树莓派编译cartographer缺pcl_msgs依赖问题

按照大神文章安装：https://blog.csdn.net/weixin_37918890/article/details/96165880

sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
mkdir rosws_cartographer
cd rosws_cartographer
wstool init src
wstool merge -t src /你放置onekey_install_cartographer.rosinstall的路径/onekey_install_cartographer.rosinstall
wstool update -t src
src/cartographer/scripts/install_proto3.sh
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make_isolated --install --use-ninja
source install_isolated/setup.bash
 

树莓派执行依赖安装时
cd ~/rosws_cartographer
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
问题：出现pcl_msgs依赖找不到问题

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
pcl_conversions: No definition of [pcl_msgs] for OS [debian]

尝试很多方法，都无法解决。之前安装成功了ros系统，发现src目录下面有pcl_msgs源码，直接拷到

cp -dar ~/ros_catkin_ws/src/pcl_msgs/ ~/rosws_cartographer/src

然后重新运行依赖安装

cd ~/rosws_cartographer
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

成功。

问题：

from /home/pi/rosws_cartographer/src/geometry2/tf2_ros/src/buffer_client.cpp:37:
/opt/ros/kinetic/include/ros/callback_queue.h:166:18: error: ‘condition_variable_monotonic’ in namespace ‘ros::internal’ does not name a type
   ros::internal::condition_variable_monotonic condition_;
                  ^
[6/11] Building CXX object CMak...ros.dir/src/buffer_server.cpp.o
ninja: build stopped: subcommand failed.
<== Failed to process package 'tf2_ros': 
  Command '['/home/pi/rosws_cartographer/install_isolated/env.sh', 'ninja', '-j4', '-l4']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/pi/rosws_cartographer/build_isolated/tf2_ros && /home/pi/rosws_cartographer/install_isolated/env.sh ninja -j4 -l4

附录：

已安装成功的树莓派4B ROS镜像

https://pan.baidu.com/s/1u3Jkp23zhyuS8k16NUsmig

提取码：uno9

制作SD卡方法：
1、先合并文件
cat raspberry_a* > raspberry.tar.bz2
2、树莓派系统还原
sudo tar -xf bill-ros-kinetic-sd-card201112.tar.bz2 | sudo dd bs=512M of=/dev/SD卡设备(注意是整个盘，例如sdb，不是分区sdb1,sdb2)
账号：pi
密码：raspberry

注：
这个镜像支持16G以上TF卡，大于16G的制作完后，可以用树莓派配置扩充空间。

rsap-config -> 6 Advanced Options ->  A1 Expand Filesystem