瓜大无人船踩坑记3

内容提要：瓜大无人船包编译指南。

1. 新建工作空间与源文件夹

   mkdir -p [WORKSPACE]/src 
   

2. 尝试编译

   cd [WORKSPACE]/
   catkin_make
   

3. 报错

   -- Checking for module 'bullet'
   --   No package 'bullet' found
   CMake Error at mypackage/geometry2/tf2_bullet/CMakeLists.txt:11 (find_package):
     By not providing "Findbullet.cmake" in CMAKE_MODULE_PATH this project has
     asked CMake to find a package configuration file provided by "bullet", but
     CMake did not find one.
   
     Could not find a package configuration file provided by "bullet" with any
     of the following names:
   
       bulletConfig.cmake
       bullet-config.cmake
   
     Add the installation prefix of "bullet" to CMAKE_PREFIX_PATH or set
     "bullet_DIR" to a directory containing one of the above files.  If "bullet"
     provides a separate development package or SDK, be sure it has been
     installed.
   
   
   -- Configuring incomplete, errors occurred!
   See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log".
   See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log".
   Invoking "cmake" failed
   

4. 解决

   sudo apt-get install libbullet-dev
   

5. 继续编译，报错

   -- Checking for one of the modules 'libusb'
   CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:578 (message):
     None of the required 'libusb' found
   Call Stack (most recent call first):
     mypackage/joystick_drivers/ps3joy/CMakeLists.txt:6 (pkg_search_module)
   
   
   CMake Error at mypackage/joystick_drivers/ps3joy/CMakeLists.txt:11 (message):
     Failed to find libusb
   
   
   -- Configuring incomplete, errors occurred!
   See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log".
   See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log".
   Invoking "cmake" failed
   

6. 解决

   sudo apt-get install libusb-dev
   

7. 继续编译，报错

   -- Checking for module 'libgps'
   --   No package 'libgps' found
   CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:367 (message):
     A required package was not found
   Call Stack (most recent call first):
     /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
     mypackage/gps_umd/gpsd_client/CMakeLists.txt:15 (pkg_check_modules)
   
   
   -- Configuring incomplete, errors occurred!
   See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log".
   See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log".
   Invoking "cmake" failed
   

8. 解决

   sudo apt-get install libgps-dev
   

9. 继续编译，报错

   -- +++ processing catkin package: 'robot_localization'
   -- ==> add_subdirectory(mypackage/robot_localization)
   robot_localization: You did not request a specific build type: selecting 'RelWithDebInfo'.
   CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
     Could not find a package configuration file provided by "geographic_msgs"
     with any of the following names:
   
       geographic_msgsConfig.cmake
       geographic_msgs-config.cmake
   
     Add the installation prefix of "geographic_msgs" to CMAKE_PREFIX_PATH or
     set "geographic_msgs_DIR" to a directory containing one of the above files.
     If "geographic_msgs" provides a separate development package or SDK, be
     sure it has been installed.
   Call Stack (most recent call first):
     mypackage/robot_localization/CMakeLists.txt:9 (find_package)
   
   
   -- Could not find the required component 'geographic_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
   CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
     Could not find a package configuration file provided by "geographic_msgs"
     with any of the following names:
   
       geographic_msgsConfig.cmake
       geographic_msgs-config.cmake
   
     Add the installation prefix of "geographic_msgs" to CMAKE_PREFIX_PATH or
     set "geographic_msgs_DIR" to a directory containing one of the above files.
     If "geographic_msgs" provides a separate development package or SDK, be
     sure it has been installed.
   Call Stack (most recent call first):
     mypackage/robot_localization/CMakeLists.txt:9 (find_package)
   
   
   -- Configuring incomplete, errors occurred!
   See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log".
   See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log".
   Invoking "cmake" failed
   

10. 解决

    sudo apt-get install ros-kinetic-geographic-msgs
    

11. 继续编译，报错

    [  7%] Building CXX object mypackage/joystick_drivers/joy/CMakeFiles/joy_node.dir/src/joy_node.cpp.o
    cc1: warning: command line option ‘-std=c++11’ is valid for C++/ObjC++ but not for C
    /home/hans/catkin_boat/src/mypackage/joystick_drivers/spacenav_node/src/spacenav_node.cpp:38:19: fatal error: spnav.h: 没有那个文件或目录
    compilation terminated.
    mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/build.make:62: recipe for target 'mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/src/spacenav_node.cpp.o' failed
    make[2]: *** [mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/src/spacenav_node.cpp.o] Error 1
    CMakeFiles/Makefile2:15321: recipe for target 'mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/all' failed
    make[1]: *** [mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/all] Error 2
    make[1]: *** 正在等待未完成的任务....
    

12. 解决

    sudo apt-get install libspnav-dev
    

13. 继续编译，报错

    In file included from /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/src/wiimote_controller.cpp:45:0:
    /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/include/wiimote/wiimote_controller.h:49:53: fatal error: bluetooth/bluetooth.h: 没有那个文件或目录
    compilation terminated.
    mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/build.make:62: recipe for target 'mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o' failed
    make[2]: *** [mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o] Error 1
    CMakeFiles/Makefile2:23860: recipe for target 'mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/all' failed
    make[1]: *** [mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/all] Error 2
    make[1]: *** 正在等待未完成的任务....
    

14. 解决

    sudo apt-get install libbluetooth-dev
    

15. 继续编译，报错

    [ 94%] Building CXX object mypackage/geometry2/tf2_ros/CMakeFiles/tf2_ros_buffer_server.dir/src/buffer_server_main.cpp.o
    In file included from /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/src/wiimote_controller.cpp:45:0:
    /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/include/wiimote/wiimote_controller.h:52:35: fatal error: cwiid.h: 没有那个文件或目录
    compilation terminated.
    [ 94%] Linking CXX executable /home/hans/catkin_boat/devel/lib/joy/joy_node
    mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/build.make:62: recipe for target 'mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o' failed
    make[2]: *** [mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o] Error 1
    make[2]: *** 正在等待未完成的任务....
    

16. 解决

    sudo apt-get install libcwiid-dev
    

17. 编译完成。

注意：如果报错

/home/jcy/catkin_boat/src/mypackage/my_serial_node/src/gps_serial.cpp:7:38: fatal error: my_serial_node/serialmsg.h: 没有那个文件或目录
/home/jcy/catkin_boat/src/mypackage/my_serial_node/src/talker_ship2.cpp:7:47: fatal error: my_serial_node/PropellerParameter.h: 没有那个文件或目录
/home/jcy/catkin_boat/src/mypackage/my_serial_node/src/serial3.cpp:7:38: fatal error: my_serial_node/serialmsg.h: 没有那个文件或目录
compilation terminated.
compilation terminated.
compilation terminated.
/home/jcy/catkin_boat/src/mypackage/my_serial_node/src/talker_ship2u2.cpp:7:47: fatal error: my_serial_node/PropellerParameter.h: 没有那个文件或目录
compilation terminated.
mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/build.make:62: recipe for target 'mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/src/talker_ship2.cpp.o' failed
make[2]: *** [mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/src/talker_ship2.cpp.o] Error 1
CMakeFiles/Makefile2:10939: recipe for target 'mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/all' failed
make[1]: *** [mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
mypackage/my_serial_node/CMakeFiles/gps_serial.dir/build.make:62: recipe for target 'mypackage/my_serial_node/CMakeFiles/gps_serial.dir/src/gps_serial.cpp.o' failed
make[2]: *** [mypackage/my_serial_node/CMakeFiles/gps_serial.dir/src/gps_serial.cpp.o] Error 1
CMakeFiles/Makefile2:10976: recipe for target 'mypackage/my_serial_node/CMakeFiles/gps_serial.dir/all' failed
make[1]: *** [mypackage/my_serial_node/CMakeFiles/gps_serial.dir/all] Error 2
mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/build.make:62: recipe for target 'mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/src/talker_ship2u2.cpp.o' failed
make[2]: *** [mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/src/talker_ship2u2.cpp.o] Error 1
CMakeFiles/Makefile2:10902: recipe for target 'mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/all' failed
make[1]: *** [mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/all] Error 2
mypackage/my_serial_node/CMakeFiles/serial3.dir/build.make:62: recipe for target 'mypackage/my_serial_node/CMakeFiles/serial3.dir/src/serial3.cpp.o' failed
make[2]: *** [mypackage/my_serial_node/CMakeFiles/serial3.dir/src/serial3.cpp.o] Error 1
CMakeFiles/Makefile2:11013: recipe for target 'mypackage/my_serial_node/CMakeFiles/serial3.dir/all' failed
make[1]: *** [mypackage/my_serial_node/CMakeFiles/serial3.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

需要复制并替换include包至[WORKSPACE]/devel中。