debian 10源码安装ros kinetic

准备

安装依赖

安装python2：sudo apt install python2
安装pip2：看链接安装pip2
安装编译依赖:

$ sudo apt-get install python-rosinstall-generator python-wstool python-rosinstall build-essential libpoco-dev libboost1.67-dev libfltk1.3-dev cmake librosconsole-bridge-dev libeigen3-dev qtbase5-dev  libjpeg-dev libtiff-dev libpng-dev ccache libboost-filesystem1.67.0 libboost-program-options-dev
$ pip2 install empy
$ pip2 install rosdep

初始化rosdep

$ sudo rosdep init
$ rosdep update

创建工作区

$ mkdir -p ~/ros_kinetic_ws/src
$ cd ~/ros_kinetic_ws

选择以下安装方式
1 桌面版安装 ROS, rqt, rviz, and robot-generic libraries

$ rosinstall_generator desktop --rosdistro kinetic --deps --tar > kinetic-desktop.rosinstall
$ wstool init -j8 src kinetic-desktop.rosinsta

2 ros 基本通信包安装，没有gui调试工具

$ rosinstall_generator ros_comm --rosdistro kinetic --deps --tar > kinetic-ros_comm.rosinstall
$ wstool init -j8 src kinetic-ros_comm.rosinstall

修改有问题的代码

1：替换rospack

cd src
rm -r rospack
git clone -b kinetic-devel https://github.com/ros/rospack.git

2：修改 src/rqt_robot_monitor/package.xml

src/rqt_robot_monitor/package.xml
45:  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg-modules</exec_depend>

改为

45:  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rospkg</exec_depend>

3:修改src/rospack/package.xml

31:  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-catkin-pkg-modules</exec_depend>
33:  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rosdep-modules</exec_depend>

改为

31:  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-catkin-pkg</exec_depend>
33:  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-rosdep</exec_depend>

4： 修改src/opencv3/modules/python/src2/cv2.cpp

885行
char* str = PyString_AsString(obj);
改为
char* str = (char *)PyString_AsString(obj);

5:修改src/geometry2/tf2/src/buffer_core.cpp
41行添加

#ifndef logWarn
  #define logWarn CONSOLE_BRIDGE_logWarn
#endif
#ifndef logError
  #define logError CONSOLE_BRIDGE_logError
#endif

解决依赖项

一定要执行完这个，将依赖包安装完全，不然编译不能通过

 rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

开始编译

./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

参考文献

https://wiki.ros.org/Installation/Source