- 系统环境:
ubuntu20.04;
ros:noetic;
- 步骤1:源码编译安装 Navigation
mkdir catkin_make/src
cd catkin_make/src
git clone https://gitee.com/zhanghao132/ros-navigation-noetic
- 步骤2:如果编译的过程报错,缺少包就安装即可
sudo apt-get install ros-noetic-XXX
- 步骤3:源码编译安装TEB
cd ~/catkin_ws/src
git clone https://github.com/rst-tu-dortmund/teb_local_planner.git
git checkout <your_branch> # teb melodic 版本也可以在noetic上运行
git clone https://github.com/rst-tu-dortmund/teb_local_planner_tutorials.git
sudo apt-get install ros-melodic-stage-ros
git clone https://github.com/rst-tu-dortmund/costmap_converter.git
- 步骤4:检查和安装依赖项
rosdep check teb_local_planner
rosdep install teb_local_planner
- 编译,如果编译报错,缺少什么包就apt install。直到编译通过
catkin_make