Ubuntu18.04 ROS melodic 版本的rivz教程-CSDN博客

本文链接：https://blog.csdn.net/uunubt/article/details/81183867

本文详细介绍了如何在Ubuntu18.04上安装ROS melodic和rivz第三方包arbotix及rbx_vol_1的过程，包括可能出现的问题和解决方法。首先，通过克隆源码安装arbotix，然后遇到git clone错误，经过多次尝试成功。接着，下载并安装rbx_vol_1，同样遇到问题，但最终解决。最后，运行roscore并设置环境变量，使用rviz进行仿真，但遇到了一些未解决的错误。

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我们学习rivz时需要一个大神写好的第三方包，这样我们才可以学习具体的命令以及方法。博主在从网上找rivz的教程时发现大部分都比较老了，不支持ROS的最新版本，所以提供的rivz第三方包安装会出现许多坑。博主经过几次踩坑后把经验分享出来。

学习rivz，首先需要安装arbotix。

1,进入源码目录

$ cd catkin_ws/src/

2，源码从git克隆到当前目录
$ git clone https://github.com/vanadiumlabs/arbotix_ros.git

3，切换到make路径

$ cd catkin_ws

4,make

$ catkin_make

uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws$ catkin_make
Base path: /home/uu/catkin_ws
Source space: /home/uu/catkin_ws/src
Build space: /home/uu/catkin_ws/build
Devel space: /home/uu/catkin_ws/devel
Install space: /home/uu/catkin_ws/install
####
#### Running command: "cmake /home/uu/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/uu/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/uu/catkin_ws/install -G Unix Makefiles" in "/home/uu/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/uu/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/uu/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/uu/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.15", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/uu/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.15") 
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 7 packages in topological order:
-- ~~  - arbotix (metapackage)
-- ~~  - arbotix_controllers
-- ~~  - arbotix_firmware
-- ~~  - arbotix_python
-- ~~  - arbotix_sensors
-- ~~  - arbotix_msgs
-- ~~  - beginner_tutorials
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'arbotix'
-- ==> add_subdirectory(arbotix_ros/arbotix)
-- +++ processing catkin package: 'arbotix_controllers'
-- ==> add_subdirectory(arbotix_ros/arbotix_controllers)
-- +++ processing catkin package: 'arbotix_firmware'
-- ==> add_subdirectory(arbotix_ros/arbotix_firmware)
-- +++ processing catkin package: 'arbotix_python'
-- ==> add_subdirectory(arbotix_ros/arbotix_python)
-- +++ processing catkin package: 'arbotix_sensors'
-- ==> add_subdirectory(arbotix_ros/arbotix_sensors)
-- +++ processing catkin package: 'arbotix_msgs'
-- ==> add_subdirectory(arbotix_ros/arbotix_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- arbotix_msgs: 2 messages, 4 services
-- +++ processing catkin package: 'beginner_tutorials'
-- ==>