typora-root-url: /home/msj/ubuntu笔记本台式机环境配置说明/images
说明:我们所有文档配置都是按照ubuntu18.04,保证x86架构(笔记本台式机)和 ARM架构(jetson Nano只能安装18.04)的一致性
我们所有源都更换清华源, 如有问题请参考官网
Ubuntu 的软件源配置文件是 /etc/apt/sources.list
。将系统自带的该文件做个备份,将该文件替换为清华源,即可使用选择的软件源镜像。
# 备份
sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup
#打开文件,内容更换成下面内容并保存
sudo gedit /etc/apt/sources.list
# 默认注释了源码镜像以提高 apt update 速度,如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted universe multiverse
# 预发布软件源,不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-desktop-full
如果安装额外的其他包,用下面命令
sudo apt install ros-melodic-PACKAGE_NAME
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo rosdep init
Bug1 - 会出现错误:这个错误是因为网络无法连接,无法下载20-default.list文件
ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
Solution1 - 我们参考清华源处理方法,也有其他更改下载链接方法,请自行百度。
# 手动模拟 rosdep init
sudo mkdir -p /etc/ros/rosdep/sources.list.d/
sudo curl -o /etc/ros/rosdep/sources.list.d/20-default.list https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
# 为 rosdep update 换源
export ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml
rosdep update
# 每次 rosdep update 之前,均需要增加该环境变量
# 为了持久化该设定,可以将其写入 .bashrc 中,例如
echo 'export ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml' >> ~/.bashrc
#更新
rosdep update
出现以下输出:
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/base.yaml
Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/python.yaml
Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/ruby.yaml
Query rosdistro index https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Skip end-of-life distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Add distro "iron"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Skip end-of-life distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/msj/.ros/rosdep/sources.cache
roscore
出现以下输出,显示ros证明安装成功.
cartographer_ros的安装、编译、与运行
cartographer_install:cartographer的依赖安装包、源码安装包、安装脚本
cartographer_ros_ws/src/cartographer:cartographer的源码(如果之后需要修改carto的算法,需要在这里修改)
cartographer_ros_ws/src/cartographer_ros:cartographer的ros接口
如果之前安装过这些库,删除系统中之前安装过的相关依赖库。
cd /usr/local/include
sudo rm -rf absl
sudo rm -rf ceres
sudo rm -rf cartographer
cd google
sudo rm -rf protobuf
卸载ros自带的proto2
sudo apt-get remove libprotobuf-dev
安装一些系统依赖
sudo apt-get install \
clang \
cmake \
g++ \
git \
google-mock \
libboost-all-dev \
libcairo2-dev \
libcurl4-openssl-dev \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libsuitesparse-dev \
lsb-release \
ninja-build \
stow \
python-wstool \
python-rosdep \
python-sphinx \
libatlas-base-dev
安装cartographer_install中的依赖库
cd cartographer_install
# Build and install abseil-cpp
set -o errexit
set -o verbose
cd abseil-cpp
git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
mkdir build
cd build
cmake -G Ninja \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl
# Build and install Ceres. 注意使用ninja编译可能失败 因为板子性能限制
cd -
cd ../../ceres-solver
mkdir build
cd build
cmake .. -G Ninja -DCXX11=ON
ninja
#CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install
# 如果ninja编译卡死则用cmake编译, 如果上述步骤通过,忽略此步骤
cd ..
rm -rf build
mkdir build
cd build
cmake ..
make
sudo make install
# Build and install proto3.
cd ../../protobuf
mkdir build
cd build
cmake -G Ninja \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-DCMAKE_BUILD_TYPE=Release \
-Dprotobuf_BUILD_TESTS=OFF \
../cmake
装arm的:
cd …
把autogen.sh文件的属性改成可执行文件
./autogen.sh
./configure --host=arm-linux --with-protoc=protoc
make
sudo make install
ninja
sudo ninja install
cd …/…/cartographer
mkdir build
cd build
cmake … -G Ninja
ninja
#CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install
#### 编译
建立工作空间,并将我们准备的src(包含多个功能包的文件夹)拷贝到工作空间下(以后只需要修改cartographer_ros,即.launch和.lua文件)
```shell
# 创建工作空间
mkdir ~/msj_ws
# 将我们src拷贝到工作空间下
cp YOUR_PATH/src ~/msj_ws
catkin_make
https://google-cartographer-ros.readthedocs.io/en/latest/demos.html