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。
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$