安装使用teb

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一、安装teb

1.先把功能包放入src中，然后编译。
可在ROS的src下编译，也可以单独编译功能包。
单独编译操作为，在 catkin_ws/src 下执行
catkin_make -DCATKIN_WHITELIST_PACKAGES=“源码存放的文件夹名字”

2.编译报错：

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find costmap_converter (missing: costmap_converter_DIR)
-- Could not find the required component 'costmap_converter'. The following CMake error indicates that youn be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "costmap_converter"
  with any of the following names:

    costmap_converterConfig.cmake
    costmap_converter-config.cmake

  Add the installation prefix of "costmap_converter" to CMAKE_PREFIX_PATH or
  set "costmap_converter_DIR" to a directory containing one of the above
  files.  If "costmap_converter" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  teb_local_planner-melodic/CMakeLists.txt:8 (find_package)

3.安装缺失的依赖

rosdep install teb_local_planner

4.再次编译即可

二、运行teb

1.运行机器人，会自动调用teb功能包，但是出现错误：

2.解决问题
安装错误里提示的依赖：teb_local_planner

sudo apt install ros-melodic-teb-local-planner

3.再次运行，即可正常使用

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注：
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