Ubuntu18.04 环境下 ROS melodic 版map_server、gmapping 等包的源代码安装方法

Ubuntu18.04 环境下 ROS melodic 版 中很多包没有提供sudo apt install的安装方式，需要通过源代码安装，安装方法如下：

1、安装libsdl1.2-dev 、 libsdl-image1.2-dev 否则会报  “Could NOT find SDL (missing: SDL_LIBRARY SDL_INCLUDE_DIR)”等的错。

sudo apt-get install libsdl1.2-dev

sudo apt install libsdl-image1.2-dev

2、进入工作空间，git clone以下源代码编译安装：

cd ~/catkin_ws/src/

git clone https://github.com/ros-perception/openslam_gmapping

git clone https://github.com/ros-perception/slam_gmapping.git

git clone https://github.com/ros-planning/navigation.git

git clone https://github.com/ros/geometry2.git

git clone https://github.com/ros-planning/navigation_msgs.git

cd ~/catkin_ws && catkin_make

 

3、注意安装时如果系统缺少相关的依赖包会报错，如：

Could not find a configuration file for package openslam_gmapping.

  Set openslam_gmapping_DIR to the directory containing a CMake configuration
  file for openslam_gmapping.  The file will have one of the following names:

    openslam_gmappingConfig.cmake
    openslam_gmapping-config.cmake

上面的报错实际意思指的是缺少 openslam_gmapping 包，解决方法是 git clone相关源码一起编译，至于 包的源码地址可以在

http://wiki.ros.org 网站上查找，相关包的信息页有包 git 地址。