openPTrack v2 安装 | 1、依赖项安装

要启动OpenPTrack v2安装过程，需要添加一些个人软件包文档(PPA)和依赖项

• PPA

首先添加以下ppa：

 sudo add-apt-repository -y ppa:danielrichter2007/grub-customizer
 sudo apt-add-repository -y ppa:obsproject/obs-studio
 sudo apt-add-repository -y ppa:graphics-drivers/ppa
 sudo add-apt-repository -y ppa:yannubuntu/boot-repair
 sudo add-apt-repository -y ppa:levi-armstrong/ppa
 wget -qO - https://download.sublimetext.com/sublimehq-pub.gpg | sudo apt-key add -
 sudo apt-get install -y apt-transport-https
 echo "deb https://download.sublimetext.com/ apt/stable/" | sudo tee /etc/apt/sources.list.d/sublime-text.list
 sudo apt-get update

然后安装所需要的软件：

sudo apt-get install -y sublime-text grub-customizer exfat-fuse exfat-utils vim terminator gitg cmake-curses-gui gparted meld cowsay fortune gimp synaptic libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev ncdu filezilla nvidia-384 p7zip-full openssh-client openssh-server boot-repair

接下来是ROS的安装：

首先添加ros路径

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

然后添加密钥：

 sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

再更新Ubuntu源列表：

 sudo apt-get update

然后安装 rosdep 以及 ROS Python

 sudo apt-get install ros-kinetic-desktop-full python-rosinstall -y
 sudo rosdep init

更新rosdep

 rosdep update

将ros路径加入环境变量：

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

 source ~/.bashrc

对ros进行编译：

cd
 mkdir -p workspace/ros/src && cd workspace/ros
 catkin_make
 echo "source /home/$USER/workspace/ros/devel/setup.bash" >> /home/$USER/.bashrc

第一步完成。

问题解决：

1、ros下载速度慢：主要是由于服务器位于国外，所以在安装ros时可以先切换镜像源：

参考文章：

https://www.cnblogs.com/tangjizhong/archive/2019/08/03/11296122.html

http://wiki.ros.org/kinetic/Installation/Ubuntu

2、 sudo rosdep init时会报错如图

解决办法就是手动下载这个文件，然后再继续后面的操作：

wget https://raw.github.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list