debian11源码编译ros noetic

1. 背景条件:debian11,arm64

2. 安装ROS1(noetic)

   1. 设置软件源信息（以下特意改为内网地址，若可连外围，则自行修改为原版）：

      1. 系统软件源改为内网的

         进入/etc/apt
         sudo gedit sources.list
         #若提示没有gedit，则使用命令安装gedit
         sudo apt install gedit
         #将其中链接改为国内源(如清华源)
         

      2. ROS软件源及版本信息

         sudo sh -c '. /etc/os-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
         

      3. key的获取

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

      4. 更新

         sudo apt update
         ####报错（此处错误不理会）
         Err:4 http://mirrors.ustc.edu.cn/ros/ubuntu bullseye/main arm64 Packages
         404 Not Found [IP: 202.141.176.110 80]
         W: The repository 'http://mirrors.ustc.edu.cn/ros/ubuntu bullseye Release' does not have a Release file.
         N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use.
         N: See apt-secure(8) manpage for repository creation and user configuration details.
         E: Failed to fetch http://mirrors.ustc.edu.cn/ros/ubuntu/dists/bullseye/main/binary-arm64/Packages 404 Not Found [IP: 202.141.160.110 80]
         E: Some index files failed to download. They have been ignored, or old ones used instead.
         
         
         sudo apt upgrade
         

   2. 由于ros官方没有给noetic做debian11的支持，所以只能从源码开始编译出适配的ros系统，如下

      1. 安装一些编译工具

         1. python3-rosdep

            注意不要安装了debian11默认推荐的python3-rosdep2

            sudo pip install -U rosdep
            

         2. python3-vcstool

            curl -s https://packagecloud.io/install/repositories/dirk-thomas/vcstool/script.deb.sh | sudo bash
            sudo apt-get update
            sudo apt-get install python3-vcstool
            

         3. 其他

            sudo apt-get install python3-rosinstall-generator python3-vcstools build-essential
            

      2. 获取ros系统自身各个package的源码

         sudo rosdep init
         #若不能连外网，在`/etc/ros/rosdep/sources.list.d/20-default.list`中的所有github地址前添加`https://ghproxy.com/`
         
         #还有xxx/dist-packages/rosdep2/gbpdistro_support.py
         #还有xxx/dist-packages/rosdep2/rep3.py
         #还有xxx/dist-packages/rosdistro/__init__.py
         #由于不同系统的目录有所差异，所以只能自行搜索
         #sudo find / -name *gbpdistro_support.py*
         #文件__init__.py可能存在多处，但我们只需要修改与其他文件一致的目录的那一份
         rosdep update
         #报错的话多试几次 (前几次几分钟居成功了，有一次试了2个小时才成功，这个东西感觉随缘，和网络有关)
         
         mkdir ~/ros_catkin_ws
         cd ~/ros_catkin_ws
         
         #todo，若改为安装完全版desktop_full，会额外产生一些异常，未处理
         rosinstall_generator desktop --rosdistro noetic --deps --tar > noetic-desktop.rosinstall
         ###若显示time out，多试几次即可，是否成功打开（noetic-desktop.rosinstall文件查看里面是否有内容）
         
         
         
         mkdir ./src
         vcs import --input noetic-desktop.rosinstall ./src
         #注意vcs运行期间，终端提示的应该全是.....，不能出现E，否则重新运行（若出现E较少，参考后面一段解决方法），重新运行前删除src文件夹生成的所有文件
         #若很多EEEEEE，出现这样的情况，要打开noetic-desktop.rosinstall⽂件，将https://ghproxy.com/添加到所有github⽹址的前⾯，使用指令sed -i 's/uri: \(https:\/\/.*\)/uri: https:\/\/ghproxy.com\/\1/g' 文件名    
         ..................例如第一条加入后为：uri: https://ghproxy.com/https://github.com/ros-gbp/actionlib-release/archive/release/noetic/actionlib/1.14.0-1.tar.gz，可能可以解决（不出现E），但我加入后还是出现....E.....E....，但运行结束后只有个别的E，可以用https://ghproxy.com（github代理加速）网页下载报错为E的软件包，在noetic-desktop.rosinstall⽂件中找到（ctrl+f查找）对应出现E包的名称，并随之在目录中找到这个空的文件夹（noetic-desktop.rosinstall中的local-name行代码即为本应该下载下来文件所放的地方）（虽然下载失败但是在src中还是生成了一个该下载失败名称的文件夹），将软件包粘贴到该目录，并使用解压命令：tar zxvf FileName.tar.gz(输入tar zxcf 后使用TAB键补全) ，之后将解压后的文件重命名为空的文件的名称，从而代替下载出现E生成的空文件。
         

      3. 获取这些package源码所需的第三方依赖

         #尝试自动安装依赖，
         rosdep install --from-paths ./src --ignore-packages-from-source --rosdistro noetic -y -r
         #同样，由于官方不支持这样的版本配对，所以会有一些依赖无法找到，并会将缺失内容列出来，多运行几次，有的是网络问题出现错误，到最后运行结果固定6个错误。
         
         apt: command [sudo -H apt-get install -y libpoco-dev] failed
         apt: command [sudo -H apt-get install -y python3-rospkg-modules] failed
         apt: command [sudo -H apt-get install -y libssl-dev] failed
         apt: command [sudo -H apt-get install -y python3-catkin-pkg-modules] failed
         apt: command [sudo -H apt-get install -y python3-rosdep-modules] failed
         apt: command [sudo -H apt-get install -y libcurl4-openssl-dev] failed
         
         #需要根据提示的缺失内容，手动下载安装各种第三方库及第三方ros包
         解决libpoco-dev
         sudo apt install libpoco-dev
         #上述命令执行后报错 
         libmariadb-dev : Depends: libmariadb3 (= 1:10.5.19-0+deb11u2) but 1:10.5.15-0+deb11u1 is to be installed
         解决方法：
         安装上面提示的版本 
         sudo apt install libmariadb3=1:10.5.19-0+deb11u2 (#注意，等号两头没有空格！)
         
         解决libssl-dev
         sudo apt install libssl-dev
         #报错（可能不会报错）
         libssl-dev : Depends: libssl1.1 (= 1.1.1n-0+deb11u5) but 1.1.1n-0+deb11u3 is to be installed
         解决方法：
         卸载已经安装的版本不对应的软件包：sudo apt-get remove libssl1.1
         安装正确版本的libssl1.1：sudo apt-get install libssl1.1=1.1.1n-0+deb11u5
         
         解决libcurl4-openssl-dev
         sudo apt install libcurl4-openssl-dev
         #报错
         The following packages have unmet dependencies:libcurl4-openssl-dev : Depends: libcurl4 (= 7.74.0-1.3+deb11u7) but 7.74.0-1.3+deb11u3 is to be installed
         解决方法：
         卸载已安装的与libcurl4-openssl-dev冲突的软件包：
         sudo apt-get remove libcurl4
         又报错
         cmake : Depends: libcurl4 (>= 7.16.2) but it is not going to be installed curl : Depends: libcurl4 (= 7.74.0-1.3+deb11u3) but it is not going to be installed libgphoto2-6 : Depends: libcurl4 (>= 7.16.2) but it is not going to be installed E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages.
         解决方法：
         sudo apt-get update
         sudo apt-get install --reinstall libcurl4 curl libgphoto2-6
         
         #解决以上报错后还剩报错如下
         ERROR: the following rosdeps failed to install 
         apt: command [sudo -H apt-get install -y python3-rospkg-modules] failed
         apt: command [sudo -H apt-get install -y python3-catkin-pkg-modules] failed
         apt: command [sudo -H apt-get install -y python3-rosdep-modules] failed
         
         #对于apt install不能直接找到的资源，一般可从如下网址找到版本兼容的deb安装包，或源码
         #http://packages.ros.org/ros/ubuntu/pool/main/
         #https://index.ros.org/
         
         #其中，需要注意：
         #若提示缺少libogre,不要安装libogre的1.11.3以上版本，有变更，会导致编译冲突
         sudo apt install libogre-1.9-dev
         #接下来的步骤都忽略这个缺失项，因实际上已经安装好，只是名字不匹配、没被识别出来。
         
         #各项依赖都找到后，再次执行rosdep应能成功（不再提示其他缺失项目，并自动将能找到的依赖安装好）
         
         下面手动安装这三个包，这三个包到网上手动下载
         http://packages.ros.org/ros/ubuntu/pool/main/p/python3-catkin-pkg-modules/
         下载 python3-catkin-pkg-modules_0.5.2-1_all.deb	2022-05-27 19:50	42K	 
         0
         下载后安装
         sudo dpkg -i --force-overwrite xxx
         之后先安装rospkg，再安装rosdep
         下面同理可以解决第三个python3-rosdep-modules的问题
         #报错 没有安装python3-rosdistro-modules
         #网站同理下载其包安装即可（不是用sudo apt install安装）
         
         
         ##下面错误可能出现，没出现则跳过
         安装提示信息：
         rosdep-modules:
         python3-rosdep-modules conflicts with python3-rosdep2
         python3-rosdep2 (version 0.20.0-1) is present and installed.
         dpkg: error processing archive python3-rosdep-modules_0.22.2-1_all.deb (--
         install):
         conflicting packages - not installing python3-rosdep-modules
         Errors were encountered while processing:
         python3-rosdep-modules_0.22.2-1_all.deb
         这里表示我们要装的python3-rosdep-modules_0.22.2-1_all.deb因为包含python3-rosdep-modules模
         块，而python3-rosdep-modules模块和已经安装的python3-rosdep2有冲突。
         所以先卸载python3-rosdep2，命令：
         sudo dpkg -r python3-rosdep2
         卸载之后重新安装python3-rosdep-modules_0.22.2-1_all.deb
         
         
         ############################################安装这3个包之后，重新执行rosdep install指令，报错
         ERROR: the following packages/stacks could not have their rosdep keys resolved
         to system dependencies:
         rviz: No definition of [libogre] for OS version [bullseye]
         Continuing to install resolvable dependencies...
         All required rosdeps installed successfully
         解决办法：
         #其中，需要注意：
         #若提示缺少libogre,不要安装libogre的1.11.3以上版本，有变更，会导致编译冲突
         sudo apt install libogre-1.9-dev
         #接下来的步骤都忽略这个缺失项，因实际上已经安装好，只是名字不匹配、没被识别出来。
         

      4. 编译ros源码

         sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/noetic
         echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
         
         ########编译成功后显示  <== Finished processing package [184 of 184]: 'xacro'
         在~/ros_catkin_ws文件下执行命令：
         catkin_make
         #报错 catkin_make: command not found 
         解决办法：
         source /opt/ros/noetice/setup.bash
         echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
         source ~/.bashrc
         
         #解决上述问题后重新catkin_make时报错（测试要生成的文件名与其中存在的文件名相同）
         CMake Error at catkin/cmake/test/gtest.cmake:180 (add_executable):
         add_executable cannot create target "test_transform_datatypes" because
         another target with the same name already exists. The existing target is
         an executable created in source directory
         "/home/linaro/ros_catkin_ws/src/geometry2/tf2". See documentation for
         policy CMP0002 for more details.
         Call Stac (most recent call first):
         catkin/cmake/test/gtest.cmake:89 (_catkin_add_executable_with_google_test)
         catkin/cmake/test/gtest.cmake:37 (_catkin_add_google_test)
         geometry/tf/CMakeLists.txt:86 (catkin_add_gtest)
         
         CMake Error at geometry/tf/CMakeLists.txt:87 (target_link_libraries):
         Attempt to add link library "tf" to target "test_transform_datatypes" which
         is not built in this directory.
         
         This is allowed only when policy CMP0079 is set to NEW.
         
         -- Configuring incomplete, errors occurred!
         See also "/home/linaro/ros_catkin_ws/build/CMakeFiles/CMakeOutput.log".
         See also "/home/linaro/ros_catkin_ws/build/CMakeFiles/CMakeError.log".
         Invoking "cmake" failed
         #########解决办法，打开src/geometry2/tf2/CMakeLists.txt文件，并将三处地方进行修改
         修改 catkin_add_gtest 命令中的第一个参数，即测试二进制文件的名称，将其更改为你想要的名称：
         catkin_add_gtest(<new_test_name> test/test_transform_datatypes.cpp)
         在 target_link_libraries 命令中将 <old_test_name> 更改为 <new_test_name>，以确保测试程序正确地链接到相应的库。
         target_link_libraries(<new_test_name> tf2 ${console_bridge_LIBRARIES})
         在 add_dependencies 命令中将 <old_test_name> 更改为 <new_test_name>，以确保测试程序正确地链接到依赖项。
         add_dependencies(<new_test_name> ${catkin_EXPORTED_TARGETS})
         
         修改后catkin_make成功编译
         

3. IMU （LPMS-BE2）

   1. lpresearch / lpmsig1opensourcelib — Bitbucket 跟着这个网站安装

          $ cd ~
          $ git clone https://bitbucket.org/lpresearch/lpmsig1opensourcelib
          $ cd lpmsig1opensourcelib
          $ mkdir build
          $ cd build
          $ cmake ..
          $ make
          #报错
            In file included from /home/linaro/lpmsig1opensourcelib/SerialPortLinux.cpp:2:
      /home/linaro/lpmsig1opensourcelib/SerialPort.h:22:10: fatal error: libudev.h: No such file or directory
         22 | #include <libudev.h>
         
         解决办法：sudo apt-get install libudev-dev
         #报错 The following packages have unmet dependencies:
       libudev-dev : Depends: libudev1 (= 247.3-7+deb11u2) but 247.3-7+deb11u1 is to be installed
         解决办法：打开https://deb.debian.org/debian/pool/main/s/systemd/找到对应的包下载
         ###之后报了很多错误，此处未记录，但是好像执行下面3条后就好了
         sudo apt-mark unhold udev
         sudo apt-get update
         sudo apt-get install -f
         
         然后 sudo apt-get install libudev-dev 就好了？？？？？？
      
          $ make package
          $ sudo dpkg -i libLpmsIG1_OpenSource-x.y.z-Linux.deb   ##这里的x.y.z要修改成对应的文件版本号
          
          2.编译示例程序
          ##若测试的是RK3588内部自带的IMU，则打开LpmsBEx_SimpleExample.cpp文件，
          ##修改串口号 string comportNo = "/dev/ttyS0";
          ##修改波特率 int baudrate = 115200;
          
          $ cd linux_example
          $ mkdir build
          $ cd build
          $ cmake ..
          $ make
          $ ./LpmsBEx_SimpleExample    #####因为装的是BE2，所以这里修改网站的代码为BEx_，此时若连接成功，终端输入 c：连接传感器，d：断开传感器，0：进入命令模式，1：进入命令模式，h：重置传感器航向 ，i：查看传感器信息，s：查看传感器设置，p：查看传感器输出数据，a：转换使能/禁能自动连接，q：结束
          
          3.编写ROS示例程序
          # Create ROS workspace. （若放在你自己的工作空间下，可能会报错有重名）
          $ mkdir -p ~/catkin_ws/src
          $ cd ~/catkin_ws/src
      
      # We suggest to create a symbolic link to ros_example folder instead of copying
          $ ln -s ~/lpmsig1opensourcelib/ros_example lpms_ig1_ros_example
          
      # Compiling ROS example programs
          $ cd ~/catkin_ws
          $ catkin_make    
          ##报错说找不到tf文件（也有可能没有报错），以及环境没有刷新
          解决办法：在/home/linaro/catkin_ws/src/lpms_ig1_ros_example的CMakeLists.txt文件中的find_package中添加tf，添加后为
          find_package(
          	roscpp
          	tf
          	std_msgs
          	message_generation
          )
          
         ###在/home/linaro中使用ctrl+h，找到bashrc文件，在文件末端添加
         source ~/catkin_ws/devel/setup.bash
          
          $ source ./devel/setup.bash
          
         ##若测试的是RK3588内部自带的IMU，则打开lpmsbe1.launch文件，
         ##修改串口号（port）：value="/dev/ttyS0"
         ##修改波特率（baudrate）:   value="115200"
         
         打开一个新的终端窗口并运行 roscore
            $ roscore
            
         启动BE的launch文件
         roslaunch lpms_ig1 lpmsbe1.launch
      

4. 安装SLAM相关驱动

   #因为debian11目前还不支持ros1，前面安装ros1是使用源码编译，所以在安装指令ros-noetic这种会定位不到ROS软件包，只能使用源码安装，按照slam.sh一步一步安装即可

   #tf2*前面安装ROS已经安装好，跳过即可

   sudo apt-get install libsdl-image1.2-dev -y
   #报错

   Depends: libwebp6 (= 0.6.1-2.1+deb11u1) but 0.6.1-2.1 is to be installed Depends: libwebpmux3 (= 0.6.1-2.1+deb11u1) but 0.6.1-2.1 is to be installed Depends: libwebpdemux2 (= 0.6.1-2.1+deb11u1) but 0.6.1-2.1 is to be installed E: Unable to correct problems, you have held broken packages.

   解决办法：http://security.debian.org/debian-security/pool/main/libw/libwebp/

   下载对应的依赖libwebp6=0.6.1-2.1+deb11u1；libwebpmux3=0.6.1-2.1+deb11u1；libwebpdemux2=0.6.1-2.1+deb11u1

   使用sudo dpkg -i 解压对应的几个deb文件即可

   重新

   sudo apt-get install libsdl-image1.2-dev -y
   

   成功安装

   #ros-noetic-camera-info-manager安装包

   解决办法：

   在catkin_ws/src 工作空间下

   git clone https://github.com/ros-perception/image_common.git
   

   1.进入/image_common/camera_calibration_parsers

   使用如下指令安装

   mkdir build
   cd build
   

   运行CMake生成构建系统：

   cmake ..
   

   1. 使用make命令编译源码：

   make
   

   1. 最后，使用以下命令将camera_info_manager安装到系统中：

   sudo make install
   

   2.退出到catkin_ws

   catkin_make
   

   3.进入camera_info_manager同上述步骤安装即可

   #ros-noetic-diagnostic-updater 软件包

   解决办法：在catkin_ws/src 工作空间下

   git clone https://github.com/ros/diagnostics.git -b noetic-devel
   

   进入 diagnostics_update

   mkdir build
   cd build
   cmake ..
   make
   sudo make install
   

   #ros-noetic-map-msgs 软件包

   解决办法：在catkin_ws/src 工作空间下

   git clone https://github.com/ros-planning/navigation_msgs.git
   

   同上编译安装

   报错Traceback (most recent call last): File “/opt/ros/noetic/share/genmsg/cmake/…/…/…/lib/genmsg/genmsg_check_deps.py”, line 41, in from genmsg import EXT_MSG, EXT_SRV, MsgContext ModuleNotFoundError: No module named ‘genmsg’ make[2]: *** [CMakeFiles/_map_msgs_generate_messages_check_deps_SaveMap.dir/build.make:76: CMakeFiles/_map_msgs_generate_messages_check_deps_SaveMap] Error 1 make[1]: *** [CMakeFiles/Makefile2:1345: CMakeFiles/_map_msgs_generate_messages_check_deps_SaveMap.dir

   解决办法：

   sudo apt-get install python3-genmsg
   sudo make install
   

   #ros-noetic-laser-geometry 软件包

   解决办法：

   git clone https://github.com/ros-perception/laser_geometry.git
   

   同上编译安装

   #ros-noetic-gmapping 软件包

   解决办法：

   git clone https://github.com/ros-perception/slam_gmapping.git
   

   同上编译安装

   #报错Could NOT find openslam_gmapping (missing: openslam_gmapping_DIR) – Could not find the required component ‘openslam_gmapping’. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by “openslam_gmapping” with any of the following names: openslam_gmapppingConfig.cmake openslam_gmapping-config.cmake Add the installation prefix of “openslam_gmapping” to CMAKE_PREFIX_PATH or set “openslam_gmapping_DIR” to a directory containing one of the above files. If “openslam_gmapping” provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): CMakeLists.txt:4 (find_package)

   解决办法：

   git clone https://github.com/ros-perception/openslam_gmapping.git
   

   同上编译之后需要catkin_make一下

   再回到gmapping中同上编译即可

   #laser-filters 软件包

   git clone https://github.com/ros-perception/laser_filters.git -b noetic-devel
   

   同上

   #robot-localization 软件包（此软件包安装时连续出现报错，依次安装对应包即可）

   git clone https://github.com/cra-ros-pkg/robot_localization.git -b noetic-devel
   

   同上

   #报错Could NOT find geographic_msgs (missing: geographic_msgs_DIR) – Could not find the required component ‘geographic_msgs’. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by “geographic_msgs” with any of the following names: geographic_msgsConfi.cmake geographic_msgs-config.cmake Add the installation prefix of “geographic_msgs” to CMAKE_PREFIX_PATH or set “geographic_msgs_DIR” to a directory containing one of the above files. If “geographic_msgs” provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): CMakeLists.txt:9 (find_package)

   git clone https://github.com/ros-geographic-info/geographic_info.git
   

   同上

   #报错Could NOT find uuid_msgs (missing: uuid_msgs_DIR) – Could not find the required component ‘uuid_msgs’. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by “uuid_msgs” with any of the following names: uuid_msgsConfig.cmake uuid_msgs-config.cmake Add the installation prefix of “uuid_msgs” to CMAKE_PREFIX_PATH or set “uuid_msgs_DIR” to a directory containing one of the above files. If “uuid_msgs” provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): CMakeLists.txt:4 (find_package)

   git clone https://github.com/ros-geographic-info/unique_identifier.git
   

   catkin_make报错 GeographicLib缺失

   sudo apt-get install geographiclib-tools libgeographic-dev
   

   重新catkin_make即可

   回到/src/unique_identifier/uuid_msgs文件

   同上编译安装

   回到/geographic_info/geographic_msgs

   同上编译安装

   回到/robot_localization/

   同上编译安装

   catkin_make
   

   #报错catkin_make时报错

   Multiple packages found with the same name “lpms_ig1”: - lpms_ig1_ros_example - software/lpmsig1opensourcelib/ros2_example - software/lpmsig1opensourcelib/ros_example

   删除ros2_example，ros_example

   删除lpms_ig1_ros_example

   sudo apt-get install mlocate
   sudo updatedb
   

   #测试

   打开路径catkin_ws/src/install_isolated/share/motor/launch

   roslaunch motor bringup.launch

   #报错Resource not found: rosbridge_server ROS path [0]=/opt/ros/noetic/share/ros ROS path [1]=/home/linaro/catkin_ws/src ROS path [2]=/opt/ros/noetic/share The traceback for the exception was written to the log file

   解决办法：

   git clone https://github.com/RobotWebTools/rosbridge_suite.git -b ros1
   

   同上编译安装

   测试：

   catkin_ws工作空间下使用命令

   catkin_make
   

   #报错：

   Multiple packages found with the same name “lpms_ig1”: - software/lpmsig1opensourcelib/ros2_example - software/lpmsig1opensourcelib/ros_example

   #解决办法，删除ros2_example，并将ros_example移到工作空间外部

   catkin_make
   

   1.测试

   roslaunch motor bringup.launch
   

   提示节点都找不到

   2.单个launch文件测试：

   打开bringup.launch文件，测试static_tf_demo.launch文件

   在install_isolated目录下打开一个命令行(或者在bachrc文件下添加source /home/linaro/catkin_ws/src/install_isolated/setup.bash)

   source setup.bash
   

   roslaunch telpo_static_tf static_tf_demo.launch 
   

   #报错

   /home/linaro/install_isolated/lib/telpo_static_tf/static_tf_node: error while loading shared libraries: libboost_thread.so.1.71.0: cannot open shared object file: No such file or directory

   使用指令查看

   dpkg --get-selections | grep libboost-thread
   

   提示版本为1.74，不符合1.71

   libboost-thread-dev:arm64 install libboost-thread1.74-dev:arm64 install libboost-thread1.74.0:arm64 install

   #卸载boost1.74版本

   sudo apt remove 'libboost-*1.74*'
   sudo apt-get remove libboost-dev
   sudo apt-get remove libboost-tools-dev libboost1.74-dev libboost1.74-tools-dev
   

   下载boost1.71版本 网站：https://sourceforge.net/projects/boost/files/boost/1.71.0.beta1/，下载后使用以下指令安装

   sudo ./bootstrap.sh
   ./b2
   sudo ./b2 install
   sudo apt install libboost-all-dev （这里装回了1.74，不太懂，但是后面launch成功了）
   source setup.bash （在install_isolated文件夹下）
   roslaunch telpo_static_tf static_tf_demo.launch  （测试成功）
   

   3.测试第二个 main_server.launch

   #报错 /home/linaro/catkin_ws/src/install_isolated/lib/server_simple/main_socket: error while loading shared libraries: libecl_threads.so: cannot open shared object file: No such file or directory

   #解决办法

   git clone -b release/0.62-noetic https://github.com/stonier/ecl_core.git
   sudo apt install build-essential libffi-dev libgc-dev libgmp-dev libffi-dev
   

   同上安装libecl_threads

   #cmake …时报错

   – Could NOT find ecl_build (missing: ecl_build_DIR) – Could not find the required component ‘ecl_build’. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by “ecl_build” with any of the following names: ecl_buildConfig.cmake ecl_build-config.cmake Add the installation prefix of “ecl_build” to CMAKE_PREFIX_PATH or set “ecl_build_DIR” to a directory containing one of the above files. If “ecl_build” provides a separate development package or SDK, be sure it has been installed.

   #解决办法

   git clone -b release/0.61-noetic https://github.com/stonier/ecl_tools.git
   

   同上安装ecl_build

   之后重新安装libecl_threads又报错缺少ecl_Config

   git clone -b release/0.61-noetic https://github.com/stonier/ecl_lite.git
   

   同上安装

   并将ecl_errors(ecl_lite文件夹中)、ecl_type_traits（ecl_core文件夹中）等，反正elc_thread/build文件下使用cmake …报错什么就去安装对应即可

   #catkin_make报错CMake Error at ecl_core/ecl_linear_algebra/CMakeLists.txt:22 (find_package): By not providing “FindSophus.cmake” in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by “Sophus”, but CMake did not find one. Could not find a package configuration file provided by “Sophus” with any of the following names: SophusConfig.cmake sophus-config.cmake Add the installation prefix of “Sophus” to CMAKE_PREFIX_PATH or set “Sophus_DIR” to a directory containing one of the above files. If “Sophus” provides a separate development package or SDK, be sure it has been installed.

   下载

   git clone https://github.com/strasdat/Sophus.git
   

   安装

   又报错缺少fmt，下载

   git clone https://github.com/fmtlib/fmt.git
   

   安装

   在Sophus文件下Cmake文件添加include_directories(path/to/fmt/include)（path/to改为对应路径）

   重新安装即可

   #安装libecl_threads又报错缺少ecl_utilitiesConfig

   安装ecl_utilities，并在bashrc文件末尾添加

   export CMAKE_PREFIX_PATH=/usr/local:$CMAKE_PREFIX_PATH
   

   之后重新安装libecl_threads

   pkg-config --variable=prefix ecl_threads（看安装的路径）
   pkg-config --modversion ecl_threads（看安装的版本）

   roslaunch server_simple main_server.launch
   

   #报错error while loading shared libraries: libecl_threads.so: cannot open shared object file: No such file or directory process[main_socket-2]: started with pid [55590]

   locate libecl_threads.so
   

   在bashrc文件末尾添加

   export LD_LIBRARY_PATH=/home/linaro/catkin_ws/devel_isolated/ecl_threads/lib:$LD_LIBRARY_PATH
   

   （此处路径为上面定位的路径）

   roslaunch server_simple main_server.launch
   

   报错/home/linaro/catkin_ws/src/install_isolated/lib/server_simple/main_socket: error while loading shared libraries: libglog.so.0: cannot open shared object file: No such file or directory

   • 解决办法：下载 libglog 源代码：

     sudo apt-get install libgoogle-glog-dev
     

     重新launch报错/home/linaro/catkin_ws/src/install_isolated/lib/server_simple/main_socket: error while loading shared libraries: libjsoncpp.so.1: cannot open shared object file: No such file or directory

     解决办法：下载 libjsoncpp

     sudo apt-cache search libjsoncpp
     

     首先，你可以确认一下该库文件的具体位置：

     ls -l /usr/lib/libjsoncpp.so.1.9.5
     

     然后在 .bashrc 文件末尾添加以下行（将路径修改为正确的库文件路径）：

     export LD_LIBRARY_PATH=/usr/lib:${LD_LIBRARY_PATH}
     

     保存文件并重启终端，使路径生效。

     如果问题仍然存在，你可以尝试将库文件链接到 /usr/lib 目录下，命令如下：

     sudo ln -s /usr/lib/libjsoncpp.so.1.9.5 /usr/lib/libjsoncpp.so.1
     

     然后再次尝试运行 roslaunch 命令。

     #报错/home/linaro/catkin_ws/src/install_isolated/lib/server_simple/main_socket: error while loading shared libraries: libGraphicsMagick+±Q16.so.12: cannot open shared object file: No such file or directory

     sudo apt install libgraphicsmagick++-q16-12
     

     然后再次尝试运行 roslaunch 命令。

     #报错

     /home/linaro/catkin_ws/src/install_isolated/lib/server_simple/main_socket: /usr/lib/libuuid.so.1: no version information available (required by /lib/aarch64-linux-gnu/libapr-1.so.0) /home/linaro/catkin_ws/src/install_isolated/lib/server_simple/main_socket: symbol lookup error: /home/linaro/catkin_ws/src/install_isolated/lib/server_simple/main_socket: undefined symbol: ZN4Json5ValueaSES0

     sudo rm /usr/lib/libuuid.so.1
     sudo ln -s /lib/aarch64-linux-gnu/libuuid.so /usr/lib/libuuid.so.1
     

     然后再次尝试运行 roslaunch 命令。

     #报错/home/linaro/catkin_ws/src/install_isolated/lib/server_simple/main_socket: symbol lookup error: /home/linaro/catkin_ws/src/install_isolated/lib/server_simple/main_socket: undefined symbol: ZN4Json5ValueaSES0

     sudo apt-get install libfmt-dev
     catkin_make_isolated
     catkin_make_isolated --install --install-space /home/linaro/catkin_ws/install_isolated
     

   修改bashrc文件，将devel改为devel_isolated

   catkin_make_isolated
   

   报错make[2]: *** [CMakeFiles/analyzer_loader.dir/build.make:147: /home/linaro/catkin_ws/devel_isolated/diagnostic_aggregator/lib/diagnostic_aggregator/analyzer_loader] Error 1 make[1]: *** [CMakeFiles/Makefile2:482: CMakeFiles/analyzer_loader.dir/all] Error 2 make: *** [Makefile:160: all] Error 2 <== Failed to process package ‘diagnostic_aggregator’: Command ‘[’/home/linaro/catkin_ws/devel_isolated/camera_calibration_parsers/env.sh’, ‘make’, ‘-j8’, ‘-l8’]’ returned non-zero exit status 2. Reproduce this error by running: ==> cd /home/linaro/catkin_ws/build_isolated/diagnostic_aggregator && /home/linaro/catkin_ws/devel_isolated/camera_calibration_parsers/env.sh make -j8 -l8

   我把diagnostic_aggregator删了，因为好像没有什么用，之前是因为需要安装dianostics文件里面的diagnostic_updater

   重新编译

   catkin_make_isolated
   

   ###测试第三个websocket.launch

   报错

   ERROR: cannot launch node of type [rosbridge_server/rosbridge_websocket]: rosbridge_server ROS path [0]=/opt/ros/noetic/share/ros ROS path [1]=/home/linaro/catkin_ws/src/install_isolated/share ROS path [2]=/opt/ros/noetic/share ERROR: cannot launch node of type [rosapi/rosapi_node]: rosapi ROS path [0]=/opt/ros/noetic/share/ros ROS path [1]=/home/linaro/catkin_ws/src/install_isolated/share ROS path [2]=/opt/ros/noetic/share

   进入rosapi文件夹进行安装

   mkdir build
   cd build
   cmake .. 
   make
   sudo make install
   

   将export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/path/to/rosbridge_suite添加到bashrc文件末尾

   sudo pip3 install twisted
   sudo pip3 install pyOpenSSL
   sudo pip3 install autobahn
   sudo pip3 install service_identity
   

   重新roslaunch rosbridge_server rosbridge_websocket.launch

   #测试lpmsbe1.launch，修改lpmsbe1.launch文件里面的串口号和波特率对应自己的板子即可，rk3588连接IMU的串口号是ttyS0，波特率是115200

   修改后运行launch文件，成功

   #测试lt-r1.launch，成功

   #测试bringup_jh.launch

   报错process[telpo_blackbox_masternode-2]: started with pid [79257] /home/linaro/catkin_ws/src/install_isolated/lib/telpo_blackbox_masternode/telpo_blackbox_masternode: error while loading shared libraries: libpcap.so.1: cannot open shared object file: No such file or directory process[telpo_base_node-3]: started with pid [79258] /home/linaro/catkin_ws/src/install_isolated/lib/telpo/telpo_base_node: error while loading shared libraries: libpcap.so.1: cannot open shared object file: No such file or directory

   将export LD_LIBRARY_PATH=/usr/lib/aarch64-linux-gnu:$LD_LIBRARY_PATH加入到bash.rc文件末尾

   sudo apt-get install libpcap-dev
   sudo updatedb
   locate libpcap.pc
   输出/usr/lib/aarch64-linux-gnu/pkgconfig/libpcap.pc
   sudo ln -s /path/to/libpcap.so.1.10.0 /usr/lib/aarch64-linux-gnu/libpcap.so.1
   重新launch
   

   测试结果ERROR: Service [/imu/reset_heading] is not available. mkdir: cannot create directory ‘/home/jh’: Permission denied begin mkdir: /home/jh/update/SaveUpdatePath [ INFO] [1688028174.257147861]: Opening success of serial /dev/ttyS0… [ERROR] [1688028174.372140552]: epoll error or timeout

   #运行roslaunch bringup.launch （launch总的文件）

   报错Resource not found: rosbridge_server ROS path [0]=/opt/ros/noetic/share/ros ROS path [1]=/home/linaro/catkin_ws/src/install_isolated/share ROS path [2]=/opt/ros/noetic/share The traceback for the exception was written to the log file

   export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/path/to/rosbridge_suite