文章介绍了在安装和使用CARLAROS桥接过程中遇到的三个错误及其解决方案，包括找不到empy库、ackermann_msgs包和derived-object包，以及运行时的CARLA版本不匹配、libffi.so.7符号错误和transforms3d模块未找到的问题。解决方法涉及conda环境管理、apt-get安装缺失包、指定Python路径和重装特定版本的carla库。
文章目录
- 一、安装过程
- 二、报错及其解决方法
-
- 1.错误1：python库 empy 库找不到
- 2. 错误2：ackermann_msgs找不到
- 3. 错误3：derived-object找不到
- 4.错误4：CMake Error at grid_map/grid_map_octomap/CMakeLists.txt:13 (find_package):
- 5.错误5：Could not find the required component 'derived_object_msgs'.:
- 6.错误6 Could not find a package configuration file provided by "costmap_2d" with any of the following names:
- 7.错误7：ould not find a package configuration file provided by "TBB"
- 运行时错误2：ImportError: /usr/lib/x86_64-linux-gnu/libp11-kit.so.0: undefined symbol: ffi_type_pointer, version LIBFFI_BASE_7.0
- 运行时错误3：ModuleNotFoundError: No module named 'transforms3d'
下载后进行catkin_make会报错3个错误
一、安装过程
- Create a catkin workspace:
mkdir -p ~/carla-ros-bridge/catkin_ws/src
- Clone the ROS Bridge repository and submodules:
cd ~/carla-ros-bridge
git clone --recurse-submodules https://github.com/carla-simulator/ros-bridge.git catkin_ws/src/ros-bridge
- Set up the ROS environment according to the ROS version you have installed:
source /opt/ros/noetic/setup.bash
- Install the required ros-dependencies:
cd catkin_ws
wget http://fishros.com/install -O fishros && . fishros
安装rosdepc，然后运行：
rosdep update
rosdep install --from-paths src --ignore-src -</
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