编译ROS1工程需要配置的环境

1. 需要安装必要的依赖包

$ sudo apt install -y ros-noetic-costmap-2d
$ sudo apt install -y ros-noetic-ackermann-msgs
$ sudo apt install -y ros-noetic-grid-map-ros
$ sudo apt install -y ros-noetic-ompl
$ sudo apt-get install libgsl-dev
$ sudo apt install -y libceres-dev
$ sudo apt install -y ros-noetic-navigation
$ sudo apt install -y ros-noetic-map-server
$ sudo apt install -y ros-noetic-costmap-converter
$ sudo apt install -y ros-noetic-mbf-costmap-core
$ sudo apt install -y ros-noetic-mbf-msgs
$ sudo apt install -y ros-noetic-libg2o
$ sudo apt install -y ros-noetic-tf2-sensor-msgs
$ sudo apt-get install coinor-libipopt-dev

$ sudo apt install ros-melodic-ompl
$ sudo ln -s /opt/ros/melodic/include/ompl-1.4/ompl /opt/ros/melodic/include/ompl

2. 安装corbo库，静态库

# 下载地址
$ git clone -b master https://github.com/rst-tu-dortmund/control_box_rst.git

$ cd control_box_rst/
$ mkdir build
$ cd build/
$ cmake ..
$ make -j12
$ sudo make install

安装后的截图如下所示

 3. 设置编译环境变量

在home目录下创建tony_command.sh

# /bin/bash
LD_LIBRARY_PATH=/home/tony/work/Groot_build/install/lib:/usr/local/lib/control_box_rst/:$LD_LIBRARY_PATH
#gcc找到头文件的路径
C_INCLUDE_PATH=/usr/local/include/control_box_rst
export C_INCLUDE_PATH
#g++找到头文件的路径
CPLUS_INCLUDE_PATH=/usr/local/include/control_box_rst
export CPLUS_INCLUDE_PATH
#找到静态库的路径
LIBRARY_PATH=$LIBRARY_PATH:/usr/local/lib/control_box_rst/
export LIBRARY_PATH

echo ". tony_command.sh" >> ~/.bashrc