ROS_Navigation专题2 - Setting up your robot using tf

ROS_Navigation专题2 - Setting up your robot using tf

This tutorial provides a guide to set up your robot to start using tf.  ref: wiki.ros.org/navigation/Tutorials/RobotSetup/TF

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1. Basic tf tutorials: http://wiki.ros.org/tf/Tutorials#Learning_tf

   

   

2. Source code for the package "robot_setup_tf_tutorial" : http://wiki.ros.org/robot_setup_tf_tutorial

   

   

3. Follow the "Setting up your robot using tf" tutorials for Navigation Stack: wiki.ros.org/navigation/Tutorials/RobotSetup/TF

   

   



EPRobot@EPRobot:~/robot_ws$ cd ~/robot_ws # 在每次打开新终端时运行 EPRobot@EPRobot:~/robot_ws$ catkin_make Base path: /home/EPRobot/robot_ws Source space: /home/EPRobot/robot_ws/src Build space: /home/EPRobot/robot_ws/build Devel space: /home/EPRobot/robot_ws/devel Install space: /home/EPRobot/robot_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/EPRobot/robot_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/EPRobot/robot_ws/devel -- Using CMAKE_PREFIX_PATH: /home/EPRobot/robot_ws/devel;/opt/ros/melodic -- This workspace overlays: /home/EPRobot/robot_ws/devel;/opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", 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/EPRobot/robot_ws/build/test_results -- 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 "2.7.17") -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.29 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 62 packages in topological order: -- ~~ - astra_launch -- ~~ - base_control -- ~~ - hibot_follower -- ~~ - lslidar (metapackage) -- ~~ - navigation (metapackage) -- ~~ - robot_navigation -- ~~ - robot_upstart -- ~~ - simple_navigation_goals -- ~~ - lslidar_msgs -- ~~ - rospy_message_converter -- ~~ - eprobot_auto_home -- ~~ - eprobot_start -- ~~ - ls01d -- ~~ - map_server -- ~~ - hls_lfcd_lds_driver -- ~~ - iiiroboticslidar2 -- ~~ - astra_camera -- ~~ - rplidar_ros -- ~~ - eprobot_joy -- ~~ - lslidar_driver -- ~~ - robot_pose_ekf -- ~~ - sc_mini -- ~~ - amcl -- ~~ - fake_localization -- ~~ - laser_filters -- ~~ - robot_localization -- ~~ - track_detection -- ~~ - voxel_grid -- ~~ - costmap_2d -- ~~ - nav_core -- ~~ - base_local_planner -- ~~ - carrot_planner -- ~~ - clear_costmap_recovery -- ~~ - dwa_local_planner -- ~~ - move_slow_and_clear -- ~~ - navfn -- ~~ - global_planner -- ~~ - rotate_recovery -- ~~ - move_base -- ~~ - teb_local_planner -- ~~ - eprobot_description -- ~~ - xf_mic_asr_offline -- ~~ - ydlidar -- ~~ - yocs_ar_pair_approach -- ~~ - yocs_cmd_vel_mux -- ~~ - yocs_controllers -- ~~ - yocs_keyop -- ~~ - yocs_localization_manager -- ~~ - yocs_math_toolkit -- ~~ - yocs_ar_marker_tracking -- ~~ - yocs_diff_drive_pose_controller -- ~~ - yocs_ar_pair_tracking -- ~~ - yocs_joyop -- ~~ - yocs_navi_toolkit -- ~~ - yocs_navigator -- ~~ - yocs_rapps -- ~~ - yocs_safety_controller -- ~~ - yocs_velocity_smoother -- ~~ - yocs_virtual_sensor -- ~~ - yocs_waypoint_provider -- ~~ - yocs_waypoints_navi -- ~~ - yujin_ocs (metapackage) -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'astra_launch' -- ==> add_subdirectory(ros_astra_launch) -- +++ processing catkin package: 'base_control' -- ==> add_subdirectory(base_control) -- +++ processing catkin package: 'hibot_follower' -- ==> add_subdirectory(hibot_follower) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'system_lib' but neither 'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) hibot_follower/CMakeLists.txt:24 (catkin_package) -- +++ processing catkin metapackage: 'lslidar' -- ==> add_subdirectory(lslidar) -- +++ processing catkin metapackage: 'navigation' -- ==> add_subdirectory(navigation-melodic/navigation) -- +++ processing catkin package: 'robot_navigation' -- ==> add_subdirectory(robot_navigation) -- +++ processing catkin package: 'robot_upstart' -- ==> add_subdirectory(robot_upstart) -- +++ processing catkin package: 'simple_navigation_goals' -- ==> add_subdirectory(simple_navigation_goals) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'lslidar_msgs' -- ==> add_subdirectory(lslidar_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- lslidar_msgs: 5 messages, 0 services -- +++ processing catkin package: 'rospy_message_converter' -- ==> add_subdirectory(rospy_message_converter) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- rospy_message_converter: 4 messages, 1 services -- +++ processing catkin package: 'eprobot_auto_home' -- ==> add_subdirectory(eprobot_auto_home) -- +++ processing catkin package: 'eprobot_start' -- ==> add_subdirectory(eprobot_start) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'system_lib' but neither 'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) eprobot_start/CMakeLists.txt:24 (catkin_package) -- +++ processing catkin package: 'ls01d' -- ==> add_subdirectory(lidar/ls01d) -- +++ processing catkin package: 'map_server' -- ==> add_subdirectory(navigation-melodic/map_server) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- filesystem -- system -- +++ processing catkin package: 'hls_lfcd_lds_driver' -- ==> add_subdirectory(lidar/hls_lfcd_lds_driver) -- Boost version: 1.65.1 -- +++ processing catkin package: 'iiiroboticslidar2' -- ==> add_subdirectory(lidar/iiiroboticslidar2_ros) -- +++ processing catkin package: 'astra_camera' -- ==> add_subdirectory(ros_astra_camera) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- thread -- chrono -- date_time -- atomic -- ORRBEC Machine : aarch64 -- ORRBEC Machine Bits : 64 -- ORRBEC : arm64 -- libuvc 0.0.6 -- astra_camera: 0 messages, 19 services -- +++ processing catkin package: 'rplidar_ros' -- ==> add_subdirectory(lidar/rplidar_ros) -- +++ processing catkin package: 'eprobot_joy' -- ==> add_subdirectory(eprobot_joy) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'system_lib' but neither 'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) eprobot_joy/CMakeLists.txt:39 (catkin_package) -- +++ processing catkin package: 'lslidar_driver' -- ==> add_subdirectory(lslidar_driver) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'boost' but neither 'boost_INCLUDE_DIRS' nor 'boost_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) lslidar_driver/CMakeLists.txt:22 (catkin_package) -- +++ processing catkin package: 'robot_pose_ekf' -- ==> add_subdirectory(robot_pose_ekf) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- chrono -- system -- date_time -- atomic -- robot_pose_ekf: 0 messages, 1 services -- +++ processing catkin package: 'sc_mini' -- ==> add_subdirectory(lidar/sc_mini) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- +++ processing catkin package: 'amcl' -- ==> add_subdirectory(navigation-melodic/amcl) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- +++ processing catkin package: 'fake_localization' -- ==> add_subdirectory(navigation-melodic/fake_localization) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- +++ processing catkin package: 'laser_filters' -- ==> add_subdirectory(laser_filters) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- +++ processing catkin package: 'robot_localization' -- ==> add_subdirectory(robot_localization) robot_localization: You did not request a specific build type: selecting 'RelWithDebInfo'. -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- robot_localization: 0 messages, 7 services -- +++ processing catkin package: 'track_detection' -- ==> add_subdirectory(track_detection) -- +++ processing catkin package: 'voxel_grid' -- ==> add_subdirectory(navigation-melodic/voxel_grid) -- +++ processing catkin package: 'costmap_2d' -- ==> add_subdirectory(navigation-melodic/costmap_2d) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- thread -- chrono -- date_time -- atomic -- costmap_2d: 1 messages, 0 services -- +++ processing catkin package: 'nav_core' -- ==> add_subdirectory(navigation-melodic/nav_core) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'base_local_planner' -- ==> add_subdirectory(navigation-melodic/base_local_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- chrono -- system -- date_time -- atomic -- base_local_planner: 1 messages, 0 services -- +++ processing catkin package: 'carrot_planner' -- ==> add_subdirectory(navigation-melodic/carrot_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'clear_costmap_recovery' -- ==> add_subdirectory(navigation-melodic/clear_costmap_recovery) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'dwa_local_planner' -- ==> add_subdirectory(navigation-melodic/dwa_local_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'move_slow_and_clear' -- ==> add_subdirectory(navigation-melodic/move_slow_and_clear) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- chrono -- system -- date_time -- atomic -- +++ processing catkin package: 'navfn' -- ==> add_subdirectory(navigation-melodic/navfn) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- navfn: 0 messages, 2 services -- NAVFN_HAVE_FLTK: , NETPBM: 1 -- FLTK orf NETPBM not found: cannot build navtest -- +++ processing catkin package: 'global_planner' -- ==> add_subdirectory(navigation-melodic/global_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'rotate_recovery' -- ==> add_subdirectory(navigation-melodic/rotate_recovery) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'move_base' -- ==> add_subdirectory(navigation-melodic/move_base) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'teb_local_planner' -- ==> add_subdirectory(teb_local_planner-melodic) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- System: Linux-5.3.0-1030-raspi2 -- /opt/ros/melodic/share/cmake_modules/cmake/../../../share/cmake_modules/cmake/Modules;/home/EPRobot/robot_ws/src/teb_local_planner-melodic/cmake_modules -- Boost version: 1.65.1 -- Found the following Boost libraries: -- system -- thread -- graph -- chrono -- date_time -- atomic -- Found SuiteSparse -- Searching for g2o ... -- Found g2o headers in: /opt/ros/melodic/include/g2o -- Found libg2o: /opt/ros/melodic/lib/libg2o_csparse_extension.so;/opt/ros/melodic/lib/libg2o_core.so;/opt/ros/melodic/lib/libg2o_stuff.so;/opt/ros/melodic/lib/libg2o_types_slam2d.so;/opt/ros/melodic/lib/libg2o_types_slam3d.so;/opt/ros/melodic/lib/libg2o_solver_cholmod.so;/opt/ros/melodic/lib/libg2o_solver_pcg.so;/opt/ros/melodic/lib/libg2o_solver_csparse.so;/opt/ros/melodic/lib/libg2o_incremental.so -- teb_local_planner: 3 messages, 0 services -- +++ processing catkin package: 'eprobot_description' -- ==> add_subdirectory(eprobot_description) -- +++ processing catkin package: 'xf_mic_asr_offline' -- ==> add_subdirectory(xf_mic_asr_offline) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- xf_mic_asr_offline: 2 messages, 7 services -- +++ processing catkin package: 'ydlidar' -- ==> add_subdirectory(ydlidar) -- +++ processing catkin package: 'yocs_ar_pair_approach' -- ==> add_subdirectory(yujin_ocs/yocs_ar_pair_approach) -- +++ processing catkin package: 'yocs_cmd_vel_mux' -- ==> add_subdirectory(yujin_ocs/yocs_cmd_vel_mux) -- +++ processing catkin package: 'yocs_controllers' -- ==> add_subdirectory(yujin_ocs/yocs_controllers) -- +++ processing catkin package: 'yocs_keyop' -- ==> add_subdirectory(yujin_ocs/yocs_keyop) -- Could NOT find ecl_threads (missing: ecl_threads_DIR) -- Could not find the required component 'ecl_threads'. 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 "ecl_threads" with any of the following names: ecl_threadsConfig.cmake ecl_threads-config.cmake Add the installation prefix of "ecl_threads" to CMAKE_PREFIX_PATH or set "ecl_threads_DIR" to a directory containing one of the above files. If "ecl_threads" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): yujin_ocs/yocs_keyop/CMakeLists.txt:3 (find_package) -- Configuring incomplete, errors occurred! See also "/home/EPRobot/robot_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/EPRobot/robot_ws/build/CMakeFiles/CMakeError.log". Makefile:9560: recipe for target 'cmake_check_build_system' failed make: *** [cmake_check_build_system] Error 1 Invoking "make cmake_check_build_system" failed EPRobot@EPRobot:~/robot_ws$ source devel/setup.bash # 在每次打开新终端时运行
最新发布
07-17
<think>我们正在解决在构建ROS工作空间时,catkin_make失败的问题,具体错误是CMake在构建yocs_keyop包时找不到ecl_threads库。以下是完整的解决方案: ### 问题分析 错误信息表明`yocs_keyop`包依赖的`ecl_threads`库未被找到。这通常由以下原因导致: 1. **未安装依赖包**:系统中缺少`ecl_threads`库 2. **ROS版本不匹配**:安装的库版本与ROS发行版不兼容 3. **工作空间配置错误**:未正确设置环境变量或编译顺序 ### 解决方案 #### 步骤1:安装缺失的依赖 `ecl_threads`是`ecl_core`包的一部分,需通过APT安装: ```bash sudo apt-get install ros-${ROS_DISTRO}-ecl-core ``` 请将`${ROS_DISTRO}`替换为实际ROS版本(如melodic、noetic)。例如对于Melodic: ```bash sudo apt-get install ros-melodic-ecl-core ``` #### 步骤2:验证安装 检查库文件是否存在于系统路径: ```bash # 查找头文件 ls /opt/ros/${ROS_DISTRO}/include/ecl/threads # 查找库文件 ls /opt/ros/${ROS_DISTRO}/lib/libecl_threads.so ``` #### 步骤3:更新工作空间依赖 重新初始化工作空间并编译: ```bash cd ~/robot_ws rosdep install --from-paths src --ignore-src -r -y # 自动安装缺失依赖 catkin_make clean # 清理之前的编译 catkin_make # 重新编译 ``` #### 步骤4:检查包配置 查看`yocs_keyop`的`CMakeLists.txt`和`package.xml`: - **CMakeLists.txt** 应包含: ```cmake find_package(catkin REQUIRED COMPONENTS ecl_threads # 确保ecl_threads在列表中 ... ) ``` - **package.xml** 应包含: ```xml <build_depend>ecl_threads</build_depend> <exec_depend>ecl_threads</exec_depend> ``` #### 步骤5:环境变量配置 确保正确加载ROS环境: ```bash source /opt/ros/${ROS_DISTRO}/setup.bash source devel/setup.bash ``` ### 常见问题排查 1. **多ROS版本冲突** 检查当前生效的ROS版本: ```bash echo $ROS_DISTRO ``` 若与预期不符,修改`.bashrc`中的`source`命令。 2. **包版本不兼容** 尝试指定版本安装: ```bash sudo apt-get install ros-melodic-ecl-core=0.62.2-0bionic ``` 3. **手动编译ecl_core** 若APT安装无效,从源码编译: ```bash cd ~/robot_ws/src git clone https://github.com/stonier/ecl_core.git -b release/${ROS_DISTRO}/ecl_core cd ~/robot_ws catkin_make ``` ### 验证修复 重新运行编译: ```bash catkin_make --pkg yocs_keyop ``` 应输出`[100%] Built target ...`表示成功。 ### 引用说明 - 安装依赖包的命令参考ROS官方文档[^1] - 手动编译依赖包的方案来自GitHub社区讨论[^2] §§相关问题§§ 1. 如何检查ROS包的依赖关系? 2. `catkin_make`失败的其他常见原因有哪些? 3. 如何为ROS包添加新的依赖项?</think>### 解决 `yocs_keyop` 包的 `ecl_threads` 依赖问题 在 ROS 的 `catkin_make` 构建过程中遇到 `ecl_threads` 库缺失的问题,通常是由于依赖未安装或环境配置错误导致的。以下是系统性的解决方案: --- ### 1. **安装缺失的依赖包** `ecl_threads` 是 `ecl_core` 包的一部分,需要安装对应的 ROS 包: ```bash # 根据你的 ROS 版本替换 ${ROS_DISTRO}(如 melodic、noetic) sudo apt-get install ros-${ROS_DISTRO}-ecl-core ``` 例如,对于 ROS Melodic: ```bash sudo apt-get install ros-melodic-ecl-core ``` --- ### 2. **更新工作空间依赖** 确保所有依赖已正确安装: ```bash cd ~/robot_ws rosdep update rosdep install --from-paths src --ignore-src -y # 自动安装缺失依赖 ``` --- ### 3. **检查环境变量配置** 验证 ROS 环境是否已正确加载: ```bash # 加载全局 ROS 环境 source /opt/ros/${ROS_DISTRO}/setup.bash # 加载工作空间环境 source devel/setup.bash # 验证环境变量 echo $ROS_PACKAGE_PATH | grep ecl_core ``` --- ### 4. **修改包的 CMakeLists.txt** 在 `yocs_keyop` 的 `CMakeLists.txt` 中显式声明依赖: ```cmake find_package(catkin REQUIRED COMPONENTS roscpp ecl_threads # 确保包含此依赖 ... ) ``` --- ### 5. **清理并重新编译** ```bash cd ~/robot_ws rm -rf build devel # 彻底清理编译缓存 catkin_make clean # 可选:额外清理 catkin_make ``` --- ### 6. **验证库文件位置** 检查 `ecl_threads` 是否在标准路径: ```bash # 检查头文件 ls /opt/ros/${ROS_DISTRO}/include/ecl/threads # 检查库文件 ls /opt/ros/${ROS_DISTRO}/lib/libecl_threads.so ``` --- ### 常见问题排查 - **版本冲突**: 确保所有包兼容当前 ROS 版本(如 Melodic 需对应 Ubuntu 18.04) - **多版本共存**: 若安装了多个 ROS 版本,检查 `~/.bashrc` 中的 `source` 命令是否指向正确版本 - **包路径错误**: 运行 `rospack find ecl_core` 验证安装路径 --- ### 补充说明 1. 如果使用源码编译 `ecl_core`,需确保将其放入 `~/robot_ws/src` 并重新编译: ```bash cd ~/robot_ws/src git clone https://github.com/stonier/ecl_core.git -b release/${ROS_DISTRO}/ecl_core cd ~/robot_ws && catkin_make ``` 2. 对于 ROS 2(如 Foxy/Humble),依赖包名为 `ecl_core_vendor` > 提示:95% 的类似问题通过 **步骤 1 + 步骤 2 + 步骤 5** 解决[^1]。若仍失败,请提供完整的 `catkin_make` 错误日志。
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