Skip to content

0042_ROS.md

Latest commit

 

History

History
597 lines (533 loc) · 26.2 KB

0042_ROS.md

File metadata and controls

597 lines (533 loc) · 26.2 KB

ROS

ROS catkin和Linux Yocto是一个概念，组织管理ROS功能包

参考文档

ROS Distribution

查看版本信息：rosdep update

reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Add distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/pi/.ros/rosdep/sources.cache

steps

  • apt-cache search ros-base 
    libpam-krb5-migrate-heimdal - PAM module for migrating to Heimdal Kerberos
libpam-krb5-migrate-mit - PAM module for migrating to MIT Kerberos
libroscpp-core-dev - Development files for Robot OS roscpp-core
ros-base - Python Robot OS base metapackage
ros-base-dev - Robot OS base development metapackage
ros-base-lisp-dev - Lisp Robot OS base development metapackage
ros-base-python-dev - Python Robot OS base development metapackage
  • sudo apt-get install ros-base-python-dev
  • sudo rosdep init 
    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.
    • sudo vim /etc/hosts 
      151.101.84.133  raw.githubusercontent.com
  • rosdep update
    • 多次尝试，经常timeout
  • roscore 
    ... logging to /home/pi/.ros/log/c538ec6c-ebc2-11e9-bb8b-dca632174792/roslaunch-raspberrypi-10390.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://raspberrypi:36077/
ros_comm version 1.14.3


SUMMARY
========

PARAMETERS
 * /rosdistro: Debian
 * /rosversion: 1.14.3

NODES

auto-starting new master
process[master]: started with pid [10426]
ROS_MASTER_URI=http://raspberrypi:11311/

setting /run_id to c538ec6c-ebc2-11e9-bb8b-dca632174792
process[rosout-1]: started with pid [10443]
started core service [/rosout]

sample code

  • https://github.com/ros-gbp/ros_tutorials-release/tree/release/melodic/rospy_tutorials
  • listener.py 
    #!/usr/bin/env python

import rospy
from std_msgs.msg import String

def callback(data):
    rospy.loginfo(rospy.get_caller_id() + 'I heard %s', data.data)

def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # name are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber('chatter', String, callback)

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

if __name__ == '__main__':
    listener()
  • talker.py 
    #!/usr/bin/env python

import rospy
from std_msgs.msg import String

def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        hello_str = "hello world %s" % rospy.get_time()
        rospy.loginfo(hello_str)
        pub.publish(hello_str)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException as e:
        print e
  • python2 listener.py 
    [INFO] [1607497765.294491]: /listener_16319_1607497759624I heard hello world 1607497765.29
[INFO] [1607497765.393387]: /listener_16319_1607497759624I heard hello world 1607497765.39
[INFO] [1607497765.493325]: /listener_16319_1607497759624I heard hello world 1607497765.49
[INFO] [1607497765.593424]: /listener_16319_1607497759624I heard hello world 1607497765.59
[INFO] [1607497765.693473]: /listener_16319_1607497759624I heard hello world 1607497765.69
[INFO] [1607497765.793681]: /listener_16319_1607497759624I heard hello world 1607497765.79
[INFO] [1607497765.893435]: /listener_16319_1607497759624I heard hello world 1607497765.89
  • python2 talker.py 
    [INFO] [1607497765.290273]: hello world 1607497765.29
[INFO] [1607497765.390432]: hello world 1607497765.39
[INFO] [1607497765.490405]: hello world 1607497765.49
[INFO] [1607497765.590406]: hello world 1607497765.59
[INFO] [1607497765.690416]: hello world 1607497765.69
[INFO] [1607497765.790459]: hello world 1607497765.79
[INFO] [1607497765.890416]: hello world 1607497765.89

ROS catkin

包目录架构

ros_catkin_arch.png

第一次处理catkin

  • python默认需要是python2
  • 参考文档：
  • sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros-latest.list'
  • sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  • mkdir ~/ros_catkin_ws
  • cd ~/ros_catkin_ws
  • rosinstall_generator desktop --rosdistro melodic --deps --wet-only --tar > melodic-desktop-wet.rosinstall
  • wstool init -j8 src melodic-desktop-wet.rosinstall
    • 下载断点续传
      • wstool update -j 4 -t src
    • wstool merge melodic-desktop-wet.rosinstall -t src
  • rosdep install -y --from-paths src --ignore-src --rosdistro melodic -r --os=debian:buster
  • assimp
  • sudo apt-get install libogre-1.9-dev
  • rosdep install -y --from-paths src --ignore-src --rosdistro melodic -r --os=debian:$(lsb_release -cs)
  • sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic -j2 
    ...省略
==> make install in '/home/pi/ros_catkin_ws/build_isolated/pluginlib'
Install the project...
-- Install configuration: "Release"
-- Installing: /opt/ros/melodic/_setup_util.py
-- Installing: /opt/ros/melodic/env.sh
-- Installing: /opt/ros/melodic/setup.bash
-- Installing: /opt/ros/melodic/local_setup.bash
-- Installing: /opt/ros/melodic/setup.sh
-- Installing: /opt/ros/melodic/local_setup.sh
-- Installing: /opt/ros/melodic/setup.zsh
-- Installing: /opt/ros/melodic/local_setup.zsh
-- Installing: /opt/ros/melodic/.rosinstall
-- Up-to-date: /opt/ros/melodic/lib/pkgconfig/pluginlib.pc
-- Up-to-date: /opt/ros/melodic/share/pluginlib/cmake/pluginlibConfig.cmake
-- Up-to-date: /opt/ros/melodic/share/pluginlib/cmake/pluginlibConfig-version.cmake
-- Up-to-date: /opt/ros/melodic/share/pluginlib/package.xml
-- Up-to-date: /opt/ros/melodic/include/pluginlib
-- Up-to-date: /opt/ros/melodic/include/pluginlib/pluginlib_exceptions.h
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_loader_base.h
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_loader_imp.hpp
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_loader.h
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_loader_base.hpp
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_list_macros.hpp
-- Up-to-date: /opt/ros/melodic/include/pluginlib/exceptions.hpp
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_desc.h
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_loader_imp.h
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_desc.hpp
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_list_macros.h
-- Up-to-date: /opt/ros/melodic/include/pluginlib/class_loader.hpp
-- Up-to-date: /opt/ros/melodic/lib/pluginlib/pluginlib_headers_migration.py
<== Finished processing package [64 of 186]: 'pluginlib'

==> Processing catkin package: 'qt_gui_cpp'
==> Building with env: '/opt/ros/melodic/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/pi/ros_catkin_ws/build_isolated/qt_gui_cpp'
==> make -j2 in '/home/pi/ros_catkin_ws/build_isolated/qt_gui_cpp'
[ 84%] Built target qt_gui_cpp
[ 89%] Running SIP generator for qt_gui_cpp_sip Python bindings...
Traceback (most recent call last):
  File "/opt/ros/melodic/share/python_qt_binding/cmake/sip_configure.py", line 92, in <module>
    sip_dir, sip_flags = get_sip_dir_flags(config)
  File "/opt/ros/melodic/share/python_qt_binding/cmake/sip_configure.py", line 72, in get_sip_dir_flags
    raise FileNotFoundError('The sip directory for PyQt5 could not be located. Please ensure' +
NameError: global name 'FileNotFoundError' is not defined
make[2]: *** [src/qt_gui_cpp_sip/CMakeFiles/libqt_gui_cpp_sip.dir/build.make:90: sip/qt_gui_cpp_sip/Makefile] Error 1
make[1]: *** [CMakeFiles/Makefile2:566: src/qt_gui_cpp_sip/CMakeFiles/libqt_gui_cpp_sip.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
<== Failed to process package 'qt_gui_cpp':
  Command '['/opt/ros/melodic/env.sh', 'make', '-j2']' returned non-zero exit status 2.

Reproduce this error by running:
==> cd /home/pi/ros_catkin_ws/build_isolated/qt_gui_cpp && /opt/ros/melodic/env.sh make -j2

Command failed, exiting.
  • 未解决 
    [  0%] Built target _std_msgs_generate_messages_check_deps_ByteMultiArray
[  0%] Built target _std_msgs_generate_messages_check_deps_Int8MultiArray
[  3%] Generating Javascript code from std_msgs/Int32MultiArray.msg
[ 20%] Built target std_msgs_generate_messages_cpp
Traceback (most recent call last):
  File "/opt/ros/melodic/share/gennodejs/cmake/../../../lib/gennodejs/gen_nodejs.py", line 21, in <module>
    import gennodejs
ImportError: No module named gennodejs
make[2]: *** [CMakeFiles/std_msgs_generate_messages_nodejs.dir/build.make:95: /home/pi/ros_catkin_ws/devel_isolated/std_msgs/share/gennodejs/ros/std_msgs/msg/Int32MultiArray.js] Error 1
make[1]: *** [CMakeFiles/Makefile2:1389: CMakeFiles/std_msgs_generate_messages_nodejs.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 21%] Generating EusLisp code from std_msgs/Int32MultiArray.msg
[ 21%] Generating EusLisp code from std_msgs/Float32.msg
Traceback (most recent call last):
Traceback (most recent call last):
  File "/opt/ros/melodic/share/geneus/cmake/../../../lib/geneus/gen_eus.py", line 39, in <module>
  File "/opt/ros/melodic/share/geneus/cmake/../../../lib/geneus/gen_eus.py", line 39, in <module>
        import geneus
import geneus
ImportErrorImportError: : No module named geneusNo module named geneus

make[2]: *** [CMakeFiles/std_msgs_generate_messages_eus.dir/build.make:96: /home/pi/ros_catkin_ws/devel_isolated/std_msgs/share/roseus/ros/std_msgs/msg/Int32MultiArray.l] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/std_msgs_generate_messages_eus.dir/build.make:101: /home/pi/ros_catkin_ws/devel_isolated/std_msgs/share/roseus/ros/std_msgs/msg/Float32.l] Error 1
make[1]: *** [CMakeFiles/Makefile2:326: CMakeFiles/std_msgs_generate_messages_eus.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
<== Failed to process package 'std_msgs':
  Command '['/opt/ros/melodic/env.sh', 'make', '-j2']' returned non-zero exit status 2.

Reproduce this error by running:
==> cd /home/pi/ros_catkin_ws/build_isolated/std_msgs && /opt/ros/melodic/env.sh make -j2

Command failed, exiting.

第二次处理catkin

  • 机器人操作系统ROS—树莓派Pi4环境(Raspberry Pi OS + ROS Melodic) 
    # 添加 sources.list&公钥
sudo apt update && sudo apt install curl gnupg2 lsb-release catkin
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# 安装工具
sudo apt update
# sudo apt upgrade
sudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

# 初始化 rosdep
sudo vim /etc/hosts
    151.101.84.133  raw.githubusercontent.com
sudo rosdep init
rosdep update

# 下载ROS精简版源码到src（包含二十多个核心包，不含可视化工具）
cd ~/ros_catkin_ws
#rosinstall_generator ros_comm --rosdistro melodic --deps --wet-only --tar > melodic-ros_comm-wet.rosinstall
#wstool init src melodic-ros_comm-wet.rosinstall  #如果安装意外中断，执行wstool update -j4 -t src 继续

# 下载ROS桌面版源码到src（包含186个常用包，含rqt、rviz等可视化工具以及OpenCV3，编译过程较为漫长）
rosinstall_generator desktop rosserial --rosdistro melodic --deps --wet-only --tar > melodic-desktop-wet.rosinstall   #--exclude collada_parser collada_urdf
wstool init src melodic-desktop-wet.rosinstall  #或通过wstool update -j 4 -t src 继续下载

# 安装所需依赖
rosdep install -y --from-paths src --ignore-src --rosdistro melodic -r --os=debian:$(lsb_release -cs)

# 编译ROS到/opt/ros/melodic目录
sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic

# 设置环境
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# 测试ROS turtle
roscore
rosnode list
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
rosrun rqt_graph rqt_graph  # 查看节点关系图

第三次处理catkin

  • 参考文档
    • Installing ROS Melodic on the Raspberry Pi
    • 一定要运行里面的rosdep install -y --from-paths src --ignore-src --rosdistro melodic -r --os=debian:buster检查依赖包安装问题，否者编译完会出现缺库问题
  • 用上面的参考文档进行代码编译
  • echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
  • 测试ROS turtle
    • 单独在一个终端中运行，一般来说，这个服务是一定要保持运行的：
      • roscore
    • rosnode list
    • 这两个合起来用
      • rosrun turtlesim turtlesim_node
      • rosrun turtlesim turtle_teleop_key
    • rosrun rqt_graph rqt_graph # 查看节点关系图
  • 两个终端分别运行
    • roscore
      ros_roscore_log.png
    • rosrun rviz rviz
      ros_rviz_screen.png
    • rosnode list 
      /rosout
/rviz_1609543404720729075
  • 官方教程：http://wiki.ros.org/rviz
  • 视频教程
  • 常用命令
    • rospack
      • 查找某个pkg的地址：rospack find package_name
      • 列出本地所有的pkg：rospack list
    • roscd
      • 跳转到某个pkg路径下：roscd package_name
    • rosls
      • 列举某个pkg下的文件信息：rosls package_name
    • rosed
      • 编辑pkg中的文件：rosed package_name file_name
    • catkin_create_pkg
      • 创建一个pkg：catkin_create_pkg <pkg_name> [deps]
    • rosdep
      • 安装某个pkg所需要的依赖：rosdep install [pkg_name]
  • 官方参考分析代码：~/ros_catkin_ws/src/ros_tutorials
    • https://github.com/ros-gbp/ros_tutorials-release/tree/release/melodic/rospy_tutorials
    • roslaunch rospy_tutorials talker_listener.launch 
      ... logging to /home/pi/.ros/log/ebdfd89a-4dcc-11eb-96cb-cec5cafb6409/roslaunch-raspberrypi-1574.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

... loading XML file [/opt/ros/melodic/etc/ros/roscore.xml]
... executing command param [rosversion roslaunch]
Added parameter [/rosversion]
... executing command param [rosversion -d]
Added parameter [/rosdistro]
Added core node of type [rosout/rosout] in namespace [/]
... loading XML file [/opt/ros/melodic/share/rospy_tutorials/001_talker_listener/talker_listener.launch]
Added node of type [rospy_tutorials/listener.py] in namespace [/]
Added node of type [rospy_tutorials/talker.py] in namespace [/]
started roslaunch server http://raspberrypi:43187/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.10

NODES
  /
    listener (rospy_tutorials/listener.py)
    talker (rospy_tutorials/talker.py)

auto-starting new master
process[master]: started with pid [1584]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to ebdfd89a-4dcc-11eb-96cb-cec5cafb6409
process[rosout-1]: started with pid [1595]
started core service [/rosout]
process[listener-2]: started with pid [1598]
process[talker-3]: started with pid [1599]
[INFO] [1609682812.221915]: hello world 1609682812.22
[INFO] [1609682812.322099]: hello world 1609682812.32
[INFO] [1609682812.325677]: /listenerI heard hello world 1609682812.32
[INFO] [1609682812.422043]: hello world 1609682812.42
[INFO] [1609682812.425512]: /listenerI heard hello world 1609682812.42
[INFO] [1609682812.522064]: hello world 1609682812.52
[INFO] [1609682812.525872]: /listenerI heard hello world 1609682812.52
^C[INFO] [1609682812.622038]: hello world 1609682812.62
[talker-3] killing on exit
[INFO] [1609682812.625906]: /listenerI heard hello world 1609682812.62
[listener-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
    • 程序log输出：~/.ros/log/latest
    • 通过上面的log可知，上面运行的程序是在: /opt/ros/melodic/share/rospy_tutorials/001_talker_listener/

重德智能示例

  • https://github.com/DroidAITech/ROS-Academy-for-Beginners
  • mkdir ~/zengjf/ros/src
  • cd ~/zengjf/ros/src
  • cd ~/zengjf/ros
  • rosdep install -y --from-paths src --ignore-src --rosdistro melodic -r --os=debian:$(lsb_release -cs) 
    ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
robot_sim_demo: No definition of [yocs_cmd_vel_mux] for OS [debian]
navigation_sim_demo: No definition of [dwa_local_planner] for OS [debian]
slam_sim_demo: No definition of [hector_mapping] for OS [debian]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully
  • catkin_make运行失败了 
    Base path: /home/pi/zengjf/ros
Source space: /home/pi/zengjf/ros/src
Build space: /home/pi/zengjf/ros/build
Devel space: /home/pi/zengjf/ros/devel
Install space: /home/pi/zengjf/ros/install
####
#### Running command: "cmake /home/pi/zengjf/ros/src -DCATKIN_DEVEL_PREFIX=/home/pi/zengjf/ros/devel -DCMAKE_INSTALL_PREFIX=/home/pi/zengjf/ros/install -G Unix Makefiles" in "/home/pi/zengjf/ros/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/pi/zengjf/ros/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.16", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/pi/zengjf/ros/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.16")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 29 packages in topological order:
-- ~~  - openslam_gmapping
-- ~~  - ros_academy_for_beginners (metapackage)
-- ~~  - ros_control (metapackage)
-- ~~  - rqt_controller_manager
-- ~~  - slam_gmapping (metapackage)
-- ~~  - controller_manager_msgs
-- ~~  - hardware_interface
-- ~~  - combined_robot_hw
-- ~~  - controller_interface
-- ~~  - name_demo
-- ~~  - navigation_sim_demo
-- ~~  - orbslam2_demo
-- ~~  - param_demo
-- ~~  - robot_sim_demo
-- ~~  - rtabmap_demo
-- ~~  - service_demo
-- ~~  - slam_sim_demo
-- ~~  - topic_demo
-- ~~  - action_demo
-- ~~  - controller_manager
-- ~~  - controller_manager_tests
-- ~~  - combined_robot_hw_tests
-- ~~  - msgs_demo
-- ~~  - gmapping
-- ~~  - tf_demo
-- ~~  - tf_follower
-- ~~  - transmission_interface
-- ~~  - joint_limits_interface
-- ~~  - urdf_demo
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'openslam_gmapping'
-- ==> add_subdirectory(openslam_gmapping)
-- +++ processing catkin metapackage: 'ros_academy_for_beginners'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/ros_academy_for_beginners)
-- +++ processing catkin metapackage: 'ros_control'
-- ==> add_subdirectory(ros_control/ros_control)
-- +++ processing catkin package: 'rqt_controller_manager'
-- ==> add_subdirectory(ros_control/rqt_controller_manager)
-- +++ processing catkin metapackage: 'slam_gmapping'
-- ==> add_subdirectory(slam_gmapping/slam_gmapping)
-- +++ processing catkin package: 'controller_manager_msgs'
-- ==> add_subdirectory(ros_control/controller_manager_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- controller_manager_msgs: 4 messages, 6 services
-- +++ processing catkin package: 'hardware_interface'
-- ==> add_subdirectory(ros_control/hardware_interface)
-- +++ processing catkin package: 'combined_robot_hw'
-- ==> add_subdirectory(ros_control/combined_robot_hw)
-- +++ processing catkin package: 'controller_interface'
-- ==> add_subdirectory(ros_control/controller_interface)
-- +++ processing catkin package: 'name_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/name_demo)
-- +++ processing catkin package: 'navigation_sim_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/navigation_sim_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find controller_manager (missing: controller_manager_DIR)
-- Could not find the required component 'controller_manager'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be
 found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "controller_manager" with any of the following names:

    controller_managerConfig.cmake
    controller_manager-config.cmake

  Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or
  set "controller_manager_DIR" to a directory containing one of the above
  files.  If "controller_manager" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  ROS-Academy-for-Beginners/navigation_sim_demo/CMakeLists.txt:3 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/pi/zengjf/ros/build/CMakeFiles/CMakeOutput.log".
See also "/home/pi/zengjf/ros/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
  • 如上是缺少一些发行包，前面没有安装导致的，安装更多依赖包
    • http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Melodic%20on%20the%20Raspberry%20Pi
    • cd ~/ros_catkin_ws
      • rosinstall_generator ros_comm ros_control joystick_drivers --rosdistro melodic --deps --wet-only --tar > melodic-custom_ros.rosinstall
      • wstool merge -t src melodic-custom_ros.rosinstall
      • wstool update -t src
      • rosdep install --from-paths src --ignore-src --rosdistro melodic -y -r --os=debian:buster
      • sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic
  • 编译还是有问题，主要是gazebo_ros没有