ubuntu 18.04 ROS melodic 尝试 ROS CANOPEN 控制 AGV

官方说明：The current develop branch is melodic-devel, it targets ROS melodic. Needs C++14 compiler. The released version gets synced over to the distro branch for each release.

尝试ros canopen步骤：
1,  git 下载roscanopen源码到~/catkin_ws/src/
2，$ sudo apt-get install libmuparser-dev
3,   $ cd ~/catkin_ws
      $ catkin_make

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uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws$ sudo apt-get install  libmuparser
libmuparser2v5     libmuparser-doc    libmuparserx-dev   
libmuparser-dev    libmuparserx4.0.7  
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws$ sudo apt-get install  libmuparser-dev
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following NEW packages will be installed
  libmuparser-dev
0 to upgrade, 1 to newly install, 0 to remove and 14 not to upgrade.
Need to get 19.2 kB of archives.
After this operation, 133 kB of additional disk space will be used.
Get:1 http://cn.archive.ubuntu.com/ubuntu bionic/universe amd64 libmuparser-dev amd64 2.2.3-6 [19.2 kB]
Fetched 19.2 kB in 1s (19.2 kB/s)          
Selecting previously unselected package libmuparser-dev.
(Reading database ... 278033 files and directories currently installed.)
Preparing to unpack .../libmuparser-dev_2.2.3-6_amd64.deb ...
Unpacking libmuparser-dev (2.2.3-6) ...
Setting up libmuparser-dev (2.2.3-6) ...
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws$ catkin_make
Base path: /home/uu/catkin_ws
Source space: /home/uu/catkin_ws/src
Build space: /home/uu/catkin_ws/build
Devel space: /home/uu/catkin_ws/devel
Install space: /home/uu/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/uu/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/uu/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/uu/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/uu/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.15", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/uu/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.15")
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 23 packages in topological order:
-- ~~  - arbotix (metapackage)
-- ~~  - arbotix_controllers
-- ~~  - arbotix_firmware
-- ~~  - arbotix_python
-- ~~  - arbotix_sensors
-- ~~  - rbx1 (metapackage)
-- ~~  - ros_canopen (metapackage)
-- ~~  - socketcan_interface
-- ~~  - canopen_master
-- ~~  - canopen_402
-- ~~  - arbotix_msgs
-- ~~  - can_msgs
-- ~~  - beginner_tutorials
-- ~~  - rbx1_speech
-- ~~  - canopen_chain_node
-- ~~  - socketcan_bridge
-- ~~  - rbx1_bringup
-- ~~  - rbx1_dynamixels
-- ~~  - rbx1_vision
-- ~~  - rbx1_apps
-- ~~  - rbx1_nav
-- ~~  - canopen_motor_node
-- ~~  - rbx1_description
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'arbotix'
-- ==> add_subdirectory(arbotix_ros/arbotix)
-- +++ processing catkin package: 'arbotix_controllers'
-- ==> add_subdirectory(arbotix_ros/arbotix_controllers)
-- +++ processing catkin package: 'arbotix_firmware'
-- ==> add_subdirectory(arbotix_ros/arbotix_firmware)
-- +++ processing catkin package: 'arbotix_python'
-- ==> add_subdirectory(arbotix_ros/arbotix_python)
-- +++ processing catkin package: 'arbotix_sensors'
-- ==> add_subdirectory(arbotix_ros/arbotix_sensors)
-- +++ processing catkin metapackage: 'rbx1'
-- ==> add_subdirectory(rbx1/rbx1)
-- +++ processing catkin metapackage: 'ros_canopen'
-- ==> add_subdirectory(ros_canopen-melodic-devel/ros_canopen)
-- +++ processing catkin package: 'socketcan_interface'
-- ==> add_subdirectory(ros_canopen-melodic-devel/socketcan_interface)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   chrono
--   system
--   thread
--   date_time
--   atomic
-- +++ processing catkin package: 'canopen_master'
-- ==> add_subdirectory(ros_canopen-melodic-devel/canopen_master)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   atomic
--   chrono
--   thread
--   system
--   date_time
-- +++ processing catkin package: 'canopen_402'
-- ==> add_subdirectory(ros_canopen-melodic-devel/canopen_402)
-- Boost version: 1.65.1
-- +++ processing catkin package: 'arbotix_msgs'
-- ==> add_subdirectory(arbotix_ros/arbotix_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- arbotix_msgs: 2 messages, 4 services
-- +++ processing catkin package: 'can_msgs'
-- ==> add_subdirectory(ros_canopen-melodic-devel/can_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- can_msgs: 1 messages, 0 services
-- +++ processing catkin package: 'beginner_tutorials'
-- ==> add_subdirectory(beginner_tutorials)
-- +++ processing catkin package: 'rbx1_speech'
-- ==> add_subdirectory(rbx1/rbx1_speech)
-- +++ processing catkin package: 'canopen_chain_node'
-- ==> add_subdirectory(ros_canopen-melodic-devel/canopen_chain_node)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   filesystem
--   system
-- canopen_chain_node: 0 messages, 2 services
-- +++ processing catkin package: 'socketcan_bridge'
-- ==> add_subdirectory(ros_canopen-melodic-devel/socketcan_bridge)
-- +++ processing catkin package: 'rbx1_bringup'
-- ==> add_subdirectory(rbx1/rbx1_bringup)
-- +++ processing catkin package: 'rbx1_dynamixels'
-- ==> add_subdirectory(rbx1/rbx1_dynamixels)
-- +++ processing catkin package: 'rbx1_vision'
-- ==> add_subdirectory(rbx1/rbx1_vision)
-- +++ processing catkin package: 'rbx1_apps'
-- ==> add_subdirectory(rbx1/rbx1_apps)
-- +++ processing catkin package: 'rbx1_nav'
-- ==> add_subdirectory(rbx1/rbx1_nav)
-- +++ processing catkin package: 'canopen_motor_node'
-- ==> add_subdirectory(ros_canopen-melodic-devel/canopen_motor_node)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   chrono
--   system
--   date_time
--   atomic
-- Found MUPARSER: /usr/lib/x86_64-linux-gnu/libmuparser.so  
-- +++ processing catkin package: 'rbx1_description'
-- ==> add_subdirectory(rbx1/rbx1_description)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/uu/catkin_ws/build
####
#### Running command: "make -j2 -l2" in "/home/uu/catkin_ws/build"
####
Scanning dependencies of target socketcan_interface_plugin
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[  2%] Linking CXX shared library /home/uu/catkin_ws/devel/lib/libsocketcan_interface_string.so
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Scanning dependencies of target canopen_chain_node_generate_messages_lisp
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uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws$