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Mbot ros编译环境安装


文章目录

  • ​​前言​​
  • ​​一、安装依赖​​
  • ​​二、源码安装ROS导航包(navigation)​​

前言

ROS Melodic
Ubuntu 18.04

ROS、MAVROS及PX4环境安装参考: 这里默认已经安装好ROS、MAVROS及PX4环境

一、安装依赖

sudo apt install ros-melodic-libuvc
sudo apt-get install ros-melodic-navigation*
sudo apt install ros-melodic-camera-info-manager
sudo apt install ros-melodic-tf2-geometry-msgs
sudo apt install ros-melodic-laser-geometry
sudo apt install ros-melodic-tf2-sensor-msgs
sudo apt install ros-melodic-mavros
sudo apt install ros-melodic-costmap-converter
sudo apt install ros-melodic-interactive-markers
sudo apt install ros-melodic-mbf-costmap-core
sudo apt install ros-melodic-mbf-msgs
sudo apt-get install ros-melodic-librealsense2
sudo apt-get install ros-melodic-serial
sudo apt-get install qt4-default
sudo apt-get install ros-melodic-bfl
sudo apt-get install libsuitesparse-dev
sudo apt-get install ros-melodic-libg2o

如果编译时报错:

error: ‘find_if’ was not declared in this scope
texture_frame_itr = find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f)

找到报错的源码位置,在find_if前面加上std::即可。

Mbot ros编译环境安装_源码安装

二、源码安装ROS导航包(navigation)

安装依赖:

sudo apt-get install ros-melodic-navigation*

sudo apt-get remove ros-melodic-navigation ros-melodic-navigation-experimental

rosdep install teb_local_planner

下载源码并编译
打开链接后,点击页面上的 绿色按钮: Code,然后点击 Download ZIP 下载
下载导航包
​​​https://github.com/ros-planning/navigation/tree/melodic-devel​​

下载teb_local_planner ROS软件包
下载链接
​​​https://github.com/rst-tu-dortmund/teb_local_planner/tree/melodic-devel​​​ 解压后放到​​~/catkin_ws/src​​目录下(或者放到自己建立的工作空间的src目录下),然后

cd ~/catkin_ws/

catkin_make

编译好后可以

roscd move_base

测试一下,正常的话路径如下:

~/catkin_ws/src/navigation-melodic-devel/move_base$


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