Ubuntu 16.04+ROS kinetic 下配置 MAVROS【解决 No definition of [eigen] for OS version []等问题】

PX４英文版官网：https://dev.px4.io/en/ros/mavros_installation.html

（不要用中文版的，这里并不只有indigo和Kinect的不同，用中文版的永远也装不上）

配置过程：Source Installation方式：

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
sudo apt-get install python-catkin-tools python-rosinstall-generator -y
wstool init src
rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

这里有个坑：执行上面那句之后老是弹出关于os的error

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
ceres-solver: No definition of [eigen] for OS version []
cartographer: No definition of [eigen] for OS version []

16.04 的先执行这一句就好了:

rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y --os=ubuntu:xenial

 

然后： 

sudo chmod +x /src/mavros/mavros/scripts/install_geographiclib_datasets.sh
./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
catkin build

这里也有一个坑：Error of catkin build: Unable to find source space ....

rm -rf ~/.catkin_tools

之后再：catkin build 又有一个坑：unavailable: no module named "future"

 pip install future

 

之后再：catkin build 应该就可以了

折腾了两天终于成功了……

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参考链接：

https://blog.csdn.net/qq_29343201/article/details/54707188

https://github.com/catkin/catkin_tools/issues/425

https://dev.px4.io/en/ros/mavros_installation.html

https://github.com/mavlink/mavros/tree/master/mavros#installation