Raspberry Pi 源碼安裝ROS-Kinetic
這裏的測試中rosdep 無法使用, 通過其他方式下載了kinetic-desktop-wet.rosinstall文件，並註銷opencv的編譯+安裝。
１. 前言背景
sudo rosdep init && rosdep update 無法成功，凡是涉及到rosdep的都無法成功;
提醒: 如果你可以設置系統全局VPN那就不用這麼麻煩，只需要按照官網源碼ROS安裝方式繼續安裝就行了。
如果你沒有VPN又要用ROS，那麼以下的方法適合你。
2. 源碼安裝ROS, 逐步安裝依賴, 實現ROS源碼編譯
## 常規ROS官網的步驟
1.安裝引導依賴關係
sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
2."我用不了"－－初始化rosdep
sudo rosdep init
rosdep update
3.創建catkin工作空間
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
4."我用不了"－－ROS-desktop包安裝
rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-wet.rosinstall
wstool init -j4 src kinetic-desktop-wet.rosinstall
5."我用不了"－－解析依賴
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
6.編譯catkin工作空間
./src/catkin/bin/catkin_make_isolated --install `-DCMAKE_BUILD_TYPE=Release
"2-4-5步用不了，導致很多依賴無法自動安裝，所以需要你自己手動逐個安裝......orz..."
## 非常規ROS官網的步驟
"下面出現的軟件包依賴都是我一個一個遇到的坑,然後手動填坑的過程, 如果你遇到了相關問題無法解決,請跟我留言把!"
1. 我在其他PC(全局VPN)上下載下來了kinetic-desktop-wet.rosinstall文件,可以拿來使用...
2. 創建工作空間, 初始化 && 爬取所有ROS包
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
wstool init -j4 src kinetic-desktop-wet.rosinstall
3. 編譯工作空間
sudo ./src/catkin/bin/catkin_make_isolated --install -DBOOST_ROOT=/usr/local/boost1580 -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j4
"建議: 安裝ROS， 請安裝R0S-Melodic版本，這樣底層庫boost應該是滿足條件，而不會引起衝突， 歸根究底是因爲RasBian Bluster是最新版，裏面一些底層庫都是比較新的版本(如boost-1.67.0, qt-5.11等)"
- 問題1: 缺少empy
解決: sudo apt install python-empy.
- 問題2: 缺少console_bridge
Could not find a package configuration file provided by "console_bridge"
with any of the following names:
console_bridgeConfig.cmake
console_bridge-config.cmake
解決: sudo apt install librosconsole-bridge-dev
- 問題3: 缺少Poco
CMake Error at /opt/ros/kinetic/share/cmake_modules/cmake/Modules/FindPoco.cmake:189 (MESSAGE):
Poco was not found. Set the Poco_INCLUDE_DIR cmake cache entry to the
top-level directory containing the poco include directories. E.g
/usr/local/include/ or c:\poco\include\poco-1.3.2
解決: sudo apt-get install libpoco-doc libpoco-dev
- 問題4: 缺少SIP
File "/home/pi/ros_catkin_ws/src/orocos_kinematics_dynamics/python_orocos_kdl/cmake/FindSIP.py", line 8, in <module>
import sipconfig
ImportError: No module named sipconfig
CMake Error at cmake/FindSIP.cmake:63 (MESSAGE):
Could not find SIP
解決: sudo apt install python-sip python-sip-dev python-sip-doc python-sip-dbg
- 問題5: 缺少TinyXML
CMake Error at /usr/share/cmake-3.13/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
Could NOT find TinyXML (missing: TinyXML_LIBRARY TinyXML_INCLUDE_DIR)
解決: sudo apt install libtinyxml-dev libtinyxml-doc
- 問題6: boost底層庫版本不對
fatal error: boost/tr1/unordered_set.hpp: No such file or directory
解決: ros-kinetic要求boost爲1.58版本，而系統爲1.67,需要手動安裝boost_1_58_0.
wget -O boost_1_58_0.tar.bz2 http://sourceforge.net/projects/boost/files/boost/1.58.0/boost_1_58_0.tar.bz2
tar --bzip2 -xvf boost_1_58_0.tar.bz2
安裝boost有些依賴需要安裝: sudo apt-get install libboost-all-dev libbz2-dev
cd boost_1_58_0
./bootstrap.sh --with-libraries=all --with-toolset=gcc
sudo ./b2 install --prefix=/usr/local/boost1580
安裝成功之後，重新編譯ros包如下:
sudo ./src/catkin/bin/catkin_make_isolated --install --DBOOST_ROOT=/usr/local/boost1580 -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j4
"CMakeLists.txt中指定Boost庫的搜索路徑: set(BOOST_ROOT /usr/local/boost)"
- 問題7: tinyxml2缺失
CMake Error at /usr/share/cmake-3.13/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
Could NOT find TinyXML2 (missing: TinyXML2_LIBRARY TinyXML2_INCLUDE_DIR)
Call Stack (most recent call first):
sudo apt install libtinyxml2-dev
- 問題8: PyQt5有問題
ImportError: No module named PyQt5
解決:
> sudo apt install python-pyqt5*(pyqt-5.11.0), 不能這麼安裝，會導致與pyqt5.sip找不到，不知道是不是版本問題;
源碼安裝: 下載鏈接: https://riverbankcomputing.com/software/pyqt/download5
tar -xvf PyQt5_gpl-5.10.tar.gz
python configure.py
make -j4
> 這裏會遇到錯誤: error: ‘waitForEvents’ is not a member of ‘QTest’, 這個函數自從5.10 / 5.11版本之後，去掉了。所以這裏找不到，簡單的辦法就是按照提示找到調用該函數的地方，將其註釋掉。
> 這個函數不重要，只有一個地方調用了，所以直接註釋掉就OK了。
sudo make install
- 問題9: 缺少gtest
解決: sudo apt-get install libgtest-dev
- 問題10: 缺少lz4
CMake Error at CMakeLists.txt:13 (message):
lz4 includes not found
解決: sudo apt install liblz4-dev
- 問題11: ‘logError’ was not declared in this scope" (cpp_common)
解決: 在logError前面添加CONSOLE_BRIDGE_， 即爲CONSOLE_BRIDGE_logError， 後面類似的錯誤都可以用這種方法解決。
- 問題12: “urdfdom_headers”, but CMake did not find one.
sudo apt install liburdffdom-headers-dev
sudo apt install liburdfdom-dev
- 問題13: No package ‘assimp’ found
sudo apt install python-pyassimp libassimp-dev
- 問題14: 缺少collada_dom
CMake Error at CMakeLists.txt:15 (find_package):
By not providing "FindCOLLADA_DOM.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"COLLADA_DOM"
解決: sudo apt install libcollada-dom2.4-dp-dev
- 問題15: No package ‘OGRE’, ‘OGRE-Overlay’ found:
解決: sudo apt-get install libogre-1.8-dev
sudo apt install libyaml-cpp0.3-dev
sudo apt install python-netifaces python-defusedxml ---> "roscore缺少模塊組件"
- 問題16: 在樹莓派4B上配置navigation包
1. sudo apt-get install libbullet-dev ---> "Bullet"
2. sudo apt install libsdl-image1.2-dev libsdl2-dev ---> "SDL"
3. 缺少diagnostic_updater: 按照源碼編譯ROS的方式，將其編譯至系統庫中;
下載鏈接: git clone https://github.com/ros/diagnostics.git
4. 缺少tf2_geometry_msgs: 同上
下載鏈接: git clone https://github.com/ros/geometry2.git
5. sudo apt install liborocos-bfl-dev --> "orocos-bfl"
6. 安裝pcl, 下載pcl-pcl-1.7.2;(pcl1.7版本依賴libvtk5版本的一個函數接口，而在vtk6/vtk7中已經取消了， 因此，這裏選擇pcl1.8.0+vtk7進行安裝，但要選擇boost1.58.0版本)
安裝依賴: sudo apt install libflann1.9 libflann-dev(1.9的版本太高，對與pcl-1.8需要安裝flann-1.8)
"apt-get安裝方式: " sudo apt install libpcl-dev(但這樣安裝得到的好像是最新版pcl1.9??)
"建議: 安裝ROS， 請安裝R0S-Melodic版本，這樣底層庫boost應該是滿足條件，而不會引起衝突， 歸根究底是因爲RasBian Bluster是最新版，裏面一些底層庫都是比較新的版本(如boost-1.67.0, qt-5.11等)"
"源碼編譯選項(內存有限,去掉例子): cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_apps=OFF -DBUILD_examples=OFF .."
7. 安裝move_base_msg, pcl_msg --> For navigation.
git clone https://github.com/ros-planning/navigation_msgs.git
git clone https://github.com/ros-perception/pcl_msgs.git