目录
一、编译和解决报错
打包功能包，放到ros工作空间中，ydlidar_ws单独创建一个工作空间（对于复杂和干扰性强的功能包要单独创建功能包）；
GongNengBao里面的功能包放在主工作空间；
turtlebot_teleop功能包直接放在外边。
然后在ros主工作空间编译
1 第一次编译
编译过程
-- +++ processing catkin package: 'astra_launch'
-- ==> add_subdirectory(astra/ros_astra_launch)
-- +++ processing catkin package: 'hibot_follower'
-- ==> add_subdirectory(hibot_follower)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find serial (missing: serial_DIR)
-- Could not find the required component 'serial'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can 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 "serial" with any
of the following names:
serialConfig.cmake
serial-config.cmake
Add the installation prefix of "serial" to CMAKE_PREFIX_PATH or set
"serial_DIR" to a directory containing one of the above files. If "serial"
provides a separate development package or SDK, be sure it has been
installed.
Call Stack (most recent call first):
hibot_follower/CMakeLists.txt:8 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
编译错误
-- Could NOT find serial (missing: serial_DIR)
错误原因
没有串口文件——serial
解决：下载相关组件
sudo apt-get install ros-melodic-serial
2 第二次编译
编译过程
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Bullet: /usr/lib/arm-linux-gnueabihf/libBulletDynamics.so
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
Could NOT find SDL (missing: SDL_LIBRARY SDL_INCLUDE_DIR)
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
/usr/share/cmake-3.10/Modules/FindSDL.cmake:190 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
navigation-melodic-huanyu/map_server/CMakeLists.txt:12 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:614: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
编译错误
Could NOT find SDL (missing: SDL_LIBRARY SDL_INCLUDE_DIR)
解决：下载相关组件
sudo apt-get install libsdl-dev
或
sudo apt-get install libsdl1.2-dev
3 第三次编译
编译过程
-- +++ processing catkin metapackage: 'navigation'
-- ==> add_subdirectory(navigation-melodic-huanyu/navigation)
-- +++ processing catkin package: 'map_server'
-- ==> add_subdirectory(navigation-melodic-huanyu/map_server)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
Could NOT find SDL_image (missing: SDL_IMAGE_LIBRARIES
SDL_IMAGE_INCLUDE_DIRS)
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
/usr/share/cmake-3.10/Modules/FindSDL_image.cmake:91 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
navigation-melodic-huanyu/map_server/CMakeLists.txt:13 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:614: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
未解决此问题，直接删了astra功能包，错误好像是这个功能包引起的，这个功能包是关于摄像头的，没有用到
4 第四次编译
编译过程
-- +++ processing catkin package: 'robot_pose_ekf'
-- ==> add_subdirectory(robot_pose_ekf)
-- Checking for module 'orocos-bfl'
-- No package 'orocos-bfl' found
CMake Error at /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:415 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:593 (_pkg_check_modules_internal)
robot_pose_ekf/CMakeLists.txt:6 (pkg_check_modules)
-- Configuring incomplete, errors occurred!
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
解决：下载相关组件
sudo apt-get install ros-melodic-bfl
5 第五次编译
编译过程
-- Could NOT find tf2_sensor_msgs (missing: tf2_sensor_msgs_DIR)
-- Could not find the required component 'tf2_sensor_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can 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 "tf2_sensor_msgs"
with any of the following names:
tf2_sensor_msgsConfig.cmake
tf2_sensor_msgs-config.cmake
Add the installation prefix of "tf2_sensor_msgs" to CMAKE_PREFIX_PATH or
set "tf2_sensor_msgs_DIR" to a directory containing one of the above files.
If "tf2_sensor_msgs" provides a separate development package or SDK, be
sure it has been installed.
Call Stack (most recent call first):
navigation-melodic-huanyu/costmap_2d/CMakeLists.txt:4 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:614: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
解决：下载相关组件
sudo apt-get install ros-melodic-tf2-sensor-msgs
5 第五次编译
编译过程
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find move_base_msgs (missing: move_base_msgs_DIR)
-- Could not find the required component 'move_base_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can 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 "move_base_msgs"
with any of the following names:
move_base_msgsConfig.cmake
move_base_msgs-config.cmake
Add the installation prefix of "move_base_msgs" to CMAKE_PREFIX_PATH or set
"move_base_msgs_DIR" to a directory containing one of the above files. If
"move_base_msgs" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
navigation-melodic-huanyu/move_base/CMakeLists.txt:4 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/firefly/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:614: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
解决：下载相关组件
sudo apt-get install ros-melodic-move-base-msgs
二、启动机器人
启动机器人
提示没有找到yocs_velocity_smoother功能包
解决：安装 yocs_velocity_smoother 功能包
sudo apt-get install ros-kinetic-yocs-velocity-smoother
注：
1.未经许可不能转载
