ubuntu16.04安装ros+bebop_autonomy记录

最新推荐文章于 2024-01-10 17:35:58 发布

HeyMountain

最新推荐文章于 2024-01-10 17:35:58 发布

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分类专栏：安装软件

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一、安装ros
参考教程
【官网】http://wiki.ros.org/cn/kinetic/Installation/Ubuntu
【博客】https://www.cnblogs.com/kekeoutlook/p/13799189.html
安装ros时遇到问题

问题一

有一些软件包无法被安装。如果您用的是 unstable 发行版，这也许是
因为系统无法达到您要求的状态造成的。该版本中可能会有一些您需要的软件
包尚未被创建或是它们已被从新到(Incoming)目录移出。
下列信息可能会对解决问题有所帮助：

下列软件包有未满足的依赖关系：
 ros-kinetic-desktop-full : 依赖: ros-kinetic-desktop 但是它将不会被安装
                            依赖: ros-kinetic-perception 但是它将不会被安装
                            依赖: ros-kinetic-simulators 但是它将不会被安装
E: 无法修正错误，因为您要求某些软件包保持现状，就是它们破坏了软件包间的依赖关系。

遇到这类问题时，可以观察他缺少的依赖，然后安装一下其他软件测试下源有无问题，如新安装软件im，sudo apt-get install vim没有蹦出来这些依赖问题，则源无问题，可直接尝试安装缺少的依赖

sudo apt-get install ros-kinetic-desktop ros-kinetic-perception   ros-kinetic-simulators

安装完上述三个后，再执行

sudo apt-get install ros-kinetic-desktop-full

即可

问题二
找不到sudo rosdep init命令

sudo rosdep init command not found

执行命令

pip install python3-rosdep //自动把我安装的ros卸载了
pip install python2-rosdep//E: 无法定位软件包 python2-rosdep
sudo apt-get install python-rosinstall//不顶事，还是无法找到该命令

发现不管用
最终执行命令

sudo apt install rospack-tools//能找到该命令，并且执行，

发现可以成功运行，，但是又出来一个新的问题

ERROR: Rosdep experienced an error: hostname 'raw.githubusercontent.com' doesn't match either of 'default.ssl.fastly.net', 'fastly.com', '*.a.ssl.fastly.net', '*.hosts.fastly.net', '*.global.ssl.fastly.net', '*.fastly.com', 'a.ssl.fastly.net', 'purge.fastly.net', 'mirrors.fastly.net', 'control.fastly.net', 'tools.fastly.net'
Please go to the rosdep page [1] and file a bug report with the stack trace below.
[1] : http://www.ros.org/wiki/rosdep

rosdep version: 0.19.0

Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/rosdep2/main.py", line 144, in rosdep_main
    exit_code = _rosdep_main(args)
  File "/usr/lib/python3/dist-packages/rosdep2/main.py", line 428, in _rosdep_main
    return _no_args_handler(command, parser, options, args)
  File "/usr/lib/python3/dist-packages/rosdep2/main.py", line 437, in _no_args_handler
    return command_handlers[command](options)
  File "/usr/lib/python3/dist-packages/rosdep2/main.py", line 581, in command_init
    data = download_default_sources_list()
  File "/usr/lib/python3/dist-packages/rosdep2/sources_list.py", line 331, in download_default_sources_list
    f = urlopen(url, timeout=DOWNLOAD_TIMEOUT)
  File "/usr/lib/python3.6/urllib/request.py", line 223, in urlopen
    return opener.open(url, data, timeout)
  File "/usr/lib/python3.6/urllib/request.py", line 526, in open
    response = self._open(req, data)
  File "/usr/lib/python3.6/urllib/request.py", line 544, in _open
    '_open', req)
  File "/usr/lib/python3.6/urllib/request.py", line 504, in _call_chain
    result = func(*args)
  File "/usr/lib/python3.6/urllib/request.py", line 1368, in https_open
    context=self._context, check_hostname=self._check_hostname)
  File "/usr/lib/python3.6/urllib/request.py", line 1325, in do_open
    encode_chunked=req.has_header('Transfer-encoding'))
  File "/usr/lib/python3.6/http/client.py", line 1264, in request
    self._send_request(method, url, body, headers, encode_chunked)
  File "/usr/lib/python3.6/http/client.py", line 1310, in _send_request
    self.endheaders(body, encode_chunked=encode_chunked)
  File "/usr/lib/python3.6/http/client.py", line 1259, in endheaders
    self._send_output(message_body, encode_chunked=encode_chunked)
  File "/usr/lib/python3.6/http/client.py", line 1038, in _send_output
    self.send(msg)
  File "/usr/lib/python3.6/http/client.py", line 976, in send
    self.connect()
  File "/usr/lib/python3.6/http/client.py", line 1425, in connect
    server_hostname=server_hostname)
  File "/usr/lib/python3.6/ssl.py", line 407, in wrap_socket
    _context=self, _session=session)
  File "/usr/lib/python3.6/ssl.py", line 817, in __init__
    self.do_handshake()
  File "/usr/lib/python3.6/ssl.py", line 1077, in do_handshake
    self._sslobj.do_handshake()
  File "/usr/lib/python3.6/ssl.py", line 694, in do_handshake
    match_hostname(self.getpeercert(), self.server_hostname)
  File "/usr/lib/python3.6/ssl.py", line 327, in match_hostname
    % (hostname, ', '.join(map(repr, dnsnames))))
ssl.CertificateError: hostname 'raw.githubusercontent.com' doesn't match either of 'default.ssl.fastly.net', 'fastly.com', '*.a.ssl.fastly.net', '*.hosts.fastly.net', '*.global.ssl.fastly.net', '*.fastly.com', 'a.ssl.fastly.net', 'purge.fastly.net', 'mirrors.fastly.net', 'control.fastly.net', 'tools.fastly.net'

查看解析说，ros是基于python2版本的，所以将自己的python版本更换到了ubuntu自带的2.7版本，重新初始化还是不行，报同样的错误。在网上看了一圈，发现很多人有这个问题

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

寻思着会不会是同样的问题，不过是报的错不一样，尝试者用这篇博客里的方法，发现问题居然解决了(antother references link:https://www.cnblogs.com/JuiceCat/p/12000953.html)

1.通过IPAddress.com首页,输入raw.githubusercontent.com查询到真实IP地址
2.打开Ubuntu终端，输入：
sudo gedit /etc/hosts

3.在之中添加：
199.232.68.133 raw.githubusercontent.com//前面的地址替换为自己的真实ip地址

ning@ning:/etc/ros/rosdep/sources.list.d$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml]:
	<urlopen error [Errno 104] Connection reset by peer> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml]:
	<urlopen error [Errno 104] Connection reset by peer> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml]:
	<urlopen error [Errno 104] Connection reset by peer> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml]:
	<urlopen error [Errno 104] Connection reset by peer> (https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml)
ERROR: unable to process source [https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml]:
	Failed to download target platform data for gbpdistro:
	<urlopen error [Errno 104] Connection reset by peer>
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
ERROR: error loading sources list:
	<urlopen error <urlopen error [Errno 104] Connection reset by peer> (https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml)>

二、安装bebop_autonomy
安装教程
【官网】https://bebop-autonomy.readthedocs.io/en/latest/installation.html#compiling-from-source
总体来说很顺利，最后执行catkin-build时，遇到问题
最初以为是cmake版本问题，因为我和一位同学的cmake均为3.10均失败了，而cmake版本为3.17的同学成功了，所以开始更换cmake版本，重新编译bebop_autonomy失败，更换cmake版本的链接为。于是卸载ros，重新下载安装，再编译bebop_autonomy，失败。仔细观察出错的地方，都像是c++本身的问题，于是尝试着在
/home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/CMakeLists.txt文件中加入编译选项

cmake_minimum_required(VERSION 2.8.3)
project(bebop_driver)
add_compile_options(-std=c++11)//添加在第三行

编译成功！

/opt/ros/melodic/include/class_loader/class_loader_core.hpp:183:7: 错误：‘nullptr’在此作用域中尚未声明
   if (nullptr == getCurrentlyActiveClassLoader()) {
       ^
/opt/ros/melodic/include/class_loader/class_loader_core.hpp: 在函数‘Base* class_loader::impl::createInstance(const string&, class_loader::ClassLoader*)’中:
/opt/ros/melodic/include/class_loader/class_loader_core.hpp:242:40: 错误：‘nullptr’在此作用域中尚未声明
   AbstractMetaObject<Base> * factory = nullptr;
                                        ^
/opt/ros/melodic/include/class_loader/class_loader_core.hpp: 在函数‘std::vector<std::__cxx11::basic_string<char> > class_loader::impl::getAvailableClasses(class_loader::ClassLoader*)’中:
/opt/ros/melodic/include/class_loader/class_loader_core.hpp:300:15: 错误：ISO C++ 不允许声明无类型的‘it’ [-fpermissive]
   for (auto & it : factory_map) {
               ^
/opt/ros/melodic/include/class_loader/class_loader_core.hpp:300:20: 警告：range-based ‘for’ loops only available with -std=c++11 or -std=gnu++11
   for (auto & it : factory_map) {
                    ^
/opt/ros/melodic/include/class_loader/class_loader_core.hpp:301:43: 错误：对成员‘second’的请求出现在‘it’中，而后者具有非类类型‘int’
     AbstractMetaObjectBase * factory = it.second;
                                           ^
/opt/ros/melodic/include/class_loader/class_loader_core.hpp:303:28: 错误：对成员‘first’的请求出现在‘it’中，而后者具有非类类型‘int’
       classes.push_back(it.first);
                            ^
/opt/ros/melodic/include/class_loader/class_loader_core.hpp:304:35: 错误：‘nullptr’在此作用域中尚未声明
     } else if (factory->isOwnedBy(nullptr)) {
                                   ^
/opt/ros/melodic/include/class_loader/class_loader_core.hpp:305:42: 错误：对成员‘first’的请求出现在‘it’中，而后者具有非类类型‘int’
       classes_with_no_owner.push_back(it.first);
                                          ^
In file included from /opt/ros/melodic/include/pluginlib/./class_list_macros.hpp:40:0,
                 from /opt/ros/melodic/include/pluginlib/class_list_macros.h:35,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:26:
/opt/ros/melodic/include/class_loader/class_loader.hpp: 在全局域：
/opt/ros/melodic/include/class_loader/class_loader.hpp:82:3: 错误：expected unqualified-id before ‘using’
   using DeleterType = std::function<void(Base *)>;
   ^
/opt/ros/melodic/include/class_loader/class_loader.hpp:85:3: 错误：expected unqualified-id before ‘using’
   using UniquePtr = std::unique_ptr<Base, DeleterType<Base>>;
   ^
/opt/ros/melodic/include/class_loader/class_loader.hpp:127:8: 错误：‘shared_ptr’ in namespace ‘std’ does not name a template type
   std::shared_ptr<Base> createSharedInstance(const std::string & derived_class_name)
        ^
/opt/ros/melodic/include/class_loader/class_loader.hpp:160:3: 错误：‘UniquePtr’不是一个类型名
   UniquePtr<Base> createUniqueInstance(const std::string & derived_class_name)
   ^
In file included from /opt/ros/melodic/include/pluginlib/./class_list_macros.hpp:40:0,
                 from /opt/ros/melodic/include/pluginlib/class_list_macros.h:35,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:26:
/opt/ros/melodic/include/class_loader/class_loader.hpp: 在成员函数‘void class_loader::ClassLoader::onPluginDeletion(Base*)’中:
/opt/ros/melodic/include/class_loader/class_loader.hpp:246:9: 错误：‘nullptr’在此作用域中尚未声明
     if (nullptr == obj) {
         ^
In file included from /usr/local/include/boost/assert.hpp:58:0,
                 from /usr/local/include/boost/thread/pthread/pthread_mutex_scoped_lock.hpp:10,
                 from /usr/local/include/boost/thread/pthread/recursive_mutex.hpp:23,
                 from /usr/local/include/boost/thread/recursive_mutex.hpp:16,
                 from /opt/ros/melodic/include/class_loader/class_loader.hpp:37,
                 from /opt/ros/melodic/include/pluginlib/./class_list_macros.hpp:40,
                 from /opt/ros/melodic/include/pluginlib/class_list_macros.h:35,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:26:
/opt/ros/melodic/include/class_loader/class_loader.hpp: 在成员函数‘Base* class_loader::ClassLoader::createRawInstance(const string&, bool)’中:
/opt/ros/melodic/include/class_loader/class_loader.hpp:302:19: 错误：‘nullptr’在此作用域中尚未声明
     assert(obj != nullptr);  // Unreachable assertion if createInstance() throws on failure
                   ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h: 在全局域：
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 错误：‘array’不是‘std’的成员
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                       ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 错误：‘array’不是‘std’的成员
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                       ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:81: 错误：可疑的‘>>’，使用‘>’来结束模板实参列表
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                                                 ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:81: 错误：模板参数数目不对(不应是 2 个而应是 1 个)
In file included from /opt/ros/melodic/include/tf2/convert.h:36:0,
                 from /opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:35,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:
/opt/ros/melodic/include/tf2/transform_datatypes.h:44:7: 附注：提供给‘template<class T> class tf2::Stamped’
 class Stamped : public T{
       ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 错误：‘array’不是‘std’的成员
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                       ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 错误：‘array’不是‘std’的成员
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                       ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:81: 错误：可疑的‘>>’，使用‘>’来结束模板实参列表
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                                                 ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:81: 错误：模板参数数目不对(不应是 2 个而应是 1 个)
In file included from /opt/ros/melodic/include/tf2/convert.h:36:0,
                 from /opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:35,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:
/opt/ros/melodic/include/tf2/transform_datatypes.h:44:7: 附注：提供给‘template<class T> class tf2::Stamped’
 class Stamped : public T{
       ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 错误：‘array’不是‘std’的成员
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                       ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 错误：‘array’不是‘std’的成员
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                       ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:81: 错误：可疑的‘>>’，使用‘>’来结束模板实参列表
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                                                 ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:81: 错误：模板参数数目不对(不应是 2 个而应是 1 个)
In file included from /opt/ros/melodic/include/tf2/convert.h:36:0,
                 from /opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:35,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:
/opt/ros/melodic/include/tf2/transform_datatypes.h:44:7: 附注：提供给‘template<class T> class tf2::Stamped’
 class Stamped : public T{
       ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 错误：‘array’不是‘std’的成员
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                       ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 错误：‘array’不是‘std’的成员
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                       ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:81: 错误：可疑的‘>>’，使用‘>’来结束模板实参列表
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                                                 ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:81: 错误：模板参数数目不对(不应是 2 个而应是 1 个)
In file included from /opt/ros/melodic/include/tf2/convert.h:36:0,
                 from /opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:35,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:
/opt/ros/melodic/include/tf2/transform_datatypes.h:44:7: 附注：提供给‘template<class T> class tf2::Stamped’
 class Stamped : public T{
       ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:42: 错误：使用模板名‘tf2::Stamped’时不带实参表无效
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                          ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:54: 错误：expected ‘,’ or ‘...’ before ‘<’ token
 geometry_msgs::WrenchStamped toMsg(const tf2::Stamped<std::array<tf2::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
                                                      ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h: 在函数‘geometry_msgs::WrenchStamped tf2::toMsg(int)’中:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1011:3: 错误：‘out’在此作用域中尚未声明
   out.header.stamp = in.stamp_;
   ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1011:22: 错误：‘in’在此作用域中尚未声明
   out.header.stamp = in.stamp_;
                      ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h: 在全局域：
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:68: 错误：‘array’不是‘std’的成员
 void fromMsg(const geometry_msgs::WrenchStamped& msg, tf2::Stamped<std::array<tf2::Vector3, 2>>& out)
                                                                    ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:68: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:68: 错误：‘array’不是‘std’的成员
 void fromMsg(const geometry_msgs::WrenchStamped& msg, tf2::Stamped<std::array<tf2::Vector3, 2>>& out)
                                                                    ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:68: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:94: 错误：可疑的‘>>’，使用‘>’来结束模板实参列表
 void fromMsg(const geometry_msgs::WrenchStamped& msg, tf2::Stamped<std::array<tf2::Vector3, 2>>& out)
                                                                                              ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:94: 错误：模板参数数目不对(不应是 2 个而应是 1 个)
In file included from /opt/ros/melodic/include/tf2/convert.h:36:0,
                 from /opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:35,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:
/opt/ros/melodic/include/tf2/transform_datatypes.h:44:7: 附注：提供给‘template<class T> class tf2::Stamped’
 class Stamped : public T{
       ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:68: 错误：‘array’不是‘std’的成员
 void fromMsg(const geometry_msgs::WrenchStamped& msg, tf2::Stamped<std::array<tf2::Vector3, 2>>& out)
                                                                    ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:68: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:68: 错误：‘array’不是‘std’的成员
 void fromMsg(const geometry_msgs::WrenchStamped& msg, tf2::Stamped<std::array<tf2::Vector3, 2>>& out)
                                                                    ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:68: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:94: 错误：可疑的‘>>’，使用‘>’来结束模板实参列表
 void fromMsg(const geometry_msgs::WrenchStamped& msg, tf2::Stamped<std::array<tf2::Vector3, 2>>& out)
                                                                                              ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:94: 错误：模板参数数目不对(不应是 2 个而应是 1 个)
In file included from /opt/ros/melodic/include/tf2/convert.h:36:0,
                 from /opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:35,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:
/opt/ros/melodic/include/tf2/transform_datatypes.h:44:7: 附注：提供给‘template<class T> class tf2::Stamped’
 class Stamped : public T{
       ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:60: 错误：‘tf2::Stamped’不是一个类型
 void fromMsg(const geometry_msgs::WrenchStamped& msg, tf2::Stamped<std::array<tf2::Vector3, 2>>& out)
                                                            ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1020:67: 错误：expected ‘,’ or ‘...’ before ‘<’ token
 void fromMsg(const geometry_msgs::WrenchStamped& msg, tf2::Stamped<std::array<tf2::Vector3, 2>>& out)
                                                                   ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h: 在函数‘void tf2::fromMsg(const WrenchStamped&, int)’中:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1022:3: 错误：‘out’在此作用域中尚未声明
   out.stamp_ = msg.header.stamp;
   ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1028:3: 错误：‘array’不是‘std’的成员
   std::array<tf2::Vector3, 2> tmp_array;
   ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1028:3: 附注：建议的替代：
In file included from /opt/ros/melodic/include/ros/message.h:38:0,
                 from /opt/ros/melodic/include/ros/publisher.h:33,
                 from /opt/ros/melodic/include/ros/node_handle.h:32,
                 from /opt/ros/melodic/include/ros/ros.h:45,
                 from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:25:
/usr/local/include/boost/array.hpp:61:11: 附注：  ‘boost::array’
     class array {
           ^
In file included from /home/ning/bebop_ws/src/bebop_autonomy/bebop_driver/src/bebop_driver_nodelet.cpp:31:0:
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1028:26: 错误：expected primary-expression before ‘,’ token
   std::array<tf2::Vector3, 2> tmp_array;
                          ^
/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1028:31: 错误：‘tmp_array’在此作用域中尚未声明
   std::array<tf2::Vector3, 2> tmp_array;
                               ^
make[2]: *** [CMakeFiles/bebop_driver_nodelet.dir/src/bebop_driver_nodelet.cpp.o] Error 1
make[1]: *** [CMakeFiles/bebop_driver_nodelet.dir/all] Error 2
make: *** [all] Error 2
cd /home/ning/bebop_ws/build/bebop_driver; catkin build --get-env bebop_driver | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
.....................................................................................................................................
Failed     << bebop_driver:make                [ Exited with code 2 ]                                                                
Failed    <<< bebop_driver                     [ 3.0 seconds ]                                                                       
Abandoned <<< bebop_tools                      [ Unrelated job failed ]                                                              
[build] Summary: 2 of 4 packages succeeded.                                                                                          
[build]   Ignored:   1 packages were skipped or are blacklisted.                                                                     
[build]   Warnings:  None.                                                                                                           
[build]   Abandoned: 1 packages were abandoned.                                                                                      
[build]   Failed:    1 packages failed.                                                                                              
[build] Runtime: 3.6 seconds total.

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ubuntu16.04安装ros+bebop_autonomy记录

安装ros时遇到问题有一些软件包无法被安装。如果您用的是 unstable 发行版，这也许是因为系统无法达到您要求的状态造成的。该版本中可能会有一些您需要的软件包尚未被创建或是它们已被从新到(Incoming)目录移出。下列信息可能会对解决问题有所帮助：下列软件包有未满足的依赖关系： ros-kinetic-desktop-full : 依赖: ros-kinetic-desktop 但是它将不会被安装依赖: ros-kinetic-p
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