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compile_kinetic_on_18.04

Feb 25, 2021, 3 min read

1. 在Ubuntu18.04下安装ROS Kinetic（手动编译）

http://wiki.ros.org/kinetic/Installation/Source

$ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential

sudo rosdep init rosdep update

  • Desktop Install (recommended): ROS, rqt, rviz, and robot-generic libraries

    wstool init -j8 src kinetic-desktop-wet.rosinstall

$ rosdep install —from-paths src —ignore-src —rosdistro kinetic -y

  • 在编译前修改代码：
错误解决方案相关文件/命令
fatal error: boost/tr1/unordered_set.hpp: No such file or directoryRemove tr1编辑src/rospack/include/rospack/rospack.h

编辑src/rospack/src/utils.cpp
/home/xxx/ros_catkin_ws/src/rospack/src/rospack.cpp:1104:10: error:
‘std::tr1’ has not been declared		Remove tr1编辑src/rospack/src/rospack.cpp
std::tr1::unordered_set<Stackage*> top_deps_set;

编辑src/rospack/include/rospack/rospack.h
std::tr1::unordered -> boost::unordered
ros tf2 error: ‘logWarn’ was not declared in this scope编辑src/geometry2/tf2/src/buffer_core.cpp
sed -i ‘s/logError/CONSOLE_BRIDGE_logError/g’
sed -i ‘s/logWarn/CONSOLE_BRIDGE_logWarn/g’
  • 注：最后一个错误，It actually compiles when prefixed with CONSOLE_BRIDGE, i.e. recursively executing the following for all files and log types

2. WIP: Gazebo

Full install have trouble with gazebo 7

Trouble shoot Package libgazebo7-dev is not available, but is referred to by another package. This may mean that the package is missing, has been obsoleted, or is only available from another source However the following packages replace it: libgazebo9-dev:i386 libgazebo9-dev

E: Package ‘libgazebo7-dev’ has no installation candidate ERROR: the following rosdeps failed to install apt: command [sudo -H apt-get install -y libgazebo7-dev] failed

http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install

  1. Step 1

    sudo sh -c ‘echo “deb http://packages.osrfoundation.org/gazebo/ubuntu-stable lsb_release -cs main” > /etc/apt/sources.list.d/gazebo-stable.list’

    You can check to see if the file was written correctly. For example, in Ubuntu Xenial, you can type:

    $ cat /etc/apt/sources.list.d/gazebo-stable.list deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main

    Replace bonic by xenial

  2. Setup keys

    wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

  3. Install Gazebo. First update the debian database:

    sudo apt-get update

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