ubuntu18.04安装ROS-melodic-full

ubuntu18.04+ros-melodic-full环境搭建

1. 系统环境

1.1系统需求：Ubuntu18.04

1.2依赖包安装：

sudo apt install net-tools subversion git cmake-gui udev libudev-dev libopencv-dev libopenscenegraph-dev
sudo apt install glances libdw-dev libmysqlclient-dev libssl-dev libx264-dev libfaac-dev libmp4v2-dev
sudo apt install libavdevice-dev libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libmetis-dev
sudo apt install libceres-dev libodb-dev libodb-mysql-dev
GDAL库 一般ubuntu系统自带。
   sudo apt-get install libgdal20
   sudo apt-get install libgdal-dev
mysql工具，odb库安装
   sudo apt-get install odb
   sudo apt-get install libodb-2.4
   sudo apt-get install libodb-dev
   sudo apt-get install libodb-mysql-2.4
   sudo apt-get install libodb-mysql-dev
redis工具，hiredis库安装
   sudo apt-get install libhiredis0.13
   sudo apt-get install libhiredis-dev
jsoncpp
   sudo apt-get install libjsoncpp1
   sudo apt-get install libjsoncpp-dev
zmq
   sudo apt-get install libzmq3-dev

2.ros环境搭建

添加source.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
添加公匙
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
安装rosdep
sudo apt install ros-melodic-desktop-full
解决rosdep update 失败的问题
1.解压缩rosdistro-master.zip   ----- 选择解压路径,后续配置文件需要找到路径  说明中解压路径/home/xx/rosdistro目录下
2.修改20-default.list文件
sudo apt install python-rosdep2
sudo apt-get install python-rosdep python-wstool ros-melodic-ros

sudo mkdir -p /etc/ros/rosdep/sources.list.d/
sudo touch /etc/ros/rosdep/sources.list.d/20-default.list
sudo gedit /etc/ros/rosdep/sources.list.d/20-default.list

内容修改为:(注意对应的目录)

#os-specific listings first
yaml file:///home/yd/rosdistro/rosdistro-master/rosdep/osx-homebrew.yaml osx

#generic
yaml file:///home/yd/rosdistro/rosdistro-master/rosdep/base.yaml
yaml file:///home/yd/rosdistro/rosdistro-master/rosdep/python.yaml
yaml file:///home/yd/rosdistro/rosdistro-master/rosdep/ruby.yaml
gbpdistro file:///home/yd/rosdistro/rosdistro-master/releases/fuerte.yaml fuerte
newer distributions (Groovy, Hydro, ...) must not be listed anymore, they are being 
#fetched from the rosdistro index.yaml instead

---

3.修改sources_list.py文件

sudo gedit /usr/lib/python3/dist-packages/rosdep2/sources_list.py
注释原 DEFAULT_SOURCES_LIST_URL 一行，然后在其后添加如下一行
DEFAULT_SOURCES_LIST_URL = 'file:///home/x/rosdistro/rosdistro-master/rosdep/sources.list.d/20-default.list'

4.修改 rep3.py 文件

sudo gedit /usr/lib/python3/dist-packages/rosdep2/rep3.py
注释原 REP3_TARGETS_URL 一行，然后在其后添加如下一行
REP3_TARGETS_URL = 'file:///home/x/rosdistro/rosdistro-master/releases/targets.yaml'

5.修改 init.py 文件

sudo gedit /usr/lib/python3/dist-packages/rosdistro/__init__.py
注释原 DEFAULT_INDEX_URL 一行，然后在其后添加如下一行
DEFAULT_INDEX_URL = 'file:///home/x/rosdistro/rosdistro-master/index-v4.yaml'

6.重新rosdep update
设置环境变量

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

二.创建工作空间
1.创建工作空间文件夹

mkdir -p ~/workspace/src

2.工作空间初始化

cd ~/workspace/src
catkin_init_workspace

3.编译工作空间

cd ~/workspace
catkin_make

4.添加环境变量

echo "source ~/workspace/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

功能包编译
1.先编译yidamsg(src下暂时只放yidamsg,ndt_omp,velodyne)
进入workspace下

cd ~/workspace
catkin_make --pkg xxxx

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

    sensor_msgsConfig.cmake
    sensor_msgs-config.cmake

执行

sudo apt install ros-melodic-sensor-msgs