ubuntu 14.04/16.04源码安装catvehicle
系统环境：
1. Ubuntu 14.04 + ROS Indigo 或者 Ubuntu 16.04 + ROS kinetic(主要)
2. Gazebo模型已经下载完成。
未下载的可以参考：https://blog.csdn.net/qq_40213457/article/details/81021562 中的方法2。
安装步骤：
1. 建立工作空间：
1 cd ~ 2 mkdir -p catvehicle_ws/src 3 cd catvehicle_ws 4 catkin_make 5 echo "source ~/catvehicle_ws/devel/setup.bash" > ~/.bashrc 6 source ~/.bashrc
2. 下载功能包编译：
1 cd ~/catvehicle_ws/src 2 git clone https://github.com/sprinkjm/catvehicle.git 3 git clone https://github.com/sprinkjm/obstaclestopper.git 4 cd .. 5 catkin_make
3. catkin_make过程中终端报错及其解决方法
1）找不到controller_managerConfig.cmake
1 CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package): 2 Could not find a package configuration file provided by 3 "controller_manager" with any of the following names: 4 5 controller_managerConfig.cmake 6 controller_manager-config.cmake 7 8 Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or 9 set "controller_manager_DIR" to a directory containing one of the above 10 files. If "controller_manager" provides a separate development package or 11 SDK, be sure it has been installed. 12 Call Stack (most recent call first): 13 catvehicle/CMakeLists.txt:7 (find_package) 14 15 16 -- Could not find the required component 'controller_manager'. 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. 17 CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): 18 Could not find a package configuration file provided by 19 "controller_manager" with any of the following names: 20 21 controller_managerConfig.cmake 22 controller_manager-config.cmake 23 24 Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or 25 set "controller_manager_DIR" to a directory containing one of the above 26 files. If "controller_manager" provides a separate development package or 27 SDK, be sure it has been installed. 28 Call Stack (most recent call first): 29 catvehicle/CMakeLists.txt:7 (find_package) 30 31 32 -- Configuring incomplete, errors occurred! 33 See also "/home/gian/catvehicle_ws/build/CMakeFiles/CMakeOutput.log". 34 See also "/home/gian/catvehicle_ws/build/CMakeFiles/CMakeError.log".
解决方法：
1 sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers 2 (14.04版本输入以下命令行： 3 sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers 4 )
再次catkin_make。
2）找不到gazebo_ros_controlConfig.cmake
1 CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package): 2 Could not find a package configuration file provided by 3 "gazebo_ros_control" with any of the following names: 4 5 gazebo_ros_controlConfig.cmake 6 gazebo_ros_control-config.cmake 7 8 Add the installation prefix of "gazebo_ros_control" to CMAKE_PREFIX_PATH or 9 set "gazebo_ros_control_DIR" to a directory containing one of the above 10 files. If "gazebo_ros_control" provides a separate development package or 11 SDK, be sure it has been installed. 12 Call Stack (most recent call first): 13 catvehicle/CMakeLists.txt:7 (find_package) 14 15 16 -- Could not find the required component 'gazebo_ros_control'. 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. 17 CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): 18 Could not find a package configuration file provided by 19 "gazebo_ros_control" with any of the following names: 20 21 gazebo_ros_controlConfig.cmake 22 gazebo_ros_control-config.cmake 23 24 Add the installation prefix of "gazebo_ros_control" to CMAKE_PREFIX_PATH or 25 set "gazebo_ros_control_DIR" to a directory containing one of the above 26 files. If "gazebo_ros_control" provides a separate development package or 27 SDK, be sure it has been installed. 28 Call Stack (most recent call first): 29 catvehicle/CMakeLists.txt:7 (find_package) 30 31 32 -- Configuring incomplete, errors occurred! 33 See also "/home/gian/catvehicle_ws/build/CMakeFiles/CMakeOutput.log". 34 See also "/home/gian/catvehicle_ws/build/CMakeFiles/CMakeError.log". 35 Makefile:318: recipe for target 'cmake_check_build_system' failed 36 make: *** [cmake_check_build_system] Error 1 37 Invoking "make cmake_check_build_system" failed
解决方法：
1 sudo apt-get install ros-kinetic-gazebo-ros-control 2 (14.04版本输入以下命令行： 3 sudo apt-get install ros-indigo-gazebo-ros-control 4 )
再次catkin_make。
3）找不到sicktoolboxConfig.cmake
1 CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package): 2 Could not find a package configuration file provided by "sicktoolbox" with 3 any of the following names: 4 5 sicktoolboxConfig.cmake 6 sicktoolbox-config.cmake 7 8 Add the installation prefix of "sicktoolbox" to CMAKE_PREFIX_PATH or set 9 "sicktoolbox_DIR" to a directory containing one of the above files. If 10 "sicktoolbox" provides a separate development package or SDK, be sure it 11 has been installed. 12 Call Stack (most recent call first): 13 catvehicle/CMakeLists.txt:7 (find_package) 14 15 16 -- Could not find the required component 'sicktoolbox'. 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. 17 CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): 18 Could not find a package configuration file provided by "sicktoolbox" with 19 any of the following names: 20 21 sicktoolboxConfig.cmake 22 sicktoolbox-config.cmake 23 24 Add the installation prefix of "sicktoolbox" to CMAKE_PREFIX_PATH or set 25 "sicktoolbox_DIR" to a directory containing one of the above files. If 26 "sicktoolbox" provides a separate development package or SDK, be sure it 27 has been installed. 28 Call Stack (most recent call first): 29 catvehicle/CMakeLists.txt:7 (find_package) 30 31 32 -- Configuring incomplete, errors occurred! 33 See also "/home/gian/catvehicle_ws/build/CMakeFiles/CMakeOutput.log". 34 See also "/home/gian/catvehicle_ws/build/CMakeFiles/CMakeError.log". 35 Makefile:318: recipe for target 'cmake_check_build_system' failed 36 make: *** [cmake_check_build_system] Error 1 37 Invoking "make cmake_check_build_system" failed
解决方法：
14.04环境下：
1 sudo apt-get install ros-indigo-sicktoolbox ros-indigo-sicktoolbox-wrapper
16.04环境下：
1 cd ~ 2 mkdir -p sicktoolbox_ws/src 3 cd sicktoolbox_ws 4 catkin_make 5 cd src 6 git clone https://github.com/SantoshBanisetty/sicktoolbox.git 7 git clone https://github.com/ros-drivers/sicktoolbox_wrapper/tree/indigo-devel 8 cd .. 9 catkin_make 10 echo "source ~/sicktoolbox_ws/devel/setup.bash" > ~/.bashrc 11 source ~/.bashrc
进入到catvehicle_ws中
1 cd ~/catvehicle_ws
再次在catkin_make。
4）找不到velodyne_pointcloudConfig.cmake
1 CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package): 2 Could not find a package configuration file provided by 3 "velodyne_pointcloud" with any of the following names: 4 5 velodyne_pointcloudConfig.cmake 6 velodyne_pointcloud-config.cmake 7 8 Add the installation prefix of "velodyne_pointcloud" to CMAKE_PREFIX_PATH 9 or set "velodyne_pointcloud_DIR" to a directory containing one of the above 10 files. If "velodyne_pointcloud" provides a separate development package or 11 SDK, be sure it has been installed. 12 Call Stack (most recent call first): 13 catvehicle/CMakeLists.txt:7 (find_package) 14 15 16 -- Could not find the required component 'velodyne_pointcloud'. 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. 17 CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): 18 Could not find a package configuration file provided by 19 "velodyne_pointcloud" with any of the following names: 20 21 velodyne_pointcloudConfig.cmake 22 velodyne_pointcloud-config.cmake 23 24 Add the installation prefix of "velodyne_pointcloud" to CMAKE_PREFIX_PATH 25 or set "velodyne_pointcloud_DIR" to a directory containing one of the above 26 files. If "velodyne_pointcloud" provides a separate development package or 27 SDK, be sure it has been installed. 28 Call Stack (most recent call first): 29 catvehicle/CMakeLists.txt:7 (find_package) 30 31 32 -- Configuring incomplete, errors occurred! 33 See also "/home/gian/catvehicle_ws/build/CMakeFiles/CMakeOutput.log". 34 See also "/home/gian/catvehicle_ws/build/CMakeFiles/CMakeError.log". 35 Makefile:318: recipe for target 'cmake_check_build_system' failed 36 make: *** [cmake_check_build_system] Error 1 37 Invoking "make cmake_check_build_system" failed
解决方法：
1 sudo apt-get install ros-kinetic-velodyne-pointcloud 2 (14.04版本输入以下命令行： 3 sudo apt-get install ros-indigo-velodyne-pointcloud 4 )
再次catkin_make。
5）终端会报一堆warning和error
1 /usr/include/c++/5/bits/c++0x_warning.h:32:2: error: #error This file requires compiler and library support for the ISO C++ 2011 standard. This support must be enabled with the -std=c++11 or -std=gnu++11 compiler options. 2 #error This file requires compiler and library support
解决方法：
1 sudo gedit ~/catvehicle_ws/src/CMakeLists.txt 2 在文件中的第2或者3或者4或者5行的位置添加： 3 SET( CMAKE_CXX_FLAGS "-std=c++11 -O3") 4 保存。
再次catkin_make就可以了。
参考网址：
https://blog.csdn.net/handsome_for_kill/article/details/54382149