ubuntu16 android sdk,Ubuntu 16.04 + Onboard SDK软件环境搭建

Ubuntu 16.04 + Onboard SDK软件环境搭建

UAV

软件要求

apt安装build-essential，cmake(2.8.3或以上)

ROS及其依赖

安装ROS和环境配置在软件源设置中允许"restricted", "universe", "multiverse"

添加软件源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

设置软件包密钥

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

同步 /etc/apt/sources.list 和 /etc/apt/sources.list.d 中列出的源的索引

sudo apt-get update

没有装desktop部分，只装了ROS-Base: (Bare Bones) ROS package, build, and communication libraries. No GUI tools.

sudo apt-get install ros-kinetic-ros-base

初始化rosdep

sudo rosdep init

rosdep update环境配置

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

source~/.bashrc安装rosinstall

sudo apt-get install python-rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables you to easily download many source trees for ROS packages with one command.

这是什么鬼=.=

Build farm status

The packages that you installed were built by the ROS build farm. You can check the status of individual packages here.

检查环境变量

printenv | grep ROS

创建并初始化workSpace

初始化就是在src目录下添加了一个指向/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake的软连接

$ mkdir-p~/catkin_ws/src

$ cd~/catkin_ws/src

$ catkin_init_workspacebuile the workspace(虽然是空的)

$ cd~/catkin_ws/

$ catkin_make

build之后workspace中多了'build'和'devel'目录，devel中有setup.*sh文件source执行这个setup文件(其实是在$ROS_PACKAGE_PATH中添加了/home/youruser/catkin_ws/src目录)

source devel/setup.bash

echo $ROS_PACKAGE_PATH

编译Onboard-SDK完成ROS的安装和配置后，进入catkin workspace，将SDK代码放到src目录下，运行catkin_make

或者参考.travis.yml脚本从scratch安装和配置ROS，然后在catkin workspace中运行catkin_make

You can pass -DUSE_COLLISION_AVOIDANCE=ON for compiling with LiDAR Collision Avoidance and -DUSE_POINTCLOUD2LAS=ON for building with LiDAR Mapping.