Raspberry Pi 源码安装ROS-Kinetic
这里的测试中rosdep 无法使用, 通过其他方式下载了kinetic-desktop-wet.rosinstall文件，并注销opencv的编译+安装。
如果有些文件/包下载不下来, 请跟我留言把.
１. 前言背景
sudo rosdep init && rosdep update无法成功，凡是涉及到rosdep的都无法成功;
提醒: 如果你可以设置系统全局VPN那就不用这么麻烦，只需要按照官网源码ROS安装方式继续安装就行了。
如果你没有VPN又要用ROS，那么以下的方法适合你。
2. 源码安装ROS, 逐步安装依赖, 实现ROS源码编译
## 常规ROS官网的步骤1.安装引导依赖关系sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential2."我用不了"－－初始化rosdepsudo rosdep initrosdep update3.创建catkin工作空间mkdir ~/ros_catkin_wscd ~/ros_catkin_ws4."我用不了"－－ROS-desktop包安装rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-wet.rosinstallwstool init -j4 src kinetic-desktop-wet.rosinstall5."我用不了"－－解析依赖rosdep install --from-paths src --ignore-src --rosdistro kinetic -y 6.编译catkin工作空间./src/catkin/bin/catkin_make_isolated --install `-DCMAKE_BUILD_TYPE=Release"2-4-5步用不了，导致很多依赖无法自动安装，所以需要你自己手动逐个安装......orz..."
## 非常规ROS官网的步骤"下面出现的软件包依赖都是我一个一个遇到的坑,然后手动填坑的过程, 如果你遇到了相关问题无法解决,请跟我留言把!"1. 我在其他PC(全局VPN)上下载下来了kinetic-desktop-wet.rosinstall文件,可以拿来使用...2. 创建工作空间, 初始化 && 爬取所有ROS包mkdir ~/ros_catkin_wscd ~/ros_catkin_wswstool init -j4 src kinetic-desktop-wet.rosinstall3. 编译工作空间sudo ./src/catkin/bin/catkin_make_isolated --install -DBOOST_ROOT=/usr/local/boost1580 -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j4"建议: 安装ROS， 请安装R0S-Melodic版本，这样底层库boost应该是满足条件，而不会引起冲突， 归根究底是因为RasBian Bluster是最新版，里面一些底层库都是比较新的版本(如boost-1.67.0, qt-5.11等)"
问题1: 缺少empy
解决: sudo apt install python-empy.
问题2: 缺少console_bridge
Could not find a package configuration file provided by "console_bridge"with any of the following names:console_bridgeConfig.cmakeconsole_bridge-config.cmake解决: sudo apt install librosconsole-bridge-dev
问题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 thetop-level directory containing the poco include directories. E.g/usr/local/include/ or c:\poco\include\poco-1.3.2解决: sudo apt-get install libpoco-doc libpoco-dev
问题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 sipconfigImportError: No module named sipconfigCMake Error at cmake/FindSIP.cmake:63 (MESSAGE):Could not find SIP解决: sudo apt install python-sip python-sip-dev python-sip-doc python-sip-dbg
问题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)解决: sudo apt install libtinyxml-dev libtinyxml-doc
问题6: boost底层库版本不对
fatal error: boost/tr1/unordered_set.hpp: No such file or directory解决: ros-kinetic要求boost为1.58版本，而系统为1.67,需要手动安装boost_1_58_0.wget -O boost_1_58_0.tar.bz2 /projects/boost/files/boost/1.58.0/boost_1_58_0.tar.bz2tar --bzip2 -xvf boost_1_58_0.tar.bz2安装boost有些依赖需要安装: sudo apt-get install libboost-all-dev libbz2-devcd boost_1_58_0./bootstrap.sh --with-libraries=all --with-toolset=gccsudo ./b2 install --prefix=/usr/local/boost1580安装成功之后，重新编译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库的搜索路径: set(BOOST_ROOT /usr/local/boost)"
问题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
问题8: PyQt5有问题
ImportError: No module named PyQt5解决: > sudo apt install python-pyqt5*(pyqt-5.11.0), 不能这么安装，会导致与pyqt5.sip找不到，不知道是不是版本问题;源码安装: 下载链接: /software/pyqt/download5tar -xvf PyQt5_gpl-5.10.tar.gzpython configure.pymake -j4> 这里会遇到错误: error: ‘waitForEvents’ is not a member of ‘QTest’, 这个函数自从5.10 / 5.11版本之后，去掉了。所以这里找不到，简单的办法就是按照提示找到调用该函数的地方，将其注释掉。> 这个函数不重要，只有一个地方调用了，所以直接注释掉就OK了。sudo make install
问题9: 缺少gtest
解决: sudo apt-get install libgtest-dev
问题10: 缺少lz4
CMake Error at CMakeLists.txt:13 (message):lz4 includes not found解决: sudo apt install liblz4-dev
问题11: ‘logError’ was not declared in this scope" (cpp_common)
解决: 在logError前面添加CONSOLE_BRIDGE_，即为CONSOLE_BRIDGE_logError， 后面类似的错误都可以用这种方法解决。
问题12: “urdfdom_headers”, but CMake did not find one.
sudo apt install liburdffdom-headers-devsudo apt install liburdfdom-dev
问题13: No package ‘assimp’ found
sudo apt install python-pyassimp libassimp-dev
问题14: 缺少collada_dom
CMake Error at CMakeLists.txt:15 (find_package):By not providing "FindCOLLADA_DOM.cmake" in CMAKE_MODULE_PATH this projecthas asked CMake to find a package configuration file provided by"COLLADA_DOM"解决: sudo apt install libcollada-dom2.4-dp-dev
问题15: No package ‘OGRE’, ‘OGRE-Overlay’ found:
解决: sudo apt-get install libogre-1.8-dev sudo apt install libyaml-cpp0.3-devsudo apt install python-netifaces python-defusedxml ---> "roscore缺少模块组件"
问题16: 在树莓派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: 按照源码编译ROS的方式，将其编译至系统库中;下载链接: git clone /ros/diagnostics.git4. 缺少tf2_geometry_msgs: 同上下载链接: git clone /ros/geometry2.git5. sudo apt install liborocos-bfl-dev --> "orocos-bfl"6. 安装pcl, 下载pcl-pcl-1.7.2;(pcl1.7版本依赖libvtk5版本的一个函数接口，而在vtk6/vtk7中已经取消了， 因此，这里选择pcl1.8.0+vtk7进行安装，但要选择boost1.58.0版本)安装依赖: sudo apt install libflann1.9 libflann-dev(1.9的版本太高，对与pcl-1.8需要安装flann-1.8)"apt-get安装方式: " sudo apt install libpcl-dev(但这样安装得到的好像是最新版pcl1.9??)"建议: 安装ROS， 请安装R0S-Melodic版本，这样底层库boost应该是满足条件，而不会引起冲突， 归根究底是因为RasBian Bluster是最新版，里面一些底层库都是比较新的版本(如boost-1.67.0, qt-5.11等)" "源码编译选项(内存有限,去掉例子): cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_apps=OFF -DBUILD_examples=OFF .."7. 安装move_base_msg, pcl_msg --> For navigation.git clone /ros-planning/navigation_msgs.gitgit clone /ros-perception/pcl_msgs.git
