/sources.list

deb http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-security main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-updates main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-proposed main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ focal-backports main restricted universe multiverse

保存退出
sudo apt-get update
sudo apt-get upgrade

遇到问题：
解决GPG 错误由于没有公钥，无法验证下列签名-

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys  xxx

解决后好了

4.自动安装相关依赖

rosdep install --from-paths src --ignore-src -r -y