[ROS]激光驱动安装

参考资料：

https://blog.csdn.net/hongliang2009/article/details/73302986

https://blog.csdn.net/bohaijun_123/article/details/69660713

https://blog.csdn.net/Changer_sun/article/details/79211981

https://blog.csdn.net/owldestiny/article/details/7951679

ROS使用Xsens传感器 https://blog.csdn.net/qq_31356389/article/details/79216765

1. SICK LMS111驱动安装：

carto@cartoPC:~$ mkdir laser_ws
carto@cartoPC:~$ cd ./laser_ws
carto@cartoPC:~/laser_ws$ git clone https://github.com/clearpathrobotics/LMS1xx.git
正克隆到 'LMS1xx'...
remote: Counting objects: 337, done.
remote: Total 337 (delta 0), reused 0 (delta 0), pack-reused 337
接收对象中: 100% (337/337), 244.37 KiB | 313.00 KiB/s, 完成.
处理 delta 中: 100% (155/155), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws$ catkin_make
Base path: /home/carto/laser_ws
The specified source space "/home/carto/laser_ws/src" does not exist
carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ cd LMS1xx
carto@cartoPC:~/laser_ws/src/LMS1xx$ catkin_make
Base path: /home/carto/laser_ws/src/LMS1xx
The specified base path "/home/carto/laser_ws/src/LMS1xx" contains a package but "catkin_make" must be invoked in the root of workspace
carto@cartoPC:~/laser_ws/src/LMS1xx$ cd ../../
carto@cartoPC:~/laser_ws$ catkin_make
Base path: /home/carto/laser_ws
Source space: /home/carto/laser_ws/src
Build space: /home/carto/laser_ws/build
Devel space: /home/carto/laser_ws/devel
Install space: /home/carto/laser_ws/install
Creating symlink "/home/carto/laser_ws/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/carto/laser_ws/src -DCATKIN_DEVEL_PREFIX=/home/carto/laser_ws/devel -DCMAKE_INSTALL_PREFIX=/home/carto/laser_ws/install -G Unix Makefiles" in "/home/carto/laser_ws/build"
####
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - lms1xx
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'lms1xx'
-- ==> add_subdirectory(LMS1xx)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/build
####
#### Running command: "make -j12 -l12" in "/home/carto/laser_ws/build"
####
Scanning dependencies of target LMS1xx
[ 25%] Building CXX object LMS1xx/CMakeFiles/LMS1xx.dir/src/LMS1xx.cpp.o
[ 50%] Linking CXX shared library /home/carto/laser_ws/devel/lib/libLMS1xx.so
[ 50%] Built target LMS1xx
Scanning dependencies of target LMS1xx_node
[ 75%] Building CXX object LMS1xx/CMakeFiles/LMS1xx_node.dir/src/LMS1xx_node.cpp.o
[100%] Linking CXX executable /home/carto/laser_ws/devel/lib/lms1xx/LMS1xx_node
[100%] Built target LMS1xx_node

 2.安装北洋的驱动过程中报错，genmsg依赖出现问题的解决方法：

1）从https://github.com/ros/genmsg下载genmsg
2）安装步骤
①编译：cd genmsg
       mkdir build
       cd build
       cmake ..
       make
②安装：sudo make install

 

3. UTM30-lx驱动安装过程如下：

carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ mkdir hokuyo
carto@cartoPC:~/laser_ws/src$ cd hokuyo
carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-drivers/driver_common.git
正克隆到 'driver_common'...
remote: Counting objects: 1807, done.
remote: Total 1807 (delta 0), reused 0 (delta 0), pack-reused 1807
接收对象中: 100% (1807/1807), 331.49 KiB | 335.00 KiB/s, 完成.
处理 delta 中: 100% (797/797), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src/hokuyo$ cd driver_common/driver_base
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$  cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- driver_base: 3 messages, 0 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ make
Scanning dependencies of target _driver_base_generate_messages_check_deps_SensorLevels
[  0%] Built target _driver_base_generate_messages_check_deps_SensorLevels
Scanning dependencies of target std_msgs_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_lisp
Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigValue
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigValue
Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigString
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigString
Scanning dependencies of target driver_base_generate_messages_lisp
[  5%] Generating Lisp code from driver_base/ConfigValue.msg
[ 11%] Generating Lisp code from driver_base/ConfigString.msg
[ 17%] Generating Lisp code from driver_base/SensorLevels.msg
[ 17%] Built target driver_base_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_nodejs
[ 17%] Built target std_msgs_generate_messages_nodejs
Scanning dependencies of target driver_base_generate_messages_nodejs
[ 23%] Generating Javascript code from driver_base/ConfigValue.msg
[ 29%] Generating Javascript code from driver_base/ConfigString.msg
[ 35%] Generating Javascript code from driver_base/SensorLevels.msg
[ 35%] Built target driver_base_generate_messages_nodejs
Scanning dependencies of target std_msgs_generate_messages_py
[ 35%] Built target std_msgs_generate_messages_py
Scanning dependencies of target driver_base_generate_messages_py
[ 41%] Generating Python from MSG driver_base/ConfigValue
[ 47%] Generating Python from MSG driver_base/ConfigString
[ 52%] Generating Python from MSG driver_base/SensorLevels
[ 58%] Generating Python msg __init__.py for driver_base
[ 58%] Built target driver_base_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_eus
[ 58%] Built target std_msgs_generate_messages_eus
Scanning dependencies of target driver_base_generate_messages_eus
[ 64%] Generating EusLisp code from driver_base/ConfigValue.msg
[ 70%] Generating EusLisp code from driver_base/ConfigString.msg
[ 76%] Generating EusLisp code from driver_base/SensorLevels.msg
[ 82%] Generating EusLisp manifest code for driver_base
[ 82%] Built target driver_base_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_cpp
[ 82%] Built target std_msgs_generate_messages_cpp
Scanning dependencies of target driver_base_generate_messages_cpp
[ 88%] Generating C++ code from driver_base/ConfigValue.msg
[ 94%] Generating C++ code from driver_base/ConfigString.msg
[100%] Generating C++ code from driver_base/SensorLevels.msg
[100%] Built target driver_base_generate_messages_cpp
Scanning dependencies of target driver_base_generate_messages
[100%] Built target driver_base_generate_messages
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ sudo make install
[sudo] carto 的密码： 
Traceback (most recent call last):
  File "/opt/ros/kinetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py", line 41, in 
    from genmsg import EXT_MSG, EXT_SRV, MsgContext
ImportError: No module named genmsg
CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels.dir/build.make:57: recipe for target 'CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels' failed
make[2]: *** [CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels] Error 1
CMakeFiles/Makefile2:728: recipe for target 'CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels.dir/all' failed
make[1]: *** [CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cd ./
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cd /
carto@cartoPC:/$ cd ~/laser_ws
carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ git clone  https://github.com/ros/genmsg.git 
正克隆到 'genmsg'...
remote: Counting objects: 1755, done.
remote: Total 1755 (delta 0), reused 0 (delta 0), pack-reused 1755
接收对象中: 100% (1755/1755), 371.61 KiB | 312.00 KiB/s, 完成.
处理 delta 中: 100% (937/937), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src$ cd genmsg
carto@cartoPC:~/laser_ws/src/genmsg$ mkdir build
carto@cartoPC:~/laser_ws/src/genmsg$ cd build
carto@cartoPC:~/laser_ws/src/genmsg/build$  cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/genmsg/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/genmsg/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/genmsg/build
carto@cartoPC:~/laser_ws/src/genmsg/build$ make
carto@cartoPC:~/laser_ws/src/genmsg/build$ sudo make install
[sudo] carto 的密码： 
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/genmsg.pc
-- Installing: /usr/local/share/genmsg/cmake/genmsg-extras.cmake
-- Installing: /usr/local/share/genmsg/cmake/genmsgConfig.cmake
-- Installing: /usr/local/share/genmsg/cmake/genmsgConfig-version.cmake
-- Installing: /usr/local/share/genmsg/package.xml
-- Installing: /usr/local/share/genmsg/cmake/pkg-genmsg.cmake.em
-- Installing: /usr/local/share/genmsg/cmake/pkg-genmsg.context.in
-- Installing: /usr/local/share/genmsg/cmake/pkg-msg-extras.cmake.in
-- Installing: /usr/local/share/genmsg/cmake/pkg-msg-paths.cmake.develspace.in
-- Installing: /usr/local/share/genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+ cd /home/carto/laser_ws/src/genmsg
+ mkdir -p /usr/local/lib/python2.7/dist-packages
+ /usr/bin/env PYTHONPATH=/usr/local/lib/python2.7/dist-packages:/home/carto/laser_ws/src/genmsg/build/lib/python2.7/dist-packages: CATKIN_BINARY_DIR=/home/carto/laser_ws/src/genmsg/build /usr/bin/python /home/carto/laser_ws/src/genmsg/setup.py build --build-base /home/carto/laser_ws/src/genmsg/build install --install-layout=deb --prefix=/usr/local --install-scripts=/usr/local/bin
running build
running build_py
creating /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7
creating /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/__init__.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/command_line.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/msg_loader.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/deps.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/names.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/gentools.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/srvs.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/template_tools.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/base.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/msgs.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
running install
running install_lib
creating /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/__init__.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/command_line.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/msg_loader.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/deps.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/names.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/gentools.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/srvs.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/template_tools.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/base.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/msgs.py -> /usr/local/lib/python2.7/dist-packages/genmsg
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/__init__.py to __init__.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/command_line.py to command_line.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/msg_loader.py to msg_loader.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/deps.py to deps.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/names.py to names.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/gentools.py to gentools.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/srvs.py to srvs.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/template_tools.py to template_tools.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/base.py to base.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/msgs.py to msgs.pyc
running install_egg_info
Writing /usr/local/lib/python2.7/dist-packages/genmsg-0.5.11.egg-info
-- Installing: /usr/local/lib/genmsg/genmsg_check_deps.py
carto@cartoPC:~/laser_ws/src/genmsg/build$ cd driver_common/driver_base
bash: cd: driver_common/driver_base: 没有那个文件或目录
carto@cartoPC:~/laser_ws/src/genmsg/build$ cd ../../
carto@cartoPC:~/laser_ws/src$ cd hokuyo/driver_common/driver_base
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cmake ..
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- driver_base: 3 messages, 0 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ make
[  0%] Built target _driver_base_generate_messages_check_deps_SensorLevels
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigValue
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigString
[  0%] Built target driver_base_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target driver_base_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target driver_base_generate_messages_py
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target driver_base_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target driver_base_generate_messages_cpp
[  0%] Built target driver_base_generate_messages
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ sudo make istall
make: *** No rule to make target 'istall'。 停止。
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ sudo make install
[  0%] Built target _driver_base_generate_messages_check_deps_SensorLevels
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigValue
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigString
[ 17%] Built target driver_base_generate_messages_lisp
[ 17%] Built target std_msgs_generate_messages_nodejs
[ 35%] Built target driver_base_generate_messages_nodejs
[ 35%] Built target std_msgs_generate_messages_py
[ 58%] Built target driver_base_generate_messages_py
[ 58%] Built target std_msgs_generate_messages_eus
[ 82%] Built target driver_base_generate_messages_eus
[ 82%] Built target std_msgs_generate_messages_cpp
[100%] Built target driver_base_generate_messages_cpp
[100%] Built target driver_base_generate_messages
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/share/driver_base/msg/ConfigString.msg
-- Installing: /usr/local/share/driver_base/msg/ConfigValue.msg
-- Installing: /usr/local/share/driver_base/msg/SensorLevels.msg
-- Installing: /usr/local/share/driver_base/cmake/driver_base-msg-paths.cmake
-- Installing: /usr/local/include/driver_base
-- Installing: /usr/local/include/driver_base/ConfigString.h
-- Installing: /usr/local/include/driver_base/ConfigValue.h
-- Installing: /usr/local/include/driver_base/SensorLevels.h
-- Installing: /usr/local/share/roseus/ros/driver_base
-- Installing: /usr/local/share/roseus/ros/driver_base/msg
-- Installing: /usr/local/share/roseus/ros/driver_base/msg/ConfigString.l
-- Installing: /usr/local/share/roseus/ros/driver_base/msg/SensorLevels.l
-- Installing: /usr/local/share/roseus/ros/driver_base/msg/ConfigValue.l
-- Installing: /usr/local/share/roseus/ros/driver_base/manifest.l
-- Installing: /usr/local/share/common-lisp/ros/driver_base
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package_SensorLevels.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/ConfigString.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/ConfigValue.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/SensorLevels.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package_ConfigString.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/driver_base-msg.asd
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package_ConfigValue.lisp
-- Installing: /usr/local/share/gennodejs/ros/driver_base
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/ConfigString.js
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/ConfigValue.js
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/_index.js
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/SensorLevels.js
-- Installing: /usr/local/share/gennodejs/ros/driver_base/_index.js
Listing /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/__init__.py ...
Listing /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.py ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.py ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.py ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/__init__.py ...
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/__init__.py
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/__init__.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/__init__.py
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/__init__.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.py
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.py
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.py
-- Installing: /usr/local/lib/pkgconfig/driver_base.pc
-- Installing: /usr/local/share/driver_base/cmake/driver_base-msg-extras.cmake
-- Installing: /usr/local/share/driver_base/cmake/driver_baseConfig.cmake
-- Installing: /usr/local/share/driver_base/cmake/driver_baseConfig-version.cmake
-- Installing: /usr/local/share/driver_base/package.xml
-- Up-to-date: /usr/local/include/driver_base
-- Installing: /usr/local/include/driver_base/driver_node.h
-- Installing: /usr/local/include/driver_base/driver.h
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cd ../../
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common$ cd driver_common
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/driver_common/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/driver_common/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/driver_common/build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ make
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ sudo make install
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/share/driver_common/package.xml
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ cd ../../carto@cartoPC:~/laser_ws/src/hokuyo/driver_common$ cd timestamp_tools
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ cmake ...
CMake Error: The source directory "/home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build/..." does not exist.
Specify --help for usage, or press the help button on the CMake GUI.
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Boost version: 1.58.0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ make
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ sudo make install
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/timestamp_tools.pc
-- Installing: /usr/local/share/timestamp_tools/cmake/timestamp_toolsConfig.cmake
-- Installing: /usr/local/share/timestamp_tools/cmake/timestamp_toolsConfig-version.cmake
-- Installing: /usr/local/share/timestamp_tools/package.xml
-- Installing: /usr/local/include/timestamp_tools
-- Installing: /usr/local/include/timestamp_tools/trigger_matcher.h
-- Installing: /usr/local/include/timestamp_tools/periodic_timestamp_min_filter.h
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ cd ~/laser_ws
carto@cartoPC:~/laser_ws$ cd src/hokuyo
carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-perception/laser_proc.git
正克隆到 'laser_proc'...
remote: Counting objects: 93, done.
remote: Total 93 (delta 0), reused 0 (delta 0), pack-reused 92
展开对象中: 100% (93/93), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-drivers/urg_c.git
正克隆到 'urg_c'...
remote: Counting objects: 2352, done.
remote: Total 2352 (delta 0), reused 0 (delta 0), pack-reused 2352
接收对象中: 100% (2352/2352), 2.03 MiB | 556.00 KiB/s, 完成.
处理 delta 中: 100% (1473/1473), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-drivers/hokuyo_node.git
正克隆到 'hokuyo_node'...
remote: Counting objects: 452, done.
remote: Total 452 (delta 0), reused 0 (delta 0), pack-reused 452
接收对象中: 100% (452/452), 84.30 KiB | 0 bytes/s, 完成.
处理 delta 中: 100% (229/229), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src/hokuyo$ cd hokuyo_node
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ rosdep install --from-paths ~/laser_ws/src --ignore-src
#All required rosdeps installed successfully
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ catkin_make -DCATKIN_WHITELIST_PACKAGES="hokuyo_node"
Base path: /home/carto/laser_ws/src/hokuyo/hokuyo_node/build
The specified source space "/home/carto/laser_ws/src/hokuyo/hokuyo_node/build/src" does not exist
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ cd ~/laser_ws
carto@cartoPC:~/laser_ws$ catkin_make install
Base path: /home/carto/laser_ws
Source space: /home/carto/laser_ws/src
Build space: /home/carto/laser_ws/build
Devel space: /home/carto/laser_ws/devel
Install space: /home/carto/laser_ws/install
####
#### Running command: "cmake /home/carto/laser_ws/src -DCATKIN_DEVEL_PREFIX=/home/carto/laser_ws/devel -DCMAKE_INSTALL_PREFIX=/home/carto/laser_ws/install -G Unix Makefiles" in "/home/carto/laser_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 8 packages in topological order:
-- ~~  - genmsg
-- ~~  - driver_common (metapackage)
-- ~~  - urg_c
-- ~~  - timestamp_tools
-- ~~  - driver_base
-- ~~  - hokuyo_node
-- ~~  - laser_proc
-- ~~  - lms1xx
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'genmsg'
-- ==> add_subdirectory(genmsg)
-- +++ processing catkin metapackage: 'driver_common'
-- ==> add_subdirectory(hokuyo/driver_common/driver_common)
-- +++ processing catkin package: 'urg_c'
-- ==> add_subdirectory(hokuyo/urg_c)
-- +++ processing catkin package: 'timestamp_tools'
-- ==> add_subdirectory(hokuyo/driver_common/timestamp_tools)
-- Boost version: 1.58.0
-- +++ processing catkin package: 'driver_base'
-- ==> add_subdirectory(hokuyo/driver_common/driver_base)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- driver_base: 3 messages, 0 services
-- +++ processing catkin package: 'hokuyo_node'
-- ==> add_subdirectory(hokuyo/hokuyo_node)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   chrono
--   date_time
--   atomic
-- +++ processing catkin package: 'laser_proc'
-- ==> add_subdirectory(hokuyo/laser_proc)
-- +++ processing catkin package: 'lms1xx'
-- ==> add_subdirectory(LMS1xx)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/build
####
#### Running command: "make install -j12 -l12" in "/home/carto/laser_ws/build"
####
Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigValue
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_nodejs
Scanning dependencies of target _driver_base_generate_messages_check_deps_SensorLevels
Scanning dependencies of target std_msgs_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_lisp
Scanning dependencies of target liburg_c
Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigString
Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target hokuyo_node_gencfg
Scanning dependencies of target libhokuyo
Scanning dependencies of target laser_proc_library
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_eus
[  1%] Built target std_msgs_generate_messages_lisp
[  1%] Generating dynamic reconfigure files from cfg/Hokuyo.cfg: /home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py
[  2%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_sensor.c.o
[  5%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/libhokuyo.dir/src/hokuyo.cpp.o
[  5%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_proc_library.dir/src/LaserProc.cpp.o
[  6%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_connection.c.o
[  7%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_debug.c.o
[  9%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_ring_buffer.c.o
[ 10%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_utils.c.o
[ 13%] Built target LMS1xx
[ 13%] Built target _driver_base_generate_messages_check_deps_SensorLevels
[ 13%] Built target _driver_base_generate_messages_check_deps_ConfigString
[ 14%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_serial.c.o
[ 14%] Built target _driver_base_generate_messages_check_deps_ConfigValue
[ 15%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_serial_utils.c.o
[ 17%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_tcpclient.c.o
[ 18%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_time.c.o
Scanning dependencies of target driver_base_generate_messages_py
Scanning dependencies of target driver_base_generate_messages_eus
[ 19%] Generating EusLisp code from driver_base/ConfigValue.msg
Traceback (most recent call last):
  File "/home/carto/laser_ws/src/hokuyo/hokuyo_node/cfg/Hokuyo.cfg", line 39, in 
[ 22%] Built target LMS1xx_node
    from driver_base.msg import SensorLevels
ImportError: No module named msg
[ 23%] Generating Python from MSG driver_base/ConfigValue
[ 25%] Generating EusLisp code from driver_base/ConfigString.msg
hokuyo/hokuyo_node/CMakeFiles/hokuyo_node_gencfg.dir/build.make:63: recipe for target '/home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h' failed
make[2]: *** [/home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h] Error 1
CMakeFiles/Makefile2:2702: recipe for target 'hokuyo/hokuyo_node/CMakeFiles/hokuyo_node_gencfg.dir/all' failed
make[1]: *** [hokuyo/hokuyo_node/CMakeFiles/hokuyo_node_gencfg.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 26%] Generating EusLisp code from driver_base/SensorLevels.msg
[ 27%] Generating EusLisp manifest code for driver_base
[ 28%] Generating Python from MSG driver_base/ConfigString
Scanning dependencies of target driver_base_generate_messages_nodejs
[ 30%] Generating Python from MSG driver_base/SensorLevels
[ 31%] Generating Javascript code from driver_base/ConfigValue.msg
[ 32%] Generating Javascript code from driver_base/ConfigString.msg
[ 34%] Linking C shared library /home/carto/laser_ws/devel/lib/libliburg_c.so
[ 35%] Generating Javascript code from driver_base/SensorLevels.msg
[ 35%] Built target liburg_c
[ 35%] Built target driver_base_generate_messages_nodejs
[ 36%] Generating Python msg __init__.py for driver_base
[ 36%] Built target driver_base_generate_messages_py
[ 36%] Built target driver_base_generate_messages_eus
[ 38%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_proc_library.so
[ 38%] Built target laser_proc_library
[ 39%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblibhokuyo.so
[ 39%] Built target libhokuyo
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make install -j12 -l12" failed
carto@cartoPC:~/laser_ws$ cd src/hokuyo/laser_proc
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/laser_proc/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/laser_proc/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/laser_proc/build
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ make
Scanning dependencies of target laser_proc_library
[  8%] Building CXX object CMakeFiles/laser_proc_library.dir/src/LaserProc.cpp.o
[ 16%] Linking CXX shared library devel/lib/liblaser_proc_library.so
[ 16%] Built target laser_proc_library
Scanning dependencies of target laser_publisher
[ 25%] Building CXX object CMakeFiles/laser_publisher.dir/src/LaserPublisher.cpp.o
[ 33%] Linking CXX shared library devel/lib/liblaser_publisher.so
[ 33%] Built target laser_publisher
Scanning dependencies of target laser_transport
[ 41%] Building CXX object CMakeFiles/laser_transport.dir/src/LaserTransport.cpp.o
[ 50%] Linking CXX shared library devel/lib/liblaser_transport.so
[ 50%] Built target laser_transport
Scanning dependencies of target laser_proc_ROS
[ 58%] Building CXX object CMakeFiles/laser_proc_ROS.dir/src/LaserProcROS.cpp.o
[ 66%] Linking CXX shared library devel/lib/liblaser_proc_ROS.so
[ 66%] Built target laser_proc_ROS
Scanning dependencies of target LaserProcNodelet
[ 75%] Building CXX object CMakeFiles/LaserProcNodelet.dir/src/LaserProcNodelet.cpp.o
[ 83%] Linking CXX shared library devel/lib/libLaserProcNodelet.so
[ 83%] Built target LaserProcNodelet
Scanning dependencies of target laser_proc
[ 91%] Building CXX object CMakeFiles/laser_proc.dir/src/laser_proc.cpp.o
[100%] Linking CXX executable devel/lib/laser_proc/laser_proc
[100%] Built target laser_proc
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ sudo make install
[sudo] carto 的密码： 
[ 16%] Built target laser_proc_library
[ 33%] Built target laser_publisher
[ 50%] Built target laser_transport
[ 66%] Built target laser_proc_ROS
[ 83%] Built target LaserProcNodelet
[100%] Built target laser_proc
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/laser_proc.pc
-- Installing: /usr/local/share/laser_proc/cmake/laser_procConfig.cmake
-- Installing: /usr/local/share/laser_proc/cmake/laser_procConfig-version.cmake
-- Installing: /usr/local/share/laser_proc/package.xml
-- Installing: /usr/local/lib/liblaser_proc_library.so
-- Set runtime path of "/usr/local/lib/liblaser_proc_library.so" to ""
-- Installing: /usr/local/lib/liblaser_publisher.so
-- Set runtime path of "/usr/local/lib/liblaser_publisher.so" to ""
-- Installing: /usr/local/lib/liblaser_transport.so
-- Set runtime path of "/usr/local/lib/liblaser_transport.so" to ""
-- Installing: /usr/local/lib/liblaser_proc_ROS.so
-- Set runtime path of "/usr/local/lib/liblaser_proc_ROS.so" to ""
-- Installing: /usr/local/lib/libLaserProcNodelet.so
-- Set runtime path of "/usr/local/lib/libLaserProcNodelet.so" to ""
-- Installing: /usr/local/lib/laser_proc/laser_proc
-- Set runtime path of "/usr/local/lib/laser_proc/laser_proc" to ""
-- Installing: /usr/local/include/laser_proc
-- Installing: /usr/local/include/laser_proc/LaserProcROS.h
-- Installing: /usr/local/include/laser_proc/LaserProc.h
-- Installing: /usr/local/include/laser_proc/LaserPublisher.h
-- Installing: /usr/local/include/laser_proc/LaserTransport.h
-- Installing: /usr/local/share/laser_proc/nodelets.xml
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ cd ../../
carto@cartoPC:~/laser_ws/src/hokuyo$ cd hokuyo_node
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ rosdep isntall --from-paths ~/laser_ws/src --ignore-src
Usage: rosdep [options]  

Commands:

rosdep check ...
  check if the dependencies of package(s) have been met.

rosdep install ...
  generate a bash script and then execute it.

rosdep db
  generate the dependency database and print it to the console.

rosdep init
  initialize rosdep sources in /etc/ros/rosdep.  May require sudo.

rosdep keys ...
  list the rosdep keys that the packages depend on.

rosdep resolve 
  resolve  to system dependencies

rosdep update
  update the local rosdep database based on the rosdep sources.

rosdep what-needs ...
  print a list of packages that declare a rosdep on (at least
  one of) 

rosdep where-defined ...
  print a list of yaml files that declare a rosdep on (at least
  one of) 

rosdep fix-permissions
  Recursively change the permissions of the user's ros home directory.
  May require sudo.  Can be useful to fix permissions after calling
  "rosdep update" with sudo accidentally.


rosdep: error: Unsupported command isntall.
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ rosdep install --from-paths ~/laser_ws/src --ignore-src
#All required rosdeps installed successfully
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ cd ~/laser_ws
carto@cartoPC:~/laser_ws$ catkin_make install
Base path: /home/carto/laser_ws
Source space: /home/carto/laser_ws/src
Build space: /home/carto/laser_ws/build
Devel space: /home/carto/laser_ws/devel
Install space: /home/carto/laser_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/carto/laser_ws/build"
####
####
#### Running command: "make install -j12 -l12" in "/home/carto/laser_ws/build"
####
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_nodejs
[ 13%] Built target liburg_c
[ 13%] Built target std_msgs_generate_messages_cpp
[ 14%] Generating dynamic reconfigure files from cfg/Hokuyo.cfg: /home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py
[ 14%] Built target std_msgs_generate_messages_lisp
[ 14%] Built target std_msgs_generate_messages_py
[ 17%] Built target libhokuyo
[ 19%] Built target laser_proc_library
Scanning dependencies of target open_urg_sensor
Scanning dependencies of target getFirmwareVersion
Scanning dependencies of target laser_publisher
[ 21%] Building C object hokuyo/urg_c/CMakeFiles/open_urg_sensor.dir/current/samples/open_urg_sensor.c.o
Scanning dependencies of target getID
[ 23%] Built target LMS1xx
[ 25%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/getFirmwareVersion.dir/src/getFirmwareVersion.cpp.o
[ 25%] Built target _driver_base_generate_messages_check_deps_SensorLevels
[ 26%] Built target _driver_base_generate_messages_check_deps_ConfigString
[ 26%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/getID.dir/src/getID.cpp.o
[ 27%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_publisher.dir/src/LaserPublisher.cpp.o
[ 27%] Built target _driver_base_generate_messages_check_deps_ConfigValue
Scanning dependencies of target driver_base_generate_messages_lisp
Scanning dependencies of target driver_base_generate_messages_cpp
[ 30%] Built target LMS1xx_node
[ 31%] Generating Lisp code from driver_base/ConfigValue.msg
[ 32%] Generating Lisp code from driver_base/ConfigString.msg
[ 34%] Generating C++ code from driver_base/ConfigValue.msg
[ 39%] Built target driver_base_generate_messages_py
[ 40%] Linking C shared library /home/carto/laser_ws/devel/lib/libopen_urg_sensor.so
[ 44%] Built target driver_base_generate_messages_nodejs
[ 50%] Built target driver_base_generate_messages_eus
[ 51%] Generating Lisp code from driver_base/SensorLevels.msg
[ 52%] Generating C++ code from driver_base/ConfigString.msg
[ 53%] Generating C++ code from driver_base/SensorLevels.msg
[ 53%] Built target open_urg_sensor
[ 53%] Built target driver_base_generate_messages_lisp
Scanning dependencies of target sensor_parameter
Scanning dependencies of target sync_time_stamp
Scanning dependencies of target calculate_xy
Scanning dependencies of target angle_convert_test
Scanning dependencies of target get_distance
[ 56%] Building C object hokuyo/urg_c/CMakeFiles/calculate_xy.dir/current/samples/calculate_xy.c.o
[ 56%] Building C object hokuyo/urg_c/CMakeFiles/sync_time_stamp.dir/current/samples/sync_time_stamp.c.o
[ 59%] Building C object hokuyo/urg_c/CMakeFiles/sensor_parameter.dir/current/samples/sensor_parameter.c.o
[ 59%] Building C object hokuyo/urg_c/CMakeFiles/angle_convert_test.dir/current/samples/angle_convert_test.c.o
[ 60%] Building C object hokuyo/urg_c/CMakeFiles/get_distance.dir/current/samples/get_distance.c.o
/home/carto/laser_ws/src/hokuyo/urg_c/current/samples/calculate_xy.c: In function ‘main’:
/home/carto/laser_ws/src/hokuyo/urg_c/current/samples/calculate_xy.c:43:51: warning: passing argument 4 of ‘urg_get_distance’ makes pointer from integer without a cast [-Wint-conversion]
     n = urg_get_distance(&urg, data, &time_stamp, system_time_stamp);
                                                   ^
In file included from /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/calculate_xy.c:12:0:
/home/carto/laser_ws/src/hokuyo/urg_c/current/include/urg_c/urg_sensor.h:298:16: note: expected ‘long long unsigned int *’ but argument is of type ‘long long unsigned int’
     extern int urg_get_distance(urg_t *urg, long data[], long *time_stamp, unsigned long long *system_time_stamp);
                ^
/home/carto/laser_ws/src/hokuyo/urg_c/current/samples/get_distance.c: In function ‘main’:
Generating reconfiguration files for Hokuyo in hokuyo_node
/home/carto/laser_ws/src/hokuyo/urg_c/current/samples/get_distance.c:89:55: warning: passing argument 4 of ‘urg_get_distance’ makes pointer from integer without a cast [-Wint-conversion]
         n = urg_get_distance(&urg, data, &time_stamp, system_time_stamp);
                                                       ^
In file included from /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/get_distance.c:11:0:
/home/carto/laser_ws/src/hokuyo/urg_c/current/include/urg_c/urg_sensor.h:298:16: note: expected ‘long long unsigned int *’ but argument is of type ‘long long unsigned int’
     extern int urg_get_distance(urg_t *urg, long data[], long *time_stamp, unsigned long long *system_time_stamp);
                ^
Wrote header file in /home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h
[ 63%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/sensor_parameter
[ 63%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/sync_time_stamp
[ 64%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/angle_convert_test
[ 65%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/calculate_xy
[ 67%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_distance
Scanning dependencies of target get_distance_intensity
[ 67%] Built target hokuyo_node_gencfg
Scanning dependencies of target get_multiecho
[ 68%] Building C object hokuyo/urg_c/CMakeFiles/get_distance_intensity.dir/current/samples/get_distance_intensity.c.o
[ 68%] Built target sync_time_stamp
[ 68%] Built target driver_base_generate_messages_cpp
[ 68%] Built target sensor_parameter
[ 68%] Built target angle_convert_test
[ 68%] Built target calculate_xy
Scanning dependencies of target find_port
[ 68%] Built target get_distance
Scanning dependencies of target get_multiecho_intensity
Scanning dependencies of target timeout_test
[ 69%] Building C object hokuyo/urg_c/CMakeFiles/get_multiecho.dir/current/samples/get_multiecho.c.o
Scanning dependencies of target reboot_test
Scanning dependencies of target hokuyo_node
Scanning dependencies of target driver_base_generate_messages
[ 72%] Building C object hokuyo/urg_c/CMakeFiles/get_multiecho_intensity.dir/current/samples/get_multiecho_intensity.c.o
[ 72%] Building C object hokuyo/urg_c/CMakeFiles/timeout_test.dir/current/samples/timeout_test.c.o
[ 73%] Building C object hokuyo/urg_c/CMakeFiles/find_port.dir/current/samples/find_port.c.o
[ 75%] Building C object hokuyo/urg_c/CMakeFiles/reboot_test.dir/current/samples/reboot_test.c.o
[ 75%] Built target driver_base_generate_messages
[ 76%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_distance_intensity
[ 77%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/hokuyo_node.dir/src/hokuyo_node.cpp.o
[ 78%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/timeout_test
[ 80%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_multiecho
[ 81%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/find_port
[ 82%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_multiecho_intensity
[ 84%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/reboot_test
[ 84%] Built target get_distance_intensity
[ 84%] Built target timeout_test
[ 84%] Built target find_port
[ 84%] Built target get_multiecho
[ 84%] Built target get_multiecho_intensity
[ 84%] Built target reboot_test
[ 85%] Linking CXX executable /home/carto/laser_ws/devel/lib/hokuyo_node/getFirmwareVersion
[ 86%] Linking CXX executable /home/carto/laser_ws/devel/lib/hokuyo_node/getID
[ 86%] Built target getFirmwareVersion
[ 86%] Built target getID
[ 88%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_publisher.so
[ 88%] Built target laser_publisher
Scanning dependencies of target laser_transport
[ 89%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_transport.dir/src/LaserTransport.cpp.o
[ 90%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_transport.so
[ 90%] Built target laser_transport
Scanning dependencies of target laser_proc_ROS
[ 92%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_proc_ROS.dir/src/LaserProcROS.cpp.o
[ 93%] Linking CXX executable /home/carto/laser_ws/devel/lib/hokuyo_node/hokuyo_node
[ 94%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_proc_ROS.so
[ 94%] Built target laser_proc_ROS
Scanning dependencies of target LaserProcNodelet
Scanning dependencies of target laser_proc
[ 96%] Building CXX object hokuyo/laser_proc/CMakeFiles/LaserProcNodelet.dir/src/LaserProcNodelet.cpp.o
[ 97%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_proc.dir/src/laser_proc.cpp.o
[ 97%] Built target hokuyo_node
[ 98%] Linking CXX executable /home/carto/laser_ws/devel/lib/laser_proc/laser_proc
[100%] Linking CXX shared library /home/carto/laser_ws/devel/lib/libLaserProcNodelet.so
[100%] Built target laser_proc
[100%] Built target LaserProcNodelet
Install the project...
-- Install configuration: ""
-- Installing: /home/carto/laser_ws/install/_setup_util.py
-- Installing: /home/carto/laser_ws/install/env.sh
-- Installing: /home/carto/laser_ws/install/setup.bash
-- Installing: /home/carto/laser_ws/install/setup.sh
-- Installing: /home/carto/laser_ws/install/setup.zsh
-- Installing: /home/carto/laser_ws/install/.rosinstall
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/genmsg.pc
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/genmsg-extras.cmake
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/genmsgConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/genmsgConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/genmsg/package.xml
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-genmsg.cmake.em
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-genmsg.context.in
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-msg-extras.cmake.in
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-msg-paths.cmake.develspace.in
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+ cd /home/carto/laser_ws/src/genmsg
+ mkdir -p /home/carto/laser_ws/install/lib/python2.7/dist-packages
+ /usr/bin/env PYTHONPATH=/home/carto/laser_ws/install/lib/python2.7/dist-packages:/home/carto/laser_ws/build/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages CATKIN_BINARY_DIR=/home/carto/laser_ws/build /usr/bin/python /home/carto/laser_ws/src/genmsg/setup.py build --build-base /home/carto/laser_ws/build/genmsg install --install-layout=deb --prefix=/home/carto/laser_ws/install --install-scripts=/home/carto/laser_ws/install/bin
running build
running build_py
creating /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7
creating /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/__init__.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/command_line.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/msg_loader.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/deps.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/names.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/gentools.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/srvs.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/template_tools.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/base.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/msgs.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
running install
running install_lib
creating /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/__init__.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/command_line.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/msg_loader.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/deps.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/names.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/gentools.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/srvs.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/template_tools.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/base.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/msgs.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/__init__.py to __init__.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/command_line.py to command_line.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/msg_loader.py to msg_loader.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/deps.py to deps.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/names.py to names.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/gentools.py to gentools.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/srvs.py to srvs.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/template_tools.py to template_tools.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/base.py to base.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/msgs.py to msgs.pyc
running install_egg_info
Writing /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg-0.5.11.egg-info
-- Installing: /home/carto/laser_ws/install/lib/genmsg/genmsg_check_deps.py
-- Installing: /home/carto/laser_ws/install/share/driver_common/package.xml
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/urg_c.pc
-- Installing: /home/carto/laser_ws/install/share/urg_c/cmake/urg_cConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/urg_c/cmake/urg_cConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/urg_c/package.xml
-- Installing: /home/carto/laser_ws/install/lib/libliburg_c.so
-- Installing: /home/carto/laser_ws/install/lib/libopen_urg_sensor.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/libopen_urg_sensor.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/angle_convert_test
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/angle_convert_test" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/calculate_xy
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/calculate_xy" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/find_port
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/find_port" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/get_distance
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_distance" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/get_distance_intensity
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_distance_intensity" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/get_multiecho
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_multiecho" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/get_multiecho_intensity
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_multiecho_intensity" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/reboot_test
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/reboot_test" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/sensor_parameter
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/sensor_parameter" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/sync_time_stamp
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/sync_time_stamp" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/timeout_test
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/timeout_test" to ""
-- Installing: /home/carto/laser_ws/install/include/urg_c
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_debug.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_serial_utils.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_sensor.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_connection.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_tcpclient.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_detect_os.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_serial.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_errno.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_utils.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_time.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_ring_buffer.h
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/timestamp_tools.pc
-- Installing: /home/carto/laser_ws/install/share/timestamp_tools/cmake/timestamp_toolsConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/timestamp_tools/cmake/timestamp_toolsConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/timestamp_tools/package.xml
-- Installing: /home/carto/laser_ws/install/include/timestamp_tools
-- Installing: /home/carto/laser_ws/install/include/timestamp_tools/trigger_matcher.h
-- Installing: /home/carto/laser_ws/install/include/timestamp_tools/periodic_timestamp_min_filter.h
-- Installing: /home/carto/laser_ws/install/share/driver_base/msg/ConfigString.msg
-- Installing: /home/carto/laser_ws/install/share/driver_base/msg/ConfigValue.msg
-- Installing: /home/carto/laser_ws/install/share/driver_base/msg/SensorLevels.msg
-- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_base-msg-paths.cmake
-- Installing: /home/carto/laser_ws/install/include/driver_base
-- Installing: /home/carto/laser_ws/install/include/driver_base/ConfigString.h
-- Installing: /home/carto/laser_ws/install/include/driver_base/ConfigValue.h
-- Installing: /home/carto/laser_ws/install/include/driver_base/SensorLevels.h
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg/ConfigString.l
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg/SensorLevels.l
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg/ConfigValue.l
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/manifest.l
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package_SensorLevels.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/ConfigString.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/ConfigValue.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/SensorLevels.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package_ConfigString.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/driver_base-msg.asd
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package_ConfigValue.lisp
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/ConfigString.js
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/ConfigValue.js
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/_index.js
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/SensorLevels.js
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/_index.js
Listing /home/carto/laser_ws/devel/lib/python2.7/dist-packages/driver_base ...
Listing /home/carto/laser_ws/devel/lib/python2.7/dist-packages/driver_base/msg ...
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/__init__.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/__init__.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/__init__.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/__init__.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.py
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/driver_base.pc
-- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_base-msg-extras.cmake
-- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_baseConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_baseConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/driver_base/package.xml
-- Up-to-date: /home/carto/laser_ws/install/include/driver_base
-- Installing: /home/carto/laser_ws/install/include/driver_base/driver_node.h
-- Installing: /home/carto/laser_ws/install/include/driver_base/driver.h
-- Installing: /home/carto/laser_ws/install/include/hokuyo_node/HokuyoConfig.h
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/__init__.py
Listing /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg ...
Compiling /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py ...
Compiling /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/__init__.py ...
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/__init__.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/__init__.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.pyc
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/hokuyo_node.pc
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/cmake/hokuyo_nodeConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/cmake/hokuyo_nodeConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/package.xml
-- Installing: /home/carto/laser_ws/install/lib/liblibhokuyo.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblibhokuyo.so" to ""
-- Up-to-date: /home/carto/laser_ws/install/include/hokuyo_node
-- Installing: /home/carto/laser_ws/install/include/hokuyo_node/hokuyo.h
-- Installing: /home/carto/laser_ws/install/lib/hokuyo_node/hokuyo_node
-- Set runtime path of "/home/carto/laser_ws/install/lib/hokuyo_node/hokuyo_node" to ""
-- Installing: /home/carto/laser_ws/install/lib/hokuyo_node/getID
-- Set runtime path of "/home/carto/laser_ws/install/lib/hokuyo_node/getID" to ""
-- Installing: /home/carto/laser_ws/install/lib/hokuyo_node/getFirmwareVersion
-- Set runtime path of "/home/carto/laser_ws/install/lib/hokuyo_node/getFirmwareVersion" to ""
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/TODO
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/unplug_test.launch
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/COPYING.lib
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/hokuyo_test.launch
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/hokuyo_test.vcg
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/hokuyo_test_intensity.launch
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/laser_proc.pc
-- Installing: /home/carto/laser_ws/install/share/laser_proc/cmake/laser_procConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/laser_proc/cmake/laser_procConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/laser_proc/package.xml
-- Installing: /home/carto/laser_ws/install/lib/liblaser_proc_library.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_proc_library.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/liblaser_publisher.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_publisher.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/liblaser_transport.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_transport.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/liblaser_proc_ROS.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_proc_ROS.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/libLaserProcNodelet.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/libLaserProcNodelet.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/laser_proc/laser_proc
-- Set runtime path of "/home/carto/laser_ws/install/lib/laser_proc/laser_proc" to ""
-- Installing: /home/carto/laser_ws/install/include/laser_proc
-- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserProcROS.h
-- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserProc.h
-- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserPublisher.h
-- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserTransport.h
-- Installing: /home/carto/laser_ws/install/share/laser_proc/nodelets.xml
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/lms1xx.pc
-- Installing: /home/carto/laser_ws/install/share/lms1xx/cmake/lms1xxConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/lms1xx/cmake/lms1xxConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/lms1xx/package.xml
-- Installing: /home/carto/laser_ws/install/lib/libLMS1xx.so
-- Installing: /home/carto/laser_ws/install/lib/lms1xx/LMS1xx_node
-- Set runtime path of "/home/carto/laser_ws/install/lib/lms1xx/LMS1xx_node" to ""
-- Installing: /home/carto/laser_ws/install/share/lms1xx/meshes
-- Installing: /home/carto/laser_ws/install/share/lms1xx/meshes/sick-lms1xx.dae
-- Installing: /home/carto/laser_ws/install/share/lms1xx/meshes/sick-lms1xx.stl
-- Installing: /home/carto/laser_ws/install/share/lms1xx/launch
-- Installing: /home/carto/laser_ws/install/share/lms1xx/launch/LMS1xx.launch
-- Installing: /home/carto/laser_ws/install/share/lms1xx/urdf
-- Installing: /home/carto/laser_ws/install/share/lms1xx/urdf/sick_lms1xx.urdf.xacro
-- Installing: /home/carto/laser_ws/install/lib/lms1xx/find_sick
-- Installing: /home/carto/laser_ws/install/lib/lms1xx/set_sick_ip

 配置过程：

carto@cartoPC:~$ ls -l /dev/ttyACM0
crw-rw---- 1 root dialout 166, 0 7月  31 09:00 /dev/ttyACM0
carto@cartoPC:~$ sudo chmod a+rw /dev/ttyACM0
[sudo] carto 的密码： 

注意这里是ttyACM0，区别与ttyUSB0。

测试过程如下

carto@cartoPC:~/laser_ws$ roslaunch hokuyo_node hokuyo_test.launch
... logging to /home/carto/.ros/log/770997bc-946b-11e8-b5cd-505bc2bbfd81/roslaunch-cartoPC-10296.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cartoPC:33469/

SUMMARY
========

PARAMETERS
 * /hokuyo/calibrate_time: False
 * /hokuyo/intensity: False
 * /hokuyo/port: /dev/ttyACM0
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    hokuyo (hokuyo_node/hokuyo_node)

auto-starting new master
process[master]: started with pid [10306]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 770997bc-946b-11e8-b5cd-505bc2bbfd81
process[rosout-1]: started with pid [10319]
started core service [/rosout]
process[hokuyo-2]: started with pid [10326]
[ INFO] [1533004992.190478541]: Connected to device with ID: H1625686
[ INFO] [1533004992.293404655]: Streaming data.

 

4. XSENS MTi-30驱动安装

carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ git clone https://github.com/ethz-asl/ethzasl_xsens_driver
正克隆到 'ethzasl_xsens_driver'...
remote: Counting objects: 778, done.
remote: Compressing objects: 100% (4/4), done.
remote: Total 778 (delta 0), reused 1 (delta 0), pack-reused 774
接收对象中: 100% (778/778), 231.99 KiB | 430.00 KiB/s, 完成.
处理 delta 中: 100% (480/480), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src$ cd ethzasl_xsens_driver
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ mkdir build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ cd build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/ethzasl_xsens_driver/build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ make
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ sudo make install
[sudo] carto 的密码： 
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/xsens_driver.pc
-- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig.cmake
-- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig-version.cmake
-- Installing: /usr/local/share/xsens_driver/package.xml
-- Installing: /usr/local/lib/xsens_driver/mtnode.py
-- Installing: /usr/local/lib/xsens_driver/mtdef.py
-- Installing: /usr/local/lib/xsens_driver/mtdevice.py
-- Installing: /usr/local/share/xsens_driver/launch
-- Installing: /usr/local/share/xsens_driver/launch/xsens_driver.launch
carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ git clone https://github.com/ethz-asl/ethzasl_xsens_driver
正克隆到 'ethzasl_xsens_driver'...
remote: Counting objects: 778, done.
remote: Compressing objects: 100% (4/4), done.
remote: Total 778 (delta 0), reused 1 (delta 0), pack-reused 774
接收对象中: 100% (778/778), 231.99 KiB | 430.00 KiB/s, 完成.
处理 delta 中: 100% (480/480), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src$ cd ethzasl_xsens_driver
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ mkdir build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ cd build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/ethzasl_xsens_driver/build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ make
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ sudo make install
[sudo] carto 的密码： 
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/xsens_driver.pc
-- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig.cmake
-- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig-version.cmake
-- Installing: /usr/local/share/xsens_driver/package.xml
-- Installing: /usr/local/lib/xsens_driver/mtnode.py
-- Installing: /usr/local/lib/xsens_driver/mtdef.py
-- Installing: /usr/local/lib/xsens_driver/mtdevice.py
-- Installing: /usr/local/share/xsens_driver/launch
-- Installing: /usr/local/share/xsens_driver/launch/xsens_driver.launch
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ 

测试LMS111：

　　rosrun lms1xx LMS1xx_node _host:=192.168.0.1

真烦，LMS111的驱动老是崩溃，不知道神码原因，读取的数据很不稳定，不知道是不是电压采用12V的原因，数据是采用路由器转发的，难道这个有问题？总之是搞不定了！