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typora-root-url: /home/msj/ubuntu笔记本台式机环境配置说明/images

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Ubuntu18.04 配置

说明：我们所有文档配置都是按照ubuntu18.04，保证x86架构(笔记本台式机)和 ARM架构(jetson Nano只能安装18.04)的一致性

1. 更换各类源

我们所有源都更换清华源， 如有问题请参考官网

1.1 ubuntu

Ubuntu 的软件源配置文件是 /etc/apt/sources.list。将系统自带的该文件做个备份，将该文件替换为清华源，即可使用选择的软件源镜像。

# 备份
sudo cp /etc/apt/sources.list /etc/apt/sources.list.backup

#打开文件，内容更换成下面内容并保存
sudo gedit /etc/apt/sources.list

# 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/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse

# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse

deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-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/ bionic-proposed main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse

2.安装ROS-Melodic

• 设置清华源的source.list

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

• 设置GPG Key，并更新

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update

• 安装桌面完整版

sudo apt install ros-melodic-desktop-full

如果安装额外的其他包，用下面命令

sudo apt install ros-melodic-PACKAGE_NAME

• 设置环境变量，令每个终端窗口都可以启动ros

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

• 安装依赖

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

• 初始化rosdep

sudo rosdep init

Bug1 - 会出现错误：这个错误是因为网络无法连接，无法下载20-default.list文件

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

Solution1 - 我们参考清华源处理方法，也有其他更改下载链接方法，请自行百度。

# 手动模拟 rosdep init
sudo mkdir -p /etc/ros/rosdep/sources.list.d/
sudo curl -o /etc/ros/rosdep/sources.list.d/20-default.list https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
# 为 rosdep update 换源
export ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml
rosdep update

# 每次 rosdep update 之前，均需要增加该环境变量
# 为了持久化该设定，可以将其写入 .bashrc 中，例如
echo 'export ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml' >> ~/.bashrc

#更新
rosdep update

出现以下输出：

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/base.yaml
Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/python.yaml
Hit https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/ruby.yaml
Query rosdistro index https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Skip end-of-life distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Add distro "iron"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Skip end-of-life distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/msj/.ros/rosdep/sources.cache

• 测试是否安装成功，打开roscore

roscore

出现以下输出，显示ros证明安装成功.

3. 安装cartographer-ros

介绍

cartographer_ros的安装、编译、与运行

软件架构

cartographer_install：cartographer的依赖安装包、源码安装包、安装脚本

cartographer_ros_ws/src/cartographer：cartographer的源码（如果之后需要修改carto的算法，需要在这里修改）

cartographer_ros_ws/src/cartographer_ros：cartographer的ros接口

安装

1. 如果之前安装过这些库，删除系统中之前安装过的相关依赖库。

   cd /usr/local/include
   sudo rm -rf absl
   sudo rm -rf ceres
   sudo rm -rf cartographer
   cd google
   sudo rm -rf protobuf
   

2. 卸载ros自带的proto2

   sudo apt-get remove libprotobuf-dev
   

3. 安装一些系统依赖

   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 \
       python-wstool \
       python-rosdep \
   	python-sphinx \
   	libatlas-base-dev
   

4. 安装cartographer_install中的依赖库

   • 如果之前安装过，需要事先删除依赖库中的build文件夹.
   • 最好不要使用脚本安装，最好手动安装，以看出每一步安装的具体报错.

   cd cartographer_install
   
   
   # Build and install abseil-cpp
   set -o errexit
   set -o verbose
   
   cd abseil-cpp
   git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
   mkdir build
   cd build
   cmake -G Ninja \
     -DCMAKE_BUILD_TYPE=Release \
     -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
     -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
     ..
   ninja
   sudo ninja install
   cd /usr/local/stow
   sudo stow absl
   
   
   # Build and install Ceres. 注意使用ninja编译可能失败 因为板子性能限制
   cd -
   cd ../../ceres-solver
   mkdir build
   cd build
   cmake .. -G Ninja -DCXX11=ON
   ninja
   #CTEST_OUTPUT_ON_FAILURE=1 ninja test
   sudo ninja install
   
   # 如果ninja编译卡死则用cmake编译, 如果上述步骤通过，忽略此步骤
   cd ..
   rm -rf build
   mkdir build
   cd build
   cmake ..
   make
   sudo make install
   
   
   # Build and install proto3.
   cd ../../protobuf
   mkdir build
   cd build
   cmake -G Ninja \
     -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
     -DCMAKE_BUILD_TYPE=Release \
     -Dprotobuf_BUILD_TESTS=OFF \
     ../cmake
   

装arm的:
cd …
把autogen.sh文件的属性改成可执行文件
./autogen.sh
./configure --host=arm-linux --with-protoc=protoc
make
sudo make install
ninja
sudo ninja install

Build and install Cartographer.

cd …/…/cartographer
mkdir build
cd build
cmake … -G Ninja
ninja
#CTEST_OUTPUT_ON_FAILURE=1 ninja test
sudo ninja install

#### 编译

建立工作空间，并将我们准备的src(包含多个功能包的文件夹)拷贝到工作空间下（以后只需要修改cartographer_ros，即.launch和.lua文件）

​```shell
# 创建工作空间
mkdir ~/msj_ws

# 将我们src拷贝到工作空间下
cp YOUR_PATH/src ~/msj_ws

catkin_make

https://google-cartographer-ros.readthedocs.io/en/latest/demos.html