昆明网站制作网页,肇庆 网站建设 域联,企业网站如何做推广,赣州人才网找工作1.安装 ROS wiki.ros.org 1.1修改镜像源#xff1a; 到网站上找与操作系统相匹配的镜像源 ubuntu | 镜像站使用帮助 | 清华大学开源软件镜像站 | Tsinghua Open Source Mirror # 默认注释了源码镜像以提高 apt update 速度#xff0c;如有需要可自行取消注释
deb htt…1.安装 ROS wiki.ros.org 1.1修改镜像源 到网站上找与操作系统相匹配的镜像源 ubuntu | 镜像站使用帮助 | 清华大学开源软件镜像站 | Tsinghua Open Source Mirror # 默认注释了源码镜像以提高 apt update 速度如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-security main restricted universe multiverse# 预发布软件源不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-proposed main restricted universe multiverse#1.root 用户
sudo passwd root
su - root#2.root 用户 修改下载源cd /etc/apt/cp sources.list sources-ini.listvim /etc/apt/sources.listapt-get updateapt-get upgradeapt install vim1. 2.安装对应版本的ros 2.安装 cartographer 2.1先安装FTP服务器 #1.安装ftp服务器apt install vsftpdsystemctl status vsftpdcd /etc/vsftpd.confvim /etc/vsftpd.conflocal_enablesYESwrite_enableYESanonymous_enableYESanon_mkdir_write_enableYES //允许匿名用户在FTP上创建目录anon_upload_enableYES //允许匿名用户在FTP服务器上上传文件anon_other_write_enableYES //开启匿名用户的其他写权限2.2 安装 cartographer依赖库
#1.安装ROS
sudo apt install ros-melodic-desktop-full
#2.初始化rosdep
sudo rosdep init
apt install python3-rosdep2
rosdep update
#3.设置环境变量echo source /opt/ros/noetic/setup.bash ~/.bashrcsource ~/.bashrc
#4.安装rosinstallapt install python3-rosdep2apt install python-rosinstall python-rosinstall-generator python-wstool build-essential复制文件到目录 cartographer_install
chmod x auto-carto-build.sh
./auto-carto-build.sh
2.3 安装编写的运行脚本 ceres-solver ,protobuf,cartographer 2.3.1 运行环境 /home/tang/cartographer/cartographer_install 安装脚本的编写参考Cartographer — Cartographer documentation
#!/bin/bash#1 Install the required libraries that are available as debs.
# sudo apt-get update
sudo apt-get install \clang \cmake \g \git \google-mock \libboost-all-dev \libcairo2-dev \libcurl4-openssl-dev \libeigen3-dev \libgflags-dev \libgoogle-glog-dev \liblua5.2-dev \libsuitesparse-dev \lsb-release \ninja-build \stow \python3-wstool \python3-rosdep \python3-sphinx \libatlas-base-dev#2 Build and install abseil-cpp
set -o errexit
set -o verbosecd abseil-cpp
git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
mkdir build
cd build
cmake -G Ninja \-DCMAKE_BUILD_TYPERelease \-DCMAKE_POSITION_INDEPENDENT_CODEON \-DCMAKE_INSTALL_PREFIX/usr/local/stow/absl \..
ninja
sudo ninja install
cd /usr/local/stow
sudo stow absl#3 Build and install Ceres.
cd -
cd ../../ceres-solver
mkdir build
cd build
cmake .. -G Ninja -DCXX11ON
ninja
#CTEST_OUTPUT_ON_FAILURE1 ninja test
sudo ninja install#4 Build and install proto3.
cd ../../protobuf
mkdir build
cd build
cmake -G Ninja \-DCMAKE_POSITION_INDEPENDENT_CODEON \-DCMAKE_BUILD_TYPERelease \-Dprotobuf_BUILD_TESTSOFF \../cmake
ninja
sudo ninja install#5 Build and install Cartographer.
cd ../../cartographer
mkdir build
cd build
cmake .. -G Ninja
ninja
#CTEST_OUTPUT_ON_FAILURE1 ninja test
sudo ninja install出现 fatal: detected dubious ownership in repository 原因权限的问题。 解决方法 git config --global --add safe.directory /home/tang/cartographer/cartographer_install/abseil-cpp
2.3.2源码编译 目录/home/tang/carto_ws/cartographer_detailed_comments_ws/
下载注释的代码 https://github.com/xiangli0608/cartographer_detailed_comments_ws git clone https://github.com/xiangli0608/cartographer_detailed_comments_ws.git
#1.编译源码 git 下在
cd /home/tang/
mkdir carto_ws
cd carto_ws
git clone https://github.com/xiangli0608/cartographer_detailed_comments_ws.git#更新git
git pull origin master#2.编译源码
./catkin_make.sh#3.vim ~/.bashrc
source /home/tang/carto_ws/cartographer_detailed_comments_ws/install_isolated/setup.bash#4. 4个包
/home/tang/carto_ws/cartographer_detailed_comments_ws/src/cartographer
/home/tang/carto_ws/cartographer_detailed_comments_ws/src/cartographer_ros/cartographer_ros
/home/tang/carto_ws/cartographer_detailed_comments_ws/src/cartographer_ros/cartographer_ros_msgs
/home/tang/carto_ws/cartographer_detailed_comments_ws/src/cartographer_ros/cartographer_rviz error当出现找不到rosbag等包时不要修改cmake文件安装各种包即可。 sudo apt install ros-noetic-ros-rosbag
sudo apt install ros-noetic-turtle-tf2
sudo apt install ros-noetic-tf2-tools
sudo apt install ros-noetic-urdf-tutorial
2.到目录下执行脚本编译 到目录下直接执行catkin_make不行会报错
