.rosinstall 文件改成gitee源

Turtlebot3中级教程-Cartographer-turtlebot 安装

https://www.ncnynl.com/archives/201801/2230.html

 

 

# Install wstool and rosdep.
$ sudo apt-get update
$ sudo apt-get install -y python-wstool python-rosdep ninja-build

# Create a new workspace in 'cartographer_ws'.

$ mkdir cartographer_ws
$ cd cartographer_ws
$ wstool init src

# Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.

$ wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall

$ vim src/.rosinstall
#更改ceres-solver中地址改为下面的地址：
#>>uri: https://github.com/ceres-solver/ceres-solver.git

上面这个

raw.githubusercontent.com

网址是打不开的！

这句

wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall

的作用是下载一个.rosinstall文件，我已经把文件改成gitee 源，现在可以下了！

在cartographer_ws文件夹里面新建一个 .rosinstall 文件

把下面这几行

 

- git: {local-name: cartographer, uri: 'https://gitee.com/mirrors/cartographer.git'}
- git: {local-name: cartographer_ros, uri: 'https://gitee.com/liyuan2/cartographer_ros.git'}
- git: {local-name: cartographer_turtlebot, uri: 'https://gitee.com/jhkdx/cartographer_turtlebot.git'}
- git: {local-name: ceres-solver, uri: 'https://gitee.com/mirrors/ceres-solver.git', version: '1.12.0rc4'}

写入到 .rosinstall

然后接着运行：

$ wstool update -t src

# Install deb dependencies.

$ rosdep update

# install proto3

$ src/cartographer/scripts/install_proto3.sh
$ rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
$ catkin_make_isolated --install --use-ninja -j1
$ source install_isolated/setup.bash