1
、安装依赖项
sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann-dev # libflann1.8
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev libpcap-dev
sudo apt-get install mono-complete
sudo apt-get install openjdk-8-jdk openjdk-8-jre
sudo apt-get install libpcap-dev
在安装sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-dev时报无法定位软件包,所以手动安装。
2、Qt+ros_qtc_plugin 安装
当前安装版本 qt5.9.0
1)下载qt5
下载地址: http://download.qt.io/archive/qt/qt-opensource-linux-x64-5.9.0.run
2)安装
chmod +x ~/qt-opensource-linux-x64-5.9.0.run
./qt-opensource-linux-x64-5.9.0.run
然后就是图形界面的安装了:
安装过程tips:
我的安装路径为:就是上面的默认路径 后续需要修改为你自己的安装路径
Qt组件等跟随默认配置
3)设置修改快捷方式
cd ~/.local/share/applications
ls
sudo vim DigiaQt-qtcreator-community.desktop
将Exec=/home/user/Qt5.9.0/Tools/QtCreator/bin/qtcreator
修改为 Exec=bash -i -c /home/user/Qt5.9.0/Tools/QtCreator/bin/qtcreator
4)安装ros_qtc_plugin 插件
sudo add-apt-repository ppa:levi-armstrong/qt-libraries-xenial
sudo add-apt-repository ppa:levi-armstrong/ppa
sudo apt-get update && sudo apt-get install qt57creator-plugin-ros
5)修改系统配置文件
sudo gedit /usr/lib/x86_64-linux-gnu/qt-default/qtchooser/default.conf
/usr/lib/x86_64-linux-gnu/qt4/bin
/usr/lib/x86_64-linux-gnu
将上面面内容修改为如下所示:
/opt/Qt5.9.0/5.9/gcc_64/bin
/opt/Qt5.9.0/5.9/gcc_64/lib
6)测试使用qt-ros
qtcreator-ros
3、VTK安装
参考博客: https://blog.csdn.net/GreenHandCGL/article/details/81585629
1)下载vtk VTK-7.1.1.tar.gz
下载地址: https://vtk.org/download/
2)安装vtk
tar -xzvf vtk-7.1.1.tar.gz //解压
cd vtk-7.1.1 //cd进解压好的文件目录中
mkdir build && cd build
cmake -DVTK_QT_VERSION:STRING=5 -DQT_QMAKE_EXECUTABLE:PATH=/opt/Qt5.9.0/5.9/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=/opt/Qt5.9.0/5.9/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON /home/heixiazi/add/VTK-7.1.1
make
sudo make install
3)qt配置QVTKWidget插件
sudo cp /usr/local/plugins/designer/libQVTKWidgetPlugin.so /opt/Qt5.9.0/Tools/QtCreator/lib/Qt/plugins/designer/
4、PCL安装
安装版本: pcl-1.8.1
1)下载
git clone https://github.com/PointCloudLibrary/pcl.git
我在终端下载失败。所以我在pycharm中下载,成功。
2)编译安装
tar -xzvf pcl-pcl-1.8.1.tar.gz
# 我下载好的直接就是文件夹,座椅所以不用解压,直接从下一步开始
cd pcl
mkdir build && cd build
# cmake -DCMAKE_BUILD_TYPE=Release ..
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr ..
make
sudo make install
编译报错:
Could NOT find PCAP (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS)
CMake Error at /usr/local/share/cmake-3.15/Modules/FindBoost.cmake:1622 (file):
file STRINGS file "/usr/local/include/boost/version.hpp" cannot be read.
Call Stack (most recent call first):
cmake/pcl_find_boost.cmake:32 (find_package)
CMakeLists.txt:418 (include)
解决办法:安装PCAP(最上面的依赖以加)
编译报错:boost版本不对--降低pcl版本
编译报错:boost路径与cmake中的路径不一致
# 移动文件到cmake指定路径下
sudo mv /usr/include/boost /usr/local/include
下面是如何卸载boost以及安装新版本
# 查看当前安装的boost版本
dpkg -S /usr/include/boost/version.hpp
# 结果
libboost1.58-dev:amd64: /usr/include/boost/version.hpp
# 删除当前安装的boost
sudo apt-get autoremove libboost1.58-dev
# 注意的是,如果你使用的是以下命令安装的boost
sudo apt-get install libboost-dev
# 那么很有可能,在目录/usr/lib/x86_64-linux-gnu下并没有libboost_system.a等文件,这个是要注意的。
# 彻底删除
sudo rm -rf /usr/local/include/boost
sudo rm -rf /usr/local/lib/libboost*
sudo rm -rf /usr/include/boost
sudo rm -rf /usr/lib/libboost*
新版本路径:boost
wget https://dl.bintray.com/boostorg/release/1.67.0/source/boost_1_67_0.tar.gz
tar -zxvf boost_1_67_0.tar.gz
cd boost_1_67_0/
# 安装
sudo ./bootstrap.sh
#在执行下面的命令,这样头文件就被默认安装在/usr/local/include头文件下,库文件就被默认安装在/usr/local/lib下
sudo ./b2 install
# 设置环境变量
sudo gedit /etc/profile
#在文件末尾添加
export CPLUS_INCLUDE_PATH=/usr/local/include/boost:$CPLUS_INCLUDE_PATH
export LIBRARY_PATH=/usr/local/lib:$LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
------done