文章目录
本文基本按照该地址步骤进行:
https://blog.csdn.net/qq_34906391/article/details/81478968
更改 apt-get 添加镜像源:
为了加快下载速度,首先添加镜像源。
- 一些操作过程需要用到Vim指令:https://www.cnblogs.com/88999660/articles/1581524.html
- 更改镜像:https://blog.csdn.net/zgljl2012/article/details/79065174
Install Docker
- 步骤:https://blog.csdn.net/qq_34906391/article/details/81478968
- E: 无法获得锁 /var/lib/dpkg/lock-frontend - open (11: 资源暂时不可用)
https://blog.csdn.net/qq_38019633/article/details/84024309 - 安装成功
测试
sudo docker run hello-worl
4. Docker知识:http://www.ruanyifeng.com/blog/2018/02/docker-tutorial.html
Install ROS(melodic version)
- https://wangxin1248.github.io/linux/2019/07/ubuntu-install-ros.html
- 采用中科大源之后出现问题:提示Depends: ros-kinetic-desktop but it is not going to be installed
https://blog.csdn.net/xiangxianghehe/article/details/78483799
或者改成清华源:https://blog.csdn.net/shanpenghui/article/details/80433555 - 安装完成
- 查看已经安装的ROS软件
$ apt-cache search ros-melodic
5. 错误,https://www.cnblogs.com/wjundong/p/10701160.html
参考网上方法,连接4G方法后还是不行。
https://blog.csdn.net/weixin_39036700/article/details/81566982
参考该文,在list已经写进/etc/ros/rosdep/sources.list.d/20-default.list基础上进行apt-get update操作。
还有一种网上的方法,因为上述方法已经成功,所以还未尝试下列方法,该方法实质是自己把list写进了/etc/ros/rosdep/sources.list.d/20-default.list文件中:
https://blog.csdn.net/qq_41058594/article/details/102970901
6. 测试成功
7. 小海龟:https://blog.csdn.net/haiyinshushe/article/details/84256137
https://blog.csdn.net/WY_star1/article/details/81564319
小海龟例子
第一个终端
roscore
打开第二个终端
rosrun turtlesim turtlesim_node
再开起一个终端控制
rosrun turtlesim turtle_teleop_key
在第三个终端里键盘控制上下左右小海龟就能运动了。
Ctrl+c 关闭ROS进程。
Download Apollo
- 下载Apollo镜像
git clone https://github.com/ApolloAuto/apollo
- 添加public RSA,如果采用ssh下载,需要此步骤。
https://www.cnblogs.com/qcwblog/p/5709720.html - Git clone 速度缓慢,可以使用码云进行拉取。
https://blog.csdn.net/xy_zhangchn/article/details/81558144
4. Git clone出现错误
error: RPC failed; curl 56 GnuTLS recv error (-110): The TLS connection was non-properly terminated
.
https://zhuanlan.zhihu.com/p/53961303
其中,sudo dpkg-buildpackage -rfakeroot –b -uc –us
, -uc –us为取消签名操作。
While signing a package isn’t necessary, and the -uc -us options can
be used to avoid that step, it can also be helpful to sign a package,
especially if others will be using it, or you’ll be sending it via
insecure communications paths. And it isn’t hard at all.
https://serverfault.com/questions/191785/how-can-i-properly-sign-a-package-i-modified-and-recompiled
- 错误,
error: RPC failed; curl 18 transfer closed with outstanding read data remaining
https://blog.csdn.net/it_liuchengli/article/details/77040806
git clone –- depth 1 https://gitee.com/jeremy-ma/apollo.git
Install Apollo Kernel
- Instruction from Apollo
- Reboot 重启后查看是否是我们需要的内核:
https://blog.csdn.net/taoshengzhao369/article/details/86293702
Install Apollo platform
- 出现提醒:
ROS_DISTRO was set to 'melodic' before. Please make sure that the environment does not mix paths from different distributions.
暂时还不知道是否有影响。
Apollo 编译
- 步骤
cd Apollo
bash docker/scripts/dev_start.sh -C #-C表示从中国镜像服务器下载,速度较快
-c如果报错误,则取消-c,只是速度会较慢。
bash docker/scripts/dev_into.sh
bash apollo.sh build #若提示权限不足,则sudo
bash scripts/bootstrap.sh #启动人机交互界面
随后可以在Chrome或Firefox浏览器中打开网址http://localhost:8888/
参考 https://blog.csdn.net/davidhopper/article/details/85097502
- 错误,查询后发现是磁盘空间不足引起的
gcc: internal compiler error: killed (program cc1plus)
进行磁盘扩容和加一个交换分区(swap):
https://blog.csdn.net/fa544384733/article/details/82730513
附录
- docker 知识:
https://yeasy.gitbooks.io/docker_practice/content/introduction/what.html - 编译速度缓慢
- 安装deb包的方法
https://blog.csdn.net/kevinhg/article/details/5934462
dpkg -i <package.deb>