虚拟机环境ubuntu18.04 ros-melodic配置

ubuntu18.04 ros-melodic配置

内存：8G
磁盘：40~50G

apt换源 (可跳过)

先备份原来的

sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup

# 编辑sources文件，从下面源中选择任意一个即可
sudo gedit /etc/apt/sources.list

18.04源（bionic）

 	#阿里源
    deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
    deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
    deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
    deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
    deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
    deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
 
    #网易源
    deb http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse
    deb http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse
    deb http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse
    deb http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse
    deb http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse
    deb-src http://mirrors.163.com/ubuntu/ bionic main restricted universe multiverse
    deb-src http://mirrors.163.com/ubuntu/ bionic-security main restricted universe multiverse
    deb-src http://mirrors.163.com/ubuntu/ bionic-updates main restricted universe multiverse
    deb-src http://mirrors.163.com/ubuntu/ bionic-proposed main restricted universe multiverse
    deb-src http://mirrors.163.com/ubuntu/ bionic-backports main restricted universe multiverse
 
    #清华源
    deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
    deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
    deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
    deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
    deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
    deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
    deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
    deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
    deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
    deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
 
    ##中科大源
    deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
    deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
    deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
    deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
    deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
    deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

更新源

sudo apt-get update
sudo apt-get upgrade

apt update时若报错 (appstreamcli:13767): GLib-ERROR **: 08:57:18.126: g_variant_new_parsed: 11-13:invalid GVariant format string
Trace/breakpoint trap (core dumped)
解决：

sudo apt-get install --reinstall libappstream4

安装ros1（melodic）

添加ros软件源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

添加密钥

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

安装ros

sudo apt update
sudo apt install ros-melodic-desktop-full

初始化rosdep

# 若提示没有rosdep 
# sudo apt-get install python-rosdep
sudo rosdep init
rosdep update
# 如果失败：#打开hosts文件
sudo gedit /etc/hosts
# 在文件末尾添加
151.101.84.133 raw.githubusercontent.com
#保存后退出再尝试

设置环境变量

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo  gedit ~/.bashrc
# 加入以下内容 (换成自己的路径)
source ~/ros1/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ros1/catkin_ws/
# 重启bashrc
source ~/.bashrc
# 查看ROS路径是否添加上
echo $ROS_PACKAGE_PATH
# 设置成功会显示你添加的路径

安装rosinstall

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

ros已安装配置完成

以下是一些常用工具以及我个人ros项目所缺少的安装包的下载，方便以后查阅。

工具

安装terminator

sudo apt install terminator

字体配色方案

gedit ~/.config/terminator/config

[global_config]
[keybindings]
[layouts]
  [[default]]
    [[[child1]]]                    # 通过Ctrl+Shift+i生成的子terminator的设置
      parent = window0
      type = Terminal
    [[[window0]]]					# 默认terminator的设置
      parent = ""
      type = Window
	  position = 1430:350             # 初始terminator的位置，此处修改为屏幕左下角
	  size = 930, 720              # 根据需要修改初始terminator大小
[plugins]
[profiles]
  [[default]]
    background_color = "#484343"
    background_image = None
    font = Monospace 13
    foreground_color = "#bfbdbe"
    scrollback_infinite = True
    use_system_font = False

安装vscode

.deb

sudo dpkg -i code_1.84.2-1699528352_amd64.deb

常见报错：

(1) 关机时出现wait 1m30s

sudo vim /etc/systemd/system.conf

DefaultTimeoutStartSec=10s
DefaultTimeoutStopSec=10s

(2) 频繁出现system progrome problme detected

解决：

sudo rm /var/crash/*
sudo gedit /etc/default/apport 

将其中的enable=1改为enable=0即可

(3)geographiclib大小写问题

fatal error: geographiclib/geodesic.hpp: No such file or directory
#include <geographiclib/geodesic.hpp>

解决：先查看/usr/include/下有无GeographicLib

若有

sudo mkdir geographiclib
sudo cp GeographicLib/* geographiclib/
cd geographiclib/
sudo cp Geodesic.hpp geodesic.hpp

库文件安装

源码安装cmake

安装依赖

sudo apt-get install g++
sudo apt-get install openssl
sudo apt-get install libssl-dev

官网下载cmake源码

Download CMake

tar -zxvf cmake-3.16.0-rc3.tar.gz
cd cmake-3.28.0-rc5
./bootstrap
make
sudo make install
cmake --version

安装fineftp

git clone https://github.com/eclipse-ecal/fineftp-server.git
cd fineftp-server
git submodule init
git submodule update

mkdir _build
cd _build
cmake ..
sudo make install

安装sdl

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

安装nmea_masg

sudo apt install   ros-melodic-nmea-msgs

安装geographiclib

sudo apt-get install ros-melodic-geographic-*
sudo apt-get install geographiclib-*
sudo apt-get install libgeographic-*

下载地址 ： https://sourceforge.net/projects/geographiclib/

tar -zxvf GeographicLib-1.51.tar.gz
cd GeographicLib-1.51/
mkdir build
cd build
cmake ..
make
sudo make install

安装move_base_msgs

sudo apt install ros-melodic-navigation

安装lanelet2相关

sudo apt install ros-melodic-lanelet2-core
sudo apt install ros-melodic-lanelet2-io
sudo apt install ros-melodic-lanelet2-maps
sudo apt install ros-melodic-lanelet2-projection
sudo apt install ros-melodic-lanelet2-routing
sudo apt install ros-melodic-lanelet2-validation
sudo apt install ros-melodic-lanelet2-examples

安装gtsam

速度较慢

git clone https://bitbucket.org/gtborg/gtsam.git
cd gtsam
mkdir build
cd build
cmake ..
make
sudo make install

安装tf2_sensor_msgs

sudo apt install ros-melodic-tf2-sensor-msgs

安装ompl

sudo apt install ros-melodic-ompl

安装sqlit

download : SQLite Download Page

tar -xzvf sqlite-autoconf-3440200.tar.gz
cd sqlite-autoconf-3440200/
vim ./sqlite3.c

添加一个宏定义

#define SQLITE_ENABLE_COLUMN_METADATA 1

./configure
make
sudo make install

参考：https://www.cnblogs.com/xuanmanstein/p/13227545.html

安装libserial

sudo apt update
sudo apt install g++ git autogen autoconf build-essential cmake graphviz \
                 libboost-dev libboost-test-dev libgtest-dev libtool \
                 python3-sip-dev doxygen python3-sphinx pkg-config \
                 python3-sphinx-rtd-theme
                 

git

git clone https://github.com/crayzeewulf/libserial.git
cd libserial
./compile.sh
cd build
sudo make install

参考：ROS使用serial库编译时出现“未定义的引用”解决办法_#include "serial/serial.h报错-CSDN博客

sudo apt-get install libpcap-dev