WheelTec ROS 机器人小车 ROS2 编码编译解决
1. Could not find a package configuration file provided by “async_web_server_cpp”
sudo apt-get install ros-galactic-async-web-server-cpp
2.
nav2_map_server: Cannot locate rosdep definition for [launch_testing]
nav2_behavior_tree: Cannot locate rosdep definition for [behaviortree_cpp_v3]
wheeltec_slam_toolbox: Cannot locate rosdep definition for [slam_toolbox]
nav2_bt_navigator: Cannot locate rosdep definition for [behaviortree_cpp_v3]
nav2_bringup: Cannot locate rosdep definition for [slam_toolbox]
nav2_smac_planner: Cannot locate rosdep definition for [ompl]
nav2_system_tests: Cannot locate rosdep definition for [gazebo_ros_pkgs]
解决办法：
sudo apt-get install ros-galactic-behaviortree-cpp-v3 \
ros-galactic-slam-toolbox \
ros-galactic-ompl \
ros-galactic-gazebo-ros-pkgs
添加-r参数，忽略报错重新安装依赖
rosdep install -i --from-path src --rosdistro eloquent -y -r
3. Could not find a package configuration file provided by "laser_filters"
with any of the following names:
laser_filtersConfig.cmake
laser_filters-config.cmake
sudo apt-get install ros-galactic-laser-filters
4.
Could not find a package configuration file provided by "glog" with any of
the following names:
glogConfig.cmake
glog-config.cmake
我就去https://github.com/google/glog下载库，并且按照首页写的安装方法安装。发现问题没有解决。
解决办法：
用这个链接的安装方法：glog cmake 安装法
具体就是：
$ cd glog
$ cmake -H. -Bbuild -G "Unix Makefiles"
$ cmake --build build
$ cmake --build build --target test
$ sudo cmake --build build --target install
5.
Could not find a package configuration file provided by “diagnostic_updater” with any of the following names:
diagnostic_updaterConfig.cmake
diagnostic_updater-config.cmake
sudo apt-get install ros-galactic-diagnostic-updater
6.could not find a package configuration file provided by "image_publisher"
with any of the following names:
image_publisherConfig.cmake
image_publisher-config.cmake
sudo apt-get install ros-galactic-image-publisher
7.Could not find a package configuration file provided by "libuvc" with any
of the following names:
libuvcConfig.cmake
libuvc-config.cmake
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
git clone https://github.com/libuvc/libuvc
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install
8. Could not find a package configuration file provided by "magic_enum" with
any of the following names:
magic_enumConfig.cmake
magic_enum-config.cmake
sudo apt-get install ros-galactic-magic-enum
sudo apt-get install ros-galactic-bondcpp
sudo apt-get install ros-galactic-test-msgs
9. fatal error: nlohmann/json.hpp: No such file or directory
sudo apt-get install nlohmann-json3-dev
10. 若提示 wheeltec_robot_rrt2
Could not find a package configuration file provided by "wheeltec_rrt_msg"
with any of the following names:
wheeltec_rrt_msgConfig.cmake
wheeltec_rrt_msg-config.cmake
colcon build --packages-select wheeltec_rrt_msg
source install/local_setup.bash
colcon build --packages-select wheeltec_robot_rrt
总结:
1.编译编码之前需要安装如下包
sudo apt-get install ros-galactic-async-web-server-cpp \
ros-galactic-behaviortree-cpp-v3 ros-galactic-slam-toolbox ros-galactic-ompl ros-galactic-gazebo-ros-pkgs \
ros-galactic-laser-filters \
ros-galactic-diagnostic-updater \
ros-galactic-image-publisher \
libusb-1.0-0-dev libusb-dev libudev-dev \
ros-galactic-magic-enum \
ros-galactic-bondcpp \
ros-galactic-test-msgs \
nlohmann-json3-dev
2. 安装glog
具体就是：
$git clone https://github.com/google/glog
$ cd glog
$ cmake -H. -Bbuild -G "Unix Makefiles"
$ cmake --build build
$ cmake --build build --target test
$ sudo cmake --build build --target install
3.安装libuvc
git clone https://github.com/libuvc/libuvc
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install
4. 先编译 wheeltec_rrt_msg 再编译 wheeltec_robot_rrt
colcon build --packages-select wheeltec_rrt_msg
source install/local_setup.bash
colcon build --packages-select wheeltec_robot_rrt