源码编译安装Navigation和TEB(1)

• 系统环境：

 ubuntu20.04;
 ros:noetic;

2. 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

3. 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

4. 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

5. 步骤4：检查和安装依赖项

 rosdep check teb_local_planner
rosdep install teb_local_planner

6. 编译，如果编译报错，缺少什么包就apt install。直到编译通过

catkin_make