这篇文章转自 https://blog.csdn.net/id9502/article/details/80410989
简直就是ros源码阅读顺序表
1. 首先安装基本依赖包：
安装ros依赖：
sudo apt install python3-rosdep2 python3-rosinstall-generator python3-rosinstall build-essential python3-defusedxml python3-netifaces
安装编译依赖：
sudo apt install libeigen3-dev libboost-thread-dev libgtest-dev libconsole-bridge-dev libpoco-dev python3-sip-dev libboost-filesystem-dev libboost-program-options-dev libtinyxml2-dev libtinyxml-dev pyqt5-dev libcurl4-openssl-dev libboost-regex-dev liblz4-dev libbz2-dev libboost-singals-dev liburdfdom-headers-dev liburdfdom-dev uuid-dev libassimp-dev libogre-1.9-dev libyaml-cpp-dev
2. 配置rosdep
mkdir setups
cd setups
touch rosdep
chmod +x ./rosdep
添加脚本内容：
#!/usr/bin/env python3
from rosdep2.main import rosdep_main
rosdep_main()
执行
sudo ./rosdep init
./rosdep update
3. 获取基本ros环境的源码
首先下载执行文件
wget https://raw.githubusercontent.com/ros-infrastructure/rosinstall_generator/master/bin/rosinstall_generator
wget https://raw.githubusercontent.com/vcstools/wstool/master/scripts/wstool
wget https://raw.githubusercontent.com/ros-infrastructure/rospkg/master/scripts/rosversion
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_find_pkg
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_create_pkg
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_generate_changelog
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_tag_changelog
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_test_changelog
chmod +x ./rosinstall_generator
chmod +x ./wstool
chmod +x ./rosversion
chmod +x ./catkin_find_pkg
chmod +x ./catkin_create_pkg
chmod +x ./catkin_generate_changelog
chmod +x ./catkin_tag_changelog
chmod +x ./catkin_test_changelog
记得修改第一行引用的python 为python3，并把下面的from _future_ import 行删除
新建总工程目录并执行ros源代码下载
mkdir ../workspace
cd ../workspace
../setups/rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
../setups/wstool init -j8 src melodic-desktop-full.rosinstall
如果安装失败的话，可以试试继续安装：
../setups/wstool update -j 8 -t src
接下来解决依赖
../setups/rosdep install --from-paths src --ignore-src --rosdistro melodic -y
4. 安装Catkin
从Github Catkin上下载源码，cmake并选择python版本为3，安装地址选为自己的环境文件夹env
export ROS_PYTHON_VERSION=3
mkdir build
cd build
cmake ..
make DESTDIR=xxxxxxx
make install
然后回到workspace目录
修改 ./src/orocos_kinematics_dynamics/python_orocos_kdl/CMakeLists.txt 中
SET(PYTHON_VERSION 2 CACHE STRING "Python Version")
改为
SET(PYTHON_VERSION 3 CACHE STRING "Python Version")
修改 src/dynamic_reconfigure/cfg/Test.cfg 和 src/nodelet_core/nodelet_topic_tools/cfg/NodeletThrottle.cfg 第一行为
#! /usr/bin/env python3
添加 regex 依赖到 src/ros_comm/rosconsole/CMakeLists.txt 72 行后（维持其他不变，添加boost_regex）
target_link_libraries(rosconsole ${rosconsole_backend_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} boost_regex)
修改 src/vision_opencv/cv_bridge/CMakeLists.txt 11 行为
find_package(Boost REQUIRED python-py36)
../env/setup.sh 最后一行添加
export ROS_PYTHON_VERSION=3
5. 开始编译
source ../env/setup.zsh
catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
mv ../setups/* ../env/bin/
如果想更换安装地点的话，可以在最后catkin之后加 –install-space xxxxxxx
6. 开始使用ROS
以后任何新Term执行ROS命令前都要载入配置环境（也可以加入~/.bashrc或者~/.zshrc里面自动执行）
source ../env/setup.zsh
启动 ros 调度核心
roscore
开新窗口启动 rviz 来测试
rosrun rviz rviz
若能成功启动，万事大吉！
备注：rqt 系列的 ros 程序似乎没有自动修改第一行为 python3， 需要手动修改。
1’. 懒人福利
简单编译后打包好的 deb 文件（不对安装结果负责，因为依赖太多了数不清，所以如果有不能运行的按照log添加添加吧，另外欢迎随意修正这个 deb），如果你和我一样用的 debian testing 系统，欢迎直接 copy 我编译完的二进制包：https://pan.baidu.com/s/1WmZAA7J-2uvSz8S9-XmdWQ
下面是我自己的安装记录================================
2019年07月28日 12:55
rosdep2 rosinstall-generator rosinstall 之类的可以找到源码自己装
也可以pip装
wstool我用源码装的
workspace我单独建了个文件夹，
rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
wstool init -j8 src melodic-desktop-full.rosinstall
这两句里头的melodic我都换成了kinetic，然后发现workspace文件夹下生成了一个src文件夹，以及一个
kinetic-desktop-full.rosinstall文件，内容如下：
1 - tar: 2 local-name: actionlib 3 uri: https://github.com/ros-gbp/actionlib-release/archive/release/kinetic/actionlib/1.11.13-0.tar.gz 4 version: actionlib-release-release-kinetic-actionlib-1.11.13-0 5 - tar: 6 local-name: angles 7 uri: https://github.com/ros-gbp/geometry_angles_utils-release/archive/release/kinetic/angles/1.9.11-0.tar.gz 8 version: geometry_angles_utils-release-release-kinetic-angles-1.9.11-0 9 - tar: 10 local-name: bond_core/bond 11 uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bond/1.8.3-0.tar.gz 12 version: bond_core-release-release-kinetic-bond-1.8.3-0 13 - tar: 14 local-name: bond_core/bond_core 15 uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bond_core/1.8.3-0.tar.gz 16 version: bond_core-release-release-kinetic-bond_core-1.8.3-0 17 - tar: 18 local-name: bond_core/bondcpp 19 uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bondcpp/1.8.3-0.tar.gz 20 version: bond_core-release-release-kinetic-bondcpp-1.8.3-0 21 - tar: 22 local-name: bond_core/bondpy 23 uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bondpy/1.8.3-0.tar.gz 24 version: bond_core-release-release-kinetic-bondpy-1.8.3-0 25 - tar: 26 local-name: bond_core/smclib 27 uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/smclib/1.8.3-0.tar.gz 28 version: bond_core-release-release-kinetic-smclib-1.8.3-0 29 - tar: 30 local-name: catkin 31 uri: https://github.com/ros-gbp/catkin-release/archive/release/kinetic/catkin/0.7.18-1.tar.gz 32 version: catkin-release-release-kinetic-catkin-0.7.18-1 33 - tar: 34 local-name: class_loader 35 uri: https://github.com/ros-gbp/class_loader-release/archive/release/kinetic/class_loader/0.3.9-0.tar.gz 36 version: class_loader-release-release-kinetic-class_loader-0.3.9-0 37 - tar: 38 local-name: cmake_modules 39 uri: https://github.com/ros-gbp/cmake_modules-release/archive/release/kinetic/cmake_modules/0.4.2-0.tar.gz 40 version: cmake_modules-release-release-kinetic-cmake_modules-0.4.2-0 41 - tar: 42 local-name: collada_urdf/collada_parser 43 uri: https://github.com/ros-gbp/collada_urdf-release/archive/release/kinetic/collada_parser/1.12.12-0.tar.gz 44 version: collada_urdf-release-release-kinetic-collada_parser-1.12.12-0 45 - tar: 46 local-name: collada_urdf/collada_urdf 47 uri: https://github.com/ros-gbp/collada_urdf-release/archive/release/kinetic/collada_urdf/1.12.12-0.tar.gz 48 version: collada_urdf-release-release-kinetic-collada_urdf-1.12.12-0 49 - tar: 50 local-name: common_msgs/actionlib_msgs 51 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/actionlib_msgs/1.12.7-0.tar.gz 52 version: common_msgs-release-release-kinetic-actionlib_msgs-1.12.7-0 53 - tar: 54 local-name: common_msgs/common_msgs 55 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/common_msgs/1.12.7-0.tar.gz 56 version: common_msgs-release-release-kinetic-common_msgs-1.12.7-0 57 - tar: 58 local-name: common_msgs/diagnostic_msgs 59 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/diagnostic_msgs/1.12.7-0.tar.gz 60 version: common_msgs-release-release-kinetic-diagnostic_msgs-1.12.7-0 61 - tar: 62 local-name: common_msgs/geometry_msgs 63 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/geometry_msgs/1.12.7-0.tar.gz 64 version: common_msgs-release-release-kinetic-geometry_msgs-1.12.7-0 65 - tar: 66 local-name: common_msgs/nav_msgs 67 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/nav_msgs/1.12.7-0.tar.gz 68 version: common_msgs-release-release-kinetic-nav_msgs-1.12.7-0 69 - tar: 70 local-name: common_msgs/sensor_msgs 71 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/sensor_msgs/1.12.7-0.tar.gz 72 version: common_msgs-release-release-kinetic-sensor_msgs-1.12.7-0 73 - tar: 74 local-name: common_msgs/shape_msgs 75 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/shape_msgs/1.12.7-0.tar.gz 76 version: common_msgs-release-release-kinetic-shape_msgs-1.12.7-0 77 - tar: 78 local-name: common_msgs/stereo_msgs 79 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/stereo_msgs/1.12.7-0.tar.gz 80 version: common_msgs-release-release-kinetic-stereo_msgs-1.12.7-0 81 - tar: 82 local-name: common_msgs/trajectory_msgs 83 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/trajectory_msgs/1.12.7-0.tar.gz 84 version: common_msgs-release-release-kinetic-trajectory_msgs-1.12.7-0 85 - tar: 86 local-name: common_msgs/visualization_msgs 87 uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/visualization_msgs/1.12.7-0.tar.gz 88 version: common_msgs-release-release-kinetic-visualization_msgs-1.12.7-0 89 - tar: 90 local-name: common_tutorials/actionlib_tutorials 91 uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/actionlib_tutorials/0.1.10-0.tar.gz 92 version: common_tutorials-release-release-kinetic-actionlib_tutorials-0.1.10-0 93 - tar: 94 local-name: common_tutorials/common_tutorials 95 uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/common_tutorials/0.1.10-0.tar.gz 96 version: common_tutorials-release-release-kinetic-common_tutorials-0.1.10-0 97 - tar: 98 local-name: common_tutorials/nodelet_tutorial_math 99 uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/nodelet_tutorial_math/0.1.10-0.tar.gz 100 version: common_tutorials-release-release-kinetic-nodelet_tutorial_math-0.1.10-0 101 - tar: 102 local-name: common_tutorials/pluginlib_tutorials 103 uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/pluginlib_tutorials/0.1.10-0.tar.gz 104 version: common_tutorials-release-release-kinetic-pluginlib_tutorials-0.1.10-0 105 - tar: 106 local-name: common_tutorials/turtle_actionlib 107 uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/turtle_actionlib/0.1.10-0.tar.gz 108 version: common_tutorials-release-release-kinetic-turtle_actionlib-0.1.10-0 109 - tar: 110 local-name: control_msgs 111 uri: https://github.com/ros-gbp/control_msgs-release/archive/release/kinetic/control_msgs/1.5.0-0.tar.gz 112 version: control_msgs-release-release-kinetic-control_msgs-1.5.0-0 113 - tar: 114 local-name: diagnostics/diagnostic_aggregator 115 uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_aggregator/1.9.3-0.tar.gz 116 version: diagnostics-release-release-kinetic-diagnostic_aggregator-1.9.3-0 117 - tar: 118 local-name: diagnostics/diagnostic_analysis 119 uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_analysis/1.9.3-0.tar.gz 120 version: diagnostics-release-release-kinetic-diagnostic_analysis-1.9.3-0 121 - tar: 122 local-name: diagnostics/diagnostic_common_diagnostics 123 uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_common_diagnostics/1.9.3-0.tar.gz 124 version: diagnostics-release-release-kinetic-diagnostic_common_diagnostics-1.9.3-0 125 - tar: 126 local-name: diagnostics/diagnostic_updater 127 uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_updater/1.9.3-0.tar.gz 128 version: diagnostics-release-release-kinetic-diagnostic_updater-1.9.3-0 129 - tar: 130 local-name: diagnostics/diagnostics 131 uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostics/1.9.3-0.tar.gz 132 version: diagnostics-release-release-kinetic-diagnostics-1.9.3-0 133 - tar: 134 local-name: diagnostics/self_test 135 uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/self_test/1.9.3-0.tar.gz 136 version: diagnostics-release-release-kinetic-self_test-1.9.3-0 137 - tar: 138 local-name: dynamic_reconfigure 139 uri: https://github.com/ros-gbp/dynamic_reconfigure-release/archive/release/kinetic/dynamic_reconfigure/1.5.50-0.tar.gz 140 version: dynamic_reconfigure-release-release-kinetic-dynamic_reconfigure-1.5.50-0 141 - tar: 142 local-name: eigen_stl_containers 143 uri: https://github.com/ros-gbp/eigen_stl_containers-release/archive/release/kinetic/eigen_stl_containers/0.1.8-0.tar.gz 144 version: eigen_stl_containers-release-release-kinetic-eigen_stl_containers-0.1.8-0 145 - tar: 146 local-name: executive_smach/executive_smach 147 uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/executive_smach/2.0.1-0.tar.gz 148 version: executive_smach-release-release-kinetic-executive_smach-2.0.1-0 149 - tar: 150 local-name: executive_smach/smach 151 uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/smach/2.0.1-0.tar.gz 152 version: executive_smach-release-release-kinetic-smach-2.0.1-0 153 - tar: 154 local-name: executive_smach/smach_msgs 155 uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/smach_msgs/2.0.1-0.tar.gz 156 version: executive_smach-release-release-kinetic-smach_msgs-2.0.1-0 157 - tar: 158 local-name: executive_smach/smach_ros 159 uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/smach_ros/2.0.1-0.tar.gz 160 version: executive_smach-release-release-kinetic-smach_ros-2.0.1-0 161 - tar: 162 local-name: filters 163 uri: https://github.com/ros-gbp/filters-release/archive/release/kinetic/filters/1.7.5-0.tar.gz 164 version: filters-release-release-kinetic-filters-1.7.5-0 165 - tar: 166 local-name: gazebo_ros_pkgs/gazebo_dev 167 uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_dev/2.5.19-1.tar.gz 168 version: gazebo_ros_pkgs-release-release-kinetic-gazebo_dev-2.5.19-1 169 - tar: 170 local-name: gazebo_ros_pkgs/gazebo_msgs 171 uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_msgs/2.5.19-1.tar.gz 172 version: gazebo_ros_pkgs-release-release-kinetic-gazebo_msgs-2.5.19-1 173 - tar: 174 local-name: gazebo_ros_pkgs/gazebo_plugins 175 uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_plugins/2.5.19-1.tar.gz 176 version: gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.19-1 177 - tar: 178 local-name: gazebo_ros_pkgs/gazebo_ros 179 uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros/2.5.19-1.tar.gz 180 version: gazebo_ros_pkgs-release-release-kinetic-gazebo_ros-2.5.19-1 181 - tar: 182 local-name: gazebo_ros_pkgs/gazebo_ros_pkgs 183 uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros_pkgs/2.5.19-1.tar.gz 184 version: gazebo_ros_pkgs-release-release-kinetic-gazebo_ros_pkgs-2.5.19-1 185 - tar: 186 local-name: gencpp 187 uri: https://github.com/ros-gbp/gencpp-release/archive/release/kinetic/gencpp/0.6.0-0.tar.gz 188 version: gencpp-release-release-kinetic-gencpp-0.6.0-0 189 - tar: 190 local-name: geneus 191 uri: https://github.com/tork-a/geneus-release/archive/release/kinetic/geneus/2.2.6-0.tar.gz 192 version: geneus-release-release-kinetic-geneus-2.2.6-0 193 - tar: 194 local-name: genlisp 195 uri: https://github.com/ros-gbp/genlisp-release/archive/release/kinetic/genlisp/0.4.16-0.tar.gz 196 version: genlisp-release-release-kinetic-genlisp-0.4.16-0 197 - tar: 198 local-name: genmsg 199 uri: https://github.com/ros-gbp/genmsg-release/archive/release/kinetic/genmsg/0.5.11-0.tar.gz 200 version: genmsg-release-release-kinetic-genmsg-0.5.11-0 201 - tar: 202 local-name: gennodejs 203 uri: https://github.com/RethinkRobotics-release/gennodejs-release/archive/release/kinetic/gennodejs/2.0.1-0.tar.gz 204 version: gennodejs-release-release-kinetic-gennodejs-2.0.1-0 205 - tar: 206 local-name: genpy 207 uri: https://github.com/ros-gbp/genpy-release/archive/release/kinetic/genpy/0.6.7-0.tar.gz 208 version: genpy-release-release-kinetic-genpy-0.6.7-0 209 - tar: 210 local-name: geometric_shapes 211 uri: https://github.com/ros-gbp/geometric_shapes-release/archive/release/kinetic/geometric_shapes/0.5.4-1.tar.gz 212 version: geometric_shapes-release-release-kinetic-geometric_shapes-0.5.4-1 213 - tar: 214 local-name: geometry/eigen_conversions 215 uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/eigen_conversions/1.11.9-0.tar.gz 216 version: geometry-release-release-kinetic-eigen_conversions-1.11.9-0 217 - tar: 218 local-name: geometry/geometry 219 uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/geometry/1.11.9-0.tar.gz 220 version: geometry-release-release-kinetic-geometry-1.11.9-0 221 - tar: 222 local-name: geometry/kdl_conversions 223 uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/kdl_conversions/1.11.9-0.tar.gz 224 version: geometry-release-release-kinetic-kdl_conversions-1.11.9-0 225 - tar: 226 local-name: geometry/tf 227 uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/tf/1.11.9-0.tar.gz 228 version: geometry-release-release-kinetic-tf-1.11.9-0 229 - tar: 230 local-name: geometry/tf_conversions 231 uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/tf_conversions/1.11.9-0.tar.gz 232 version: geometry-release-release-kinetic-tf_conversions-1.11.9-0 233 - tar: 234 local-name: geometry2/tf2 235 uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2/0.5.20-0.tar.gz 236 version: geometry2-release-release-kinetic-tf2-0.5.20-0 237 - tar: 238 local-name: geometry2/tf2_eigen 239 uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_eigen/0.5.20-0.tar.gz 240 version: geometry2-release-release-kinetic-tf2_eigen-0.5.20-0 241 - tar: 242 local-name: geometry2/tf2_geometry_msgs 243 uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_geometry_msgs/0.5.20-0.tar.gz 244 version: geometry2-release-release-kinetic-tf2_geometry_msgs-0.5.20-0 245 - tar: 246 local-name: geometry2/tf2_kdl 247 uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_kdl/0.5.20-0.tar.gz 248 version: geometry2-release-release-kinetic-tf2_kdl-0.5.20-0 249 - tar: 250 local-name: geometry2/tf2_msgs 251 uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_msgs/0.5.20-0.tar.gz 252 version: geometry2-release-release-kinetic-tf2_msgs-0.5.20-0 253 - tar: 254 local-name: geometry2/tf2_py 255 uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_py/0.5.20-0.tar.gz 256 version: geometry2-release-release-kinetic-tf2_py-0.5.20-0 257 - tar: 258 local-name: geometry2/tf2_ros 259 uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_ros/0.5.20-0.tar.gz 260 version: geometry2-release-release-kinetic-tf2_ros-0.5.20-0 261 - tar: 262 local-name: geometry_tutorials/geometry_tutorials 263 uri: https://github.com/ros-gbp/geometry_tutorials-release/archive/release/kinetic/geometry_tutorials/0.2.2-0.tar.gz 264 version: geometry_tutorials-release-release-kinetic-geometry_tutorials-0.2.2-0 265 - tar: 266 local-name: geometry_tutorials/turtle_tf 267 uri: https://github.com/ros-gbp/geometry_tutorials-release/archive/release/kinetic/turtle_tf/0.2.2-0.tar.gz 268 version: geometry_tutorials-release-release-kinetic-turtle_tf-0.2.2-0 269 - tar: 270 local-name: geometry_tutorials/turtle_tf2 271 uri: https://github.com/ros-gbp/geometry_tutorials-release/archive/release/kinetic/turtle_tf2/0.2.2-0.tar.gz 272 version: geometry_tutorials-release-release-kinetic-turtle_tf2-0.2.2-0 273 - 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wstool init -j8 src melodic-desktop-full.rosinstall 的作用相当于是下载源代码
开始执行这一句之后src文件夹下就出现了上马rosinstall文件里描述的各个包的源码，
这些源码要下很长时间，估计如果不想要所有的包，上面的desktop_full可以控制生成的
rosinstall的内容，不要full，只要一部分的包。
这些包里头最基础的两个包应该就是 ros 、 ros_comm 、 ros_comm_msgs 等
这几个包了
wstool update -j 8 -t src 可以从断点处继续下载这些包。
src文件夹下各个包的组织形式看起来已经是package的样子了。
源码下载我下了很久也没下完，跳过，试着运行下一步。
rosdep install --from-paths src --ignore-src --rosdistro melodic -y
运行这一句的时候会报错，当然要报错了，因为我有些包都没下完。报错信息大概
如下：
scj@scjComputer:~/myROS/workspace$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
nodelet_tutorial_math: No definition of [std_msgs] for OS [debian]
depth_image_proc: No definition of [image_geometry] for OS [debian]
gazebo_msgs: No definition of [std_msgs] for OS [debian]
compressed_image_transport: No definition of [cv_bridge] for OS [debian]
orocos_kdl: No definition of [eigen] for OS version []
eigen_conversions: No definition of [std_msgs] for OS [debian]
ros_comm: No definition of [roslisp] for OS [debian]
rosbag: No definition of [boost] for OS version []
kdl_parser: No definition of [urdf] for OS [debian]
gazebo_ros: No definition of [std_msgs] for OS [debian]
略
看了报错信息，看了下src文件夹下已经下载的包，应该是相符的。
后面的catkin安装，又碰到了一些找错了python版本，找不到一些包，安装目录
的设置等问题，都是常见问题。
报没有empy 设置可执行文件路路径为：
/home/scj/anaconda3/lib/python3.6/site-packages/em.py
报找不到caktin_pkg，可我明明已经装了，那就找到导入了catkin_pkg的地方，
插入下面两句：
import sys
sys.path.append("/home/scj/anaconda3/lib/python3.6/site-packages")
我的catkin_pkg就是装在这个地方
zsh的问题没搞定，直接source sh了，然后还有报错 error: option --install-layout not recognized :
https://github.com/ros/catkin/issues/863
1 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 2 ~~ traversing 160 packages in topological order: 3 ~~ - catkin 4 ~~ - genmsg 5 ~~ - gencpp 6 ~~ - geneus 7 ~~ - genlisp 8 ~~ - gennodejs 9 ~~ - genpy 10 ~~ - bond_core 11 ~~ - cmake_modules 12 ~~ - class_loader 13 ~~ - common_msgs 14 ~~ - common_tutorials 15 ~~ - desktop 16 ~~ - desktop_full 17 ~~ - diagnostics 18 ~~ - eigen_stl_containers 19 ~~ - executive_smach 20 ~~ - gazebo_dev 21 ~~ - gazebo_ros_pkgs 22 ~~ - geometry 23 ~~ - geometry_tutorials 24 ~~ - gl_dependency 25 ~~ - image_common 26 ~~ - image_pipeline 27 ~~ - image_transport_plugins 28 ~~ - laser_pipeline 29 ~~ - media_export 30 ~~ - message_generation 31 ~~ - actionlib_msgs 32 ~~ - bond 33 ~~ - diagnostic_msgs 34 ~~ - geometry_msgs 35 ~~ - message_runtime 36 ~~ - mk 37 ~~ - nav_msgs 38 ~~ - nodelet_core 39 ~~ - octomap (plain cmake) 40 ~~ - orocos_kdl (plain cmake) 41 ~~ - eigen_conversions 42 ~~ - kdl_conversions 43 ~~ - perception 44 ~~ - perception_pcl 45 ~~ - python_orocos_kdl (plain cmake) 46 ~~ - qt_dotgraph 47 ~~ - qt_gui 48 ~~ - qt_gui_py_common 49 ~~ - qwt_dependency 50 ~~ - random_numbers 51 ~~ - robot 52 ~~ - robot_model 53 ~~ - ros 54 ~~ - ros_base 55 ~~ - ros_comm 56 ~~ - ros_core 57 ~~ - rosbash 58 ~~ - rosboost_cfg 59 ~~ - rosbuild 60 ~~ - python_qt_binding 61 ~~ - rosclean 62 ~~ - roscreate 63 ~~ - rosgraph 64 ~~ - rosgraph_msgs 65 ~~ - roslang 66 ~~ - roslaunch 67 ~~ - rosmake 68 ~~ - roslib 69 ~~ - rosmaster 70 ~~ - rosmsg 71 ~~ - rosparam 72 ~~ - rospy 73 ~~ - rosservice 74 ~~ - rosunit 75 ~~ - angles 76 ~~ - rosconsole 77 ~~ - collada_parser 78 ~~ - pluginlib 79 ~~ - qt_gui_cpp 80 ~~ - resource_retriever 81 ~~ - roslz4 82 ~~ - rosbag_storage 83 ~~ - rostest 84 ~~ - shape_msgs 85 ~~ - simulators 86 ~~ - smach 87 ~~ - smach_msgs 88 ~~ - smclib 89 ~~ - std_srvs 90 ~~ - tf2_msgs 91 ~~ - tf2 92 ~~ - tf2_eigen 93 ~~ - trajectory_msgs 94 ~~ - control_msgs 95 ~~ - visualization_msgs 96 ~~ - geometric_shapes 97 ~~ - collada_urdf 98 ~~ - viz 99 ~~ - xmlrpcpp 100 ~~ - roscpp 101 ~~ - bondcpp 102 ~~ - bondpy 103 ~~ - nodelet 104 ~~ - nodelet_tutorial_math 105 ~~ - pluginlib_tutorials 106 ~~ - rosout 107 ~~ - camera_calibration 108 ~~ - diagnostic_aggregator 109 ~~ - diagnostic_updater 110 ~~ - diagnostic_common_diagnostics 111 ~~ - dynamic_reconfigure 112 ~~ - filters 113 ~~ - joint_state_publisher 114 ~~ - kdl_parser 115 ~~ - message_filters 116 ~~ - rosnode 117 ~~ - rostopic 118 ~~ - roswtf 119 ~~ - self_test 120 ~~ - smach_ros 121 ~~ - tf2_py 122 ~~ - topic_tools 123 ~~ - rosbag 124 ~~ - actionlib 125 ~~ - actionlib_tutorials 126 ~~ - diagnostic_analysis 127 ~~ - nodelet_topic_tools 128 ~~ - sensor_msgs 129 ~~ - camera_calibration_parsers 130 ~~ - gazebo_msgs 131 ~~ - image_transport 132 ~~ - camera_info_manager 133 ~~ - compressed_depth_image_transport 134 ~~ - compressed_image_transport 135 ~~ - image_proc 136 ~~ - image_publisher 137 ~~ - map_msgs 138 ~~ - pcl_msgs 139 ~~ - pcl_conversions 140 ~~ - polled_camera 141 ~~ - stereo_msgs 142 ~~ - image_view 143 ~~ - stereo_image_proc 144 ~~ - tf2_ros 145 ~~ - depth_image_proc 146 ~~ - tf 147 ~~ - gazebo_plugins 148 ~~ - gazebo_ros 149 ~~ - interactive_markers 150 ~~ - laser_geometry 151 ~~ - laser_assembler 152 ~~ - laser_filters 153 ~~ - pcl_ros 154 ~~ - tf2_geometry_msgs 155 ~~ - image_rotate 156 ~~ - tf2_kdl 157 ~~ - robot_state_publisher 158 ~~ - tf_conversions 159 ~~ - theora_image_transport 160 ~~ - turtle_actionlib 161 ~~ - turtle_tf 162 ~~ - turtle_tf2
看到作者最后分享deb包，我这个ros小白甚至可以猜测出ros包是可以打包成deb的，
搜了一下还真有。
至此，知道了从源码编译安装ros的方式，知道以怎样的顺序阅读ros系统源码了。
甚至可以在16.04上装一个melodic，或者换掉ros中自带的opencv或者pcl的版本。
其实我还是想把ros包用pybind11包装了给python用，以后慢慢研究。
2019年7月29日22:09:07
发现学 ros 还不如学 tvm 划得来。。。
ros 这实时性，根本难以满足需求，就算有ros2的相关改进。。。
学 rtos 又感觉没抓到要点。。。
tvm 这种榨干硬件的玩法才比较酷！
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