utils/deb_build.sh

#!/bin/bash

#得到当前目录
CUR_DIR=$(cd `dirname $0`; pwd)

usage()
{
        echo "Usage: deb_build.sh srcdir tarfile debian/ubuntu"
}

if [ $# -lt 3 ]; then
	usage
	exit 1
fi

#configure build enviroment
sudo sh ${CUR_DIR}/config.sh
#通过票键得到service  这个命令的结果来来判断docker是否运行起来了
docker_status=`service docker status | grep "inactive" | awk '{print $2}'`
if [ ! -z ${docker_status} ]; then
	echo "Docker service is inactive, begin to start docker service"
        sudo service docker start
#判断返回参数
	if [ $? -ne 0 ] ; then
                echo "Starting docker service failed!"
                exit 1
        else
                echo "Docker service start sucessfully!"
        fi
fi

echo "Start container to build." 
#Image_ID=`docker images | grep "openestuary/debian"| grep "latest" | awk '{print $3}'`

SRC_DIR_1=$1
#从左向右截取第一个string右的字符串
#
#[root@localhost ~]# SRC_DIR_1="123/456/789"
#[root@localhost ~]# echo $SRC_DIR_1
#123/456/789
#[root@localhost ~]# echo ${SRC_DIR_1#*/}
#456/789

#这里的意思就是从左向右第一个/之后的字符串
SRC_DIR_2=${SRC_DIR_1#*/}
SRC_DIR_3=${SRC_DIR_2#*/}
SRC_DIR_4=${SRC_DIR_3#*/}
TAR_FILENAME=$2
DISTRI=$3
BUILD_OPTIONS=$4
PPA_TEST_ENABLE=$5
#[root@localhost ~]# TAR_FILENAME="12-32-56"
#[root@localhost ~]# echo ${TAR_FILENAME%-*}
#12-32
#这里的% 表示从右向左第一个-之后的字符串
CONTAINER_NAME=${TAR_FILENAME%-*}-$DISTRI

# 这一句的作用是干啥??
CONTAINER_NAME=${CONTAINER_NAME/+/}

#如果不存在则copy 过去
if [ ! -f ~/KEY_PASSPHRASE ] ; then
    cp /home/KEY_PASSPHRASE  ~/KEY_PASSPHRASE
fi
#根据发行版不同来运行docker ,这里用=来判断字符串是否相等
#docker run 对参数的继续如下:简单的解释就是在docker中运行deb_build_incontainer.sh ,后面指定这个基本的参数
--network string              Connect a container to a network (default "default")
-d, --detach                      Run container in background and print container ID
--name string                 Assign a name to the container
  -v, --volume value                Bind mount a volume (default [])

if [ $DISTRI = "debian" ]; then
	docker run --network=host -d -v ~/:/root/ --name ${CONTAINER_NAME} openestuary/debian:3.1-full bash /root/distro-repo/utils/deb_build_incontainer.sh /root/${SRC_DIR_4} ${TAR_FILENAME} ${DISTRI} "${BUILD_OPTIONS}" "${PPA_TEST_ENABLE}"
elif [ $DISTRI = "ubuntu" ]; then
	docker run --network=host -d -v ~/:/root/ --name ${CONTAINER_NAME} openestuary/ubuntu:3.1-full bash /root/distro-repo/utils/deb_build_incontainer.sh /root/${SRC_DIR_4} ${TAR_FILENAME} ${DISTRI} "${BUILD_OPTIONS}" "${PPA_TEST_ENABLE}"
fi


#  -f, --follow         Follow log output

docker logs -f ${CONTAINER_NAME}
#通过echo输出log
echo "Begin to remove building container."
#删除这个docker
docker rm ${CONTAINER_NAME}
#判断docker 删除是否成功.
if [ $? -ne 0 ]; then
        echo "Remove building container failed!"
else
        echo "Building container have been removed successfully!"
fi

lixing@lixing:~/fast_livo2/devel$ cd .. lixing@lixing:~/fast_livo2$ catkin_make install Base path: /home/lixing/fast_livo2 Source space: /home/lixing/fast_livo2/src Build space: /home/lixing/fast_livo2/build Devel space: /home/lixing/fast_livo2/devel Install space: /home/lixing/fast_livo2/install #### #### Running command: "make cmake_check_build_system" in "/home/lixing/fast_livo2/build" #### #### #### Running command: "make install -j8 -l8" in "/home/lixing/fast_livo2/build" #### [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomMsg [ 20%] Built target vikit_common [ 20%] Built target _livox_ros_driver2_generate_messages_check_deps_CustomPoint [ 26%] Built target vio [ 30%] Built target imu_proc [ 33%] Built target laser_mapping [ 36%] Built target lio [ 39%] Built target pre [ 42%] Built target test_vk_common_patch_score [ 46%] Built target test_vk_common_camera [ 49%] Built target livox_ros_driver2_generate_messages_nodejs [ 52%] Built target livox_ros_driver2_generate_messages_lisp [ 55%] Built target livox_ros_driver2_generate_messages_cpp [ 58%] Built target test_vk_common_triangulation [ 65%] Built target vikit_ros [ 66%] Built target livox_ros_driver2_generate_messages_eus [ 71%] Built target livox_ros_driver2_generate_messages_py [ 71%] Built target livox_ros_driver2_generate_messages [ 96%] Built target livox_ros_driver2_node [100%] Built target fastlivo_mapping Install the project... -- Install configuration: "Release" -- Installing: /home/lixing/fast_livo2/install/_setup_util.py -- Installing: /home/lixing/fast_livo2/install/env.sh -- Installing: /home/lixing/fast_livo2/install/setup.bash -- Installing: /home/lixing/fast_livo2/install/local_setup.bash -- Installing: /home/lixing/fast_livo2/install/setup.sh -- Installing: /home/lixing/fast_livo2/install/local_setup.sh -- Installing: /home/lixing/fast_livo2/install/setup.zsh -- Installing: /home/lixing/fast_livo2/install/local_setup.zsh -- Installing: /home/lixing/fast_livo2/install/setup.fish -- Installing: /home/lixing/fast_livo2/install/local_setup.fish -- Installing: /home/lixing/fast_livo2/install/.rosinstall -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/msg/CustomPoint.msg -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/msg/CustomMsg.msg -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2-msg-paths.cmake -- Installing: /home/lixing/fast_livo2/install/include/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/include/livox_ros_driver2/CustomMsg.h -- Installing: /home/lixing/fast_livo2/install/include/livox_ros_driver2/CustomPoint.h -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/msg/CustomMsg.l -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/msg/CustomPoint.l -- Installing: /home/lixing/fast_livo2/install/share/roseus/ros/livox_ros_driver2/manifest.l -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/_package_CustomMsg.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/CustomPoint.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/_package_CustomPoint.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/livox_ros_driver2-msg.asd -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/_package.lisp -- Installing: /home/lixing/fast_livo2/install/share/common-lisp/ros/livox_ros_driver2/msg/CustomMsg.lisp -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg/CustomMsg.js -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg/CustomPoint.js -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/msg/_index.js -- Installing: /home/lixing/fast_livo2/install/share/gennodejs/ros/livox_ros_driver2/_index.js Listing '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/__init__.py'... Listing '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomMsg.py'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomPoint.py'... Compiling '/home/lixing/fast_livo2/devel/lib/python3/dist-packages/livox_ros_driver2/msg/__init__.py'... -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2 -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/__init__.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__init__.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomMsg.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__ -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__/__init__.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__/_CustomMsg.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/__pycache__/_CustomPoint.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/msg/_CustomPoint.py -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/__pycache__ -- Installing: /home/lixing/fast_livo2/install/lib/python3/dist-packages/livox_ros_driver2/__pycache__/__init__.cpython-38.pyc -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/livox_ros_driver2.pc -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2-msg-extras.cmake -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2Config.cmake -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/cmake/livox_ros_driver2Config-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/package.xml -- Installing: /home/lixing/fast_livo2/install/lib/livox_ros_driver2/livox_ros_driver2_node -- Set runtime path of "/home/lixing/fast_livo2/install/lib/livox_ros_driver2/livox_ros_driver2_node" to "" -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1 -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/msg_mixed.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/msg_HAP.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/msg_MID360.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/rviz_MID360.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/rviz_mixed.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/launch_ROS1/rviz_HAP.launch -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/HAP_config.json -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/display_point_cloud_ROS1.rviz -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/mixed_HAP_MID360_config.json -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/display_point_cloud_ROS2.rviz -- Installing: /home/lixing/fast_livo2/install/share/livox_ros_driver2/config/MID360_config.json -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/vikit_common.pc -- Installing: /home/lixing/fast_livo2/install/share/vikit_common/cmake/vikit_commonConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_common/cmake/vikit_commonConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_common/package.xml + cd /home/lixing/fast_livo2/src/rpg_vikit/vikit_py + mkdir -p /home/lixing/fast_livo2/install/lib/python3/dist-packages + /usr/bin/env PYTHONPATH=/home/lixing/fast_livo2/install/lib/python3/dist-packages:/home/lixing/fast_livo2/build/lib/python3/dist-packages:/home/lixing/fast_livo2/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages CATKIN_BINARY_DIR=/home/lixing/fast_livo2/build /usr/bin/python3 /home/lixing/fast_livo2/src/rpg_vikit/vikit_py/setup.py build --build-base /home/lixing/fast_livo2/build/rpg_vikit/vikit_py install --root=/ --install-layout=deb --prefix=/home/lixing/fast_livo2/install --install-scripts=/home/lixing/fast_livo2/install/bin running build running build_py creating /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib creating /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/depthmap_utils.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/__init__.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/math_utils.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/transformations.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/align_trajectory.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/ros_node.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py copying src/vikit_py/cpu_info.py -> /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py running install running install_lib creating /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/depthmap_utils.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/__init__.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/math_utils.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/transformations.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/align_trajectory.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/ros_node.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py copying /home/lixing/fast_livo2/build/rpg_vikit/vikit_py/lib/vikit_py/cpu_info.py -> /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/depthmap_utils.py to depthmap_utils.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/__init__.py to __init__.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/math_utils.py to math_utils.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/transformations.py to transformations.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/align_trajectory.py to align_trajectory.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/ros_node.py to ros_node.cpython-38.pyc byte-compiling /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/cpu_info.py to cpu_info.cpython-38.pyc running install_egg_info Writing /home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py-0.0.0.egg-info /usr/lib/python3.8/distutils/dist.py:274: UserWarning: Unknown distribution option: 'install_requires' warnings.warn(msg) File "home/lixing/fast_livo2/install/lib/python3/dist-packages/vikit_py/depthmap_utils.py", line 15 print 'Could not open file ' + depthmap_full_file_path + ' for reading binary data.' ^ SyntaxError: Missing parentheses in call to 'print'. Did you mean print('Could not open file ' + depthmap_full_file_path + ' for reading binary data.')? -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/vikit_py.pc -- Installing: /home/lixing/fast_livo2/install/share/vikit_py/cmake/vikit_pyConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_py/cmake/vikit_pyConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_py/package.xml -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/vikit_ros.pc -- Installing: /home/lixing/fast_livo2/install/share/vikit_ros/cmake/vikit_rosConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_ros/cmake/vikit_rosConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/vikit_ros/package.xml -- Installing: /home/lixing/fast_livo2/install/lib/pkgconfig/fast_livo.pc -- Installing: /home/lixing/fast_livo2/install/share/fast_livo/cmake/fast_livoConfig.cmake -- Installing: /home/lixing/fast_livo2/install/share/fast_livo/cmake/fast_livoConfig-version.cmake -- Installing: /home/lixing/fast_livo2/install/share/fast_livo/package.xml
07-22
配置工作空间环境 Bash # 初始化工作空间(如果未完成) cd ~/primitive_ws catkin_init_workspace # 生成顶层CMakeLists.txt # 编译工作空间 catkin_make 运行catkin_make输出vae@vae-ASUS-TUF-Gaming-A15-FA507UU-FA507UU:~/primitive_ws$ catkin_make Base path: /home/vae/primitive_ws Source space: /home/vae/primitive_ws/src Build space: /home/vae/primitive_ws/build Devel space: /home/vae/primitive_ws/devel Install space: /home/vae/primitive_ws/install #### #### Running command: "cmake /home/vae/primitive_ws/src -DCATKIN_DEVEL_PREFIX=/home/vae/primitive_ws/devel -DCMAKE_INSTALL_PREFIX=/home/vae/primitive_ws/install -G Unix Makefiles" in "/home/vae/primitive_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/vae/primitive_ws/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/noetic -- This workspace overlays: /opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/vae/primitive_ws/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/python3 (found version "3.8.10") -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.12 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 19 packages in topological order: -- ~~ - quadrotor_msgs -- ~~ - map_generator -- ~~ - poscmd_2_odom -- ~~ - pose_utils -- ~~ - map_server -- ~~ - manual_take_over -- ~~ - odom_visualization -- ~~ - local_sensing_node -- ~~ - mockamap -- ~~ - so3_control -- ~~ - traj_utils -- ~~ - primitive_planner -- ~~ - swarm_bridge -- ~~ - uav_utils -- ~~ - assign_goals -- ~~ - random_goals -- ~~ - so3_quadrotor_simulator -- ~~ - rviz_plugins -- ~~ - selected_points_publisher -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'quadrotor_msgs' -- ==> add_subdirectory(Primitive-Planner/src/Utils/quadrotor_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- quadrotor_msgs: 14 messages, 0 services -- +++ processing catkin package: 'map_generator' -- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/map_generator) -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- The imported target "vtkParseOGLExt" references the file "/usr/bin/vtkParseOGLExt-7.1" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "pvtk" references the file "/usr/bin/pvtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) ** WARNING ** io features related to pcap will be disabled ** WARNING ** io features related to png will be disabled ** WARNING ** io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so) -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- looking for PCL_COMMON -- looking for PCL_KDTREE -- looking for PCL_OCTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN -- +++ processing catkin package: 'poscmd_2_odom' -- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/fake_drone) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'pose_utils' -- ==> add_subdirectory(Primitive-Planner/src/Utils/pose_utils) -- +++ processing catkin package: 'map_server' -- ==> add_subdirectory(map_server) CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:121 (add_subdirectory): The source directory /home/vae/primitive_ws/src/map_server does not contain a CMakeLists.txt file. Call Stack (most recent call first): CMakeLists.txt:69 (catkin_workspace) -- +++ processing catkin package: 'manual_take_over' -- ==> add_subdirectory(Primitive-Planner/src/Utils/manual_take_over) -- +++ processing catkin package: 'odom_visualization' -- ==> add_subdirectory(Primitive-Planner/src/Utils/odom_visualization) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'local_sensing_node' -- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/local_sensing) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'Eigen' but neither 'Eigen_INCLUDE_DIRS' nor 'Eigen_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) Primitive-Planner/src/uav_simulator/local_sensing/CMakeLists.txt:72 (catkin_package) -- +++ processing catkin package: 'mockamap' -- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/mockamap) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'so3_control' -- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/so3_control) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'traj_utils' -- ==> add_subdirectory(Primitive-Planner/src/planner/traj_utils) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- traj_utils: 2 messages, 0 services -- +++ processing catkin package: 'primitive_planner' -- ==> add_subdirectory(Primitive-Planner/src/planner/plan_manage) -- Eigen found (include: /usr/include/eigen3, version: 3.3.7) -- The imported target "vtkParseOGLExt" references the file "/usr/bin/vtkParseOGLExt-7.1" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtkRenderingPythonTkWidgets" references the file "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "vtk" references the file "/usr/bin/vtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- The imported target "pvtk" references the file "/usr/bin/pvtk" but this file does not exist. Possible reasons include: * The file was deleted, renamed, or moved to another location. * An install or uninstall procedure did not complete successfully. * The installation package was faulty and contained "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake" but not all the files it references. -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) ** WARNING ** io features related to pcap will be disabled ** WARNING ** io features related to png will be disabled ** WARNING ** io features related to libusb-1.0 will be disabled -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so) -- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so) -- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so) -- looking for PCL_COMMON -- looking for PCL_KDTREE -- looking for PCL_OCTREE -- looking for PCL_SEARCH -- looking for PCL_SAMPLE_CONSENSUS -- looking for PCL_FILTERS -- looking for PCL_2D -- looking for PCL_GEOMETRY -- looking for PCL_IO -- looking for PCL_FEATURES -- looking for PCL_ML -- looking for PCL_SEGMENTATION -- looking for PCL_VISUALIZATION -- looking for PCL_SURFACE -- looking for PCL_REGISTRATION -- looking for PCL_KEYPOINTS -- looking for PCL_TRACKING -- looking for PCL_RECOGNITION -- looking for PCL_STEREO -- looking for PCL_APPS -- looking for PCL_IN_HAND_SCANNER -- looking for PCL_POINT_CLOUD_EDITOR -- looking for PCL_OUTOFCORE -- looking for PCL_PEOPLE -- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN (Required is at least version "1.7") -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'swarm_bridge' -- ==> add_subdirectory(Primitive-Planner/src/planner/swarm_bridge) -- +++ processing catkin package: 'uav_utils' -- ==> add_subdirectory(Primitive-Planner/src/Utils/uav_utils) -- +++ processing catkin package: 'assign_goals' -- ==> add_subdirectory(Primitive-Planner/src/Utils/assign_goals) -- +++ processing catkin package: 'random_goals' -- ==> add_subdirectory(Primitive-Planner/src/Utils/random_goals) -- +++ processing catkin package: 'so3_quadrotor_simulator' -- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/so3_quadrotor_simulator) CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'Eigen3' but neither 'Eigen3_INCLUDE_DIRS' nor 'Eigen3_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) Primitive-Planner/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt:29 (catkin_package) CMake Warning at /opt/ros/noetic/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/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) Primitive-Planner/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt:29 (catkin_package) -- +++ processing catkin package: 'rviz_plugins' -- ==> add_subdirectory(Primitive-Planner/src/Utils/rviz_plugins) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/noetic/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/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) Primitive-Planner/src/Utils/rviz_plugins/CMakeLists.txt:12 (catkin_package) -- Using Qt5 based on the rviz_QT_VERSION: 5.12.8 -- +++ processing catkin package: 'selected_points_publisher' -- ==> add_subdirectory(Primitive-Planner/src/Utils/selected_points_publisher) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Configuring incomplete, errors occurred! See also "/home/vae/primitive_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/vae/primitive_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed
07-18
下面是我按照你的思路执行指令后终端打印的结果(base) casbot@casbot:~/ros_catkin_ws$ # 备份原文件 sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak # 使用清华源(Ubuntu 22.04) sudo sed -i 's@//.*archive.ubuntu.com@//mirrors.tuna.tsinghua.edu.cn@g' /etc/apt/sources.list sudo apt update && sudo apt upgrade -y Ign:1 http://deb.repo.autolabor.com.cn jammy InRelease Ign:2 http://deb.repo.autolabor.com.cn jammy Release Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Hit:5 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy InRelease Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Hit:7 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates InRelease Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Hit:8 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-backports InRelease Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Hit:9 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-security InRelease Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Get:10 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease [4682 B] Hit:11 http://packages.ros.org/ros/ubuntu focal InRelease Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Hit:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:6 http://deb.repo.autolabor.com.cn jammy/main Translation-en Fetched 4682 B in 3s (1850 B/s) Reading package lists... Done Building dependency tree... Done Reading state information... Done 80 packages can be upgraded. Run 'apt list --upgradable' to see them. Reading package lists... Done Building dependency tree... Done Reading state information... Done Calculating upgrade... Done Get more security updates through Ubuntu Pro with 'esm-apps' enabled: exo-utils libzvbi-common libzbar0 libheif1 libiperf0 libmujs1 libavdevice58 ffmpeg libopenexr25 libpostproc55 libmagickcore-6.q16-6-extra libavcodec58 libgstreamer-plugins-bad1.0-0 iperf3 libmagickwand-6.q16-6 libavutil56 libswscale5 libmagickcore-6.q16-6 libexo-2-0 libgsl27 gir1.2-gst-plugins-bad-1.0 libswresample3 imagemagick-6-common libavformat58 libzvbi0 gstreamer1.0-plugins-bad libgslcblas0 libde265-0 libexo-common libavfilter7 Learn more about Ubuntu Pro at https://ubuntu.com/pro The following NEW packages will be installed: libxcvt-dev The following packages have been kept back: dvb-tools ir-keytable libdvbv5-0 libdvbv5-dev libv4l-0 libv4l-dev libv4l2rds0 libv4lconvert0 qv4l2 v4l-utils xserver-common xserver-xorg-core xserver-xorg-legacy The following packages will be upgraded: apport ghostscript ghostscript-x gir1.2-javascriptcoregtk-4.0 gir1.2-soup-2.4 gir1.2-webkit2-4.0 git git-man libarchive13 libblockdev-crypto2 libblockdev-fs2 libblockdev-loop2 libblockdev-part-err2 libblockdev-part2 libblockdev-swap2 libblockdev-utils2 libblockdev2 libdjvulibre-text libdjvulibre21 libdvbv5-doc libgnutls30 libgs9 libgs9-common libjavascriptcoregtk-4.0-18 libnss-systemd libpam-modules libpam-modules-bin libpam-runtime libpam-systemd libpam0g libprotobuf23 libpython3.10 libpython3.10-dev libpython3.10-minimal libpython3.10-stdlib libre2-9 libsoup-gnome2.4-1 libsoup2.4-1 libsoup2.4-common libssh-4 libssh-gcrypt-4 libsystemd0 libudev1 libudisks2-0 libvpx7 libwebkit2gtk-4.0-37 libxslt1.1 linux-libc-dev python3-apport python3-pip python3-problem-report python3-protobuf python3-requests python3-urllib3 python3.10 python3.10-dev python3.10-minimal sudo systemd systemd-sysv ubuntu-advantage-tools ubuntu-pro-client ubuntu-pro-client-l10n udev udisks2 xserver-xorg-dev xwayland 67 upgraded, 1 newly installed, 0 to remove and 13 not upgraded. 62 standard LTS security updates Need to get 77.1 MB of archives. After this operation, 64.5 kB of additional disk space will be used. Get:1 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam0g arm64 1.4.0-11ubuntu2.6 [59.7 kB] Get:2 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam-modules-bin arm64 1.4.0-11ubuntu2.6 [38.6 kB] Get:3 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam-modules arm64 1.4.0-11ubuntu2.6 [279 kB] Get:4 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libnss-systemd arm64 249.11-0ubuntu3.16 [133 kB] Get:5 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libsystemd0 arm64 249.11-0ubuntu3.16 [314 kB] Get:6 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 systemd-sysv arm64 249.11-0ubuntu3.16 [10.5 kB] Get:7 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam-systemd arm64 249.11-0ubuntu3.16 [205 kB] Get:8 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 systemd arm64 249.11-0ubuntu3.16 [4423 kB] Get:9 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 udev arm64 249.11-0ubuntu3.16 [1541 kB] Get:10 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libudev1 arm64 249.11-0ubuntu3.16 [74.5 kB] Get:11 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpam-runtime all 1.4.0-11ubuntu2.6 [40.2 kB] Get:12 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libgnutls30 arm64 3.7.3-4ubuntu1.7 [922 kB] Get:13 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3.10-dev arm64 3.10.12-1~22.04.10 [508 kB] Get:14 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpython3.10-dev arm64 3.10.12-1~22.04.10 [4666 kB] Get:15 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpython3.10 arm64 3.10.12-1~22.04.10 [1885 kB] Get:16 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3.10 arm64 3.10.12-1~22.04.10 [508 kB] Get:17 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpython3.10-stdlib arm64 3.10.12-1~22.04.10 [1846 kB] Get:18 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3.10-minimal arm64 3.10.12-1~22.04.10 [2260 kB] Get:19 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libpython3.10-minimal arm64 3.10.12-1~22.04.10 [812 kB] Get:20 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 sudo arm64 1.9.9-1ubuntu2.5 [807 kB] Get:21 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ubuntu-pro-client-l10n arm64 36ubuntu0~22.04 [20.6 kB] Get:22 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ubuntu-pro-client arm64 36ubuntu0~22.04 [236 kB] Get:23 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ubuntu-advantage-tools all 36ubuntu0~22.04 [10.9 kB] Get:24 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-problem-report all 2.20.11-0ubuntu82.9 [11.4 kB] Get:25 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-apport all 2.20.11-0ubuntu82.9 [89.0 kB] Get:26 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 apport all 2.20.11-0ubuntu82.9 [135 kB] Get:27 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ghostscript-x arm64 9.55.0~dfsg1-0ubuntu5.12 [48.0 kB] Get:28 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 ghostscript arm64 9.55.0~dfsg1-0ubuntu5.12 [49.7 kB] Get:29 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libgs9 arm64 9.55.0~dfsg1-0ubuntu5.12 [4956 kB] Get:30 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libgs9-common all 9.55.0~dfsg1-0ubuntu5.12 [753 kB] Get:31 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 gir1.2-webkit2-4.0 arm64 2.48.3-0ubuntu0.22.04.1 [105 kB] Get:32 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 gir1.2-javascriptcoregtk-4.0 arm64 2.48.3-0ubuntu0.22.04.1 [39.0 kB] Get:33 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libwebkit2gtk-4.0-37 arm64 2.48.3-0ubuntu0.22.04.1 [26.2 MB] Get:34 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libjavascriptcoregtk-4.0-18 arm64 2.48.3-0ubuntu0.22.04.1 [8729 kB] Get:35 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 gir1.2-soup-2.4 arm64 2.74.2-3ubuntu0.6 [31.8 kB] Get:36 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libsoup-gnome2.4-1 arm64 2.74.2-3ubuntu0.6 [6194 B] Get:37 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libsoup2.4-common all 2.74.2-3ubuntu0.6 [4778 B] Get:38 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libsoup2.4-1 arm64 2.74.2-3ubuntu0.6 [281 kB] Get:39 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libxslt1.1 arm64 1.1.34-4ubuntu0.22.04.4 [161 kB] Get:40 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 git-man all 1:2.34.1-1ubuntu1.15 [955 kB] Get:41 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 git arm64 1:2.34.1-1ubuntu1.15 [3224 kB] Get:42 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libarchive13 arm64 3.6.0-1ubuntu1.5 [367 kB] Get:43 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-utils2 arm64 2.26-1ubuntu0.1 [15.5 kB] Get:44 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-crypto2 arm64 2.26-1ubuntu0.1 [17.3 kB] Get:45 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-part-err2 arm64 2.26-1ubuntu0.1 [5650 B] Get:46 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-fs2 arm64 2.26-1ubuntu0.1 [21.5 kB] Get:47 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-loop2 arm64 2.26-1ubuntu0.1 [6838 B] Get:48 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-part2 arm64 2.26-1ubuntu0.1 [15.0 kB] Get:49 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev-swap2 arm64 2.26-1ubuntu0.1 [7452 B] Get:50 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libblockdev2 arm64 2.26-1ubuntu0.1 [45.5 kB] Get:51 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libdjvulibre-text all 3.5.28-2ubuntu0.22.04.1 [51.0 kB] Get:52 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libdjvulibre21 arm64 3.5.28-2ubuntu0.22.04.1 [590 kB] Get:53 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy/main arm64 libdvbv5-doc all 1.22.1-2build1 [1479 kB] Get:54 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libprotobuf23 arm64 3.12.4-1ubuntu7.22.04.4 [809 kB] Get:55 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy/main arm64 libre2-9 arm64 20220201+dfsg-1 [153 kB] Get:56 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libssh-4 arm64 0.9.6-2ubuntu0.22.04.4 [185 kB] Get:57 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libssh-gcrypt-4 arm64 0.9.6-2ubuntu0.22.04.4 [224 kB] Get:58 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libudisks2-0 arm64 2.9.4-1ubuntu2.2 [168 kB] Get:59 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 libvpx7 arm64 1.11.0-2ubuntu2.4 [1042 kB] Get:60 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy/main arm64 libxcvt-dev arm64 0.1.1-3 [3236 B] Get:61 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 linux-libc-dev arm64 5.15.0-144.157 [1294 kB] Get:62 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/universe arm64 python3-pip all 22.0.2+dfsg-1ubuntu0.6 [1306 kB] Get:63 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-protobuf arm64 3.12.4-1ubuntu7.22.04.4 [352 kB] Get:64 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-urllib3 all 1.26.5-1~exp1ubuntu0.3 [98.6 kB] Get:65 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 python3-requests all 2.25.1+dfsg-2ubuntu0.3 [48.8 kB] Get:66 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 udisks2 arm64 2.9.4-1ubuntu2.2 [275 kB] Get:67 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 xserver-xorg-dev arm64 2:21.1.4-2ubuntu1.7~22.04.15 [205 kB] Get:68 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates/main arm64 xwayland arm64 2:22.1.1-1ubuntu0.19 [918 kB] Fetched 77.1 MB in 4min 46s (270 kB/s) Extracting templates from packages: 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Setting up libblockdev-swap2:arm64 (2.26-1ubuntu0.1) ... Setting up libdjvulibre21:arm64 (3.5.28-2ubuntu0.22.04.1) ... Setting up libnss-systemd:arm64 (249.11-0ubuntu3.16) ... Setting up libblockdev-loop2:arm64 (2.26-1ubuntu0.1) ... Setting up ghostscript-x (9.55.0~dfsg1-0ubuntu5.12) ... Setting up libblockdev2:arm64 (2.26-1ubuntu0.1) ... Setting up libblockdev-part2:arm64 (2.26-1ubuntu0.1) ... Setting up python3.10-minimal (3.10.12-1~22.04.10) ... Setting up apport (2.20.11-0ubuntu82.9) ... apport-autoreport.service is a disabled or a static unit, not starting it. Setting up libpython3.10-stdlib:arm64 (3.10.12-1~22.04.10) ... Setting up python3-requests (2.25.1+dfsg-2ubuntu0.3) ... Setting up libblockdev-fs2:arm64 (2.26-1ubuntu0.1) ... Setting up git (1:2.34.1-1ubuntu1.15) ... Setting up libwebkit2gtk-4.0-37:arm64 (2.48.3-0ubuntu0.22.04.1) ... Setting up libpam-systemd:arm64 (249.11-0ubuntu3.16) ... Setting up ubuntu-advantage-tools (36ubuntu0~22.04) ... Setting up libsoup-gnome2.4-1:arm64 (2.74.2-3ubuntu0.6) ... Setting up udisks2 (2.9.4-1ubuntu2.2) ... Setting up libpython3.10:arm64 (3.10.12-1~22.04.10) ... Setting up python3.10 (3.10.12-1~22.04.10) ... Setting up gir1.2-soup-2.4:arm64 (2.74.2-3ubuntu0.6) ... Setting up libpython3.10-dev:arm64 (3.10.12-1~22.04.10) ... Setting up python3.10-dev (3.10.12-1~22.04.10) ... Setting up gir1.2-webkit2-4.0:arm64 (2.48.3-0ubuntu0.22.04.1) ... Processing triggers for hicolor-icon-theme (0.17-2) ... Processing triggers for doc-base (0.11.1) ... Processing 1 added doc-base file... Error in `/usr/share/doc-base/libdvbv5-doc.libdvbv5-reference', line 9: all `Format' sections are invalid. Note: `install-docs --verbose --check file_name' may give more details about the above error. Processing triggers for gnome-menus (3.36.0-1ubuntu3) ... Processing triggers for libc-bin (2.35-0ubuntu3.10) ... Processing triggers for man-db (2.10.2-1) ... Processing triggers for dbus (1.12.20-2ubuntu4.1) ... Processing triggers for mailcap (3.70+nmu1ubuntu1) ... Processing triggers for bamfdaemon (0.5.6+22.04.20220217-0ubuntu1) ... Rebuilding /usr/share/applications/bamf-2.index... Processing triggers for desktop-file-utils (0.26-1ubuntu3) ... (base) casbot@casbot:~/ros_catkin_ws$ sudo sh -c 'echo "deb https://mirrors.ustc.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-noetic.list' sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 Warning: apt-key is deprecated. Manage keyring files in trusted.gpg.d instead (see apt-key(8)). Executing: /tmp/apt-key-gpghome.6cqeROMOQT/gpg.1.sh --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 gpg: key F42ED6FBAB17C654: "Open Robotics <info@osrfoundation.org>" not changed gpg: Total number processed: 1 gpg: unchanged: 1 (base) casbot@casbot:~/ros_catkin_ws$ sudo apt update # 安装桌面完整版(约 1.5GB,网络不稳定时分段安装) sudo apt install ros-noetic-desktop-full -y --allow-unauthenticated Ign:1 http://deb.repo.autolabor.com.cn jammy InRelease Ign:2 http://deb.repo.autolabor.com.cn jammy Release Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:6 https://mirrors.ustc.edu.cn/ros/ubuntu jammy InRelease Hit:4 http://deb.repo.autolabor.com.cn jammy/main amd64 Packages Err:7 https://mirrors.ustc.edu.cn/ros/ubuntu jammy Release 404 Not Found [IP: 202.141.176.110 443] Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Ign:3 http://deb.repo.autolabor.com.cn jammy/main all Packages Ign:5 http://deb.repo.autolabor.com.cn jammy/main Translation-en Hit:8 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy InRelease Hit:9 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-updates InRelease Hit:10 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-backports InRelease Hit:11 http://packages.ros.org/ros/ubuntu focal InRelease Hit:12 http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports jammy-security InRelease Get:13 http://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy InRelease [4682 B] Reading package lists... Done E: The repository 'https://mirrors.ustc.edu.cn/ros/ubuntu jammy Release' does not have a Release file. N: Updating from such a repository can't be done securely, and is therefore disabled by default. N: See apt-secure(8) manpage for repository creation and user configuration details. Reading package lists... Done Building dependency tree... Done Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation: The following packages have unmet dependencies: gazebo11 : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-iostreams1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libgazebo11 (= 11.15.1-1~focal) but it is not going to be installed Depends: libignition-msgs5 (>= 5.11.0) but it is not going to be installed Depends: libignition-transport8 (>= 8.5.0) but it is not going to be installed Depends: libprotobuf17 but it is not installable Depends: gazebo11-common (>= 11.2.0) but it is not going to be installed Recommends: gazebo11-plugin-base but it is not going to be installed libgazebo11-dev : Depends: libignition-transport8-dev but it is not going to be installed Depends: libignition-msgs5-dev but it is not going to be installed Depends: libignition-fuel-tools4-dev but it is not going to be installed Depends: libignition-common3-dev but it is not going to be installed Depends: libignition-common3-graphics-dev but it is not going to be installed Depends: libdart6-collision-bullet-dev (< 6.10.0) but it is not installable or libdart-collision-bullet-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-collision-ode-dev (< 6.10.0) but it is not installable or libdart-collision-ode-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-utils-urdf-dev (< 6.10.0) but it is not installable or libdart-utils-urdf-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-external-odelcpsolver-dev (< 6.10.0) but it is not installable or libdart-external-odelcpsolver-dev (< 6.10.0) but it is not going to be installed Depends: libdart6-external-ikfast-dev (< 6.10.0) but it is not installable or libdart-external-ikfast-dev (< 6.10.0) but it is not going to be installed Depends: libgazebo11 (= 11.15.1-1~focal) but it is not going to be installed Depends: gazebo11-common (>= 11.2.0) but it is not going to be installed Depends: gazebo11-plugin-base (= 11.15.1-1~focal) but it is not going to be installed libicu-dev : Depends: libicu70 (= 70.1-2) but 70.1-2ubuntu1 is to be installed libjsoncpp-dev : Depends: libjsoncpp25 (= 1.9.5-3) but 1.9.5-3ubuntu0.1 is to be installed ros-noetic-actionlib : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-actionlib-tutorials : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-bondcpp : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-camera-calibration-parsers : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-python1.71.0 but it is not installable Depends: libboost-python1.71.0-py38 but it is not installable Depends: libpython3.8 (>= 3.8.2) but it is not installable Depends: libyaml-cpp0.6 (>= 0.6.2) but it is not installable ros-noetic-class-loader : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libpocofoundation62 (>= 1.9.2) but it is not installable ros-noetic-compressed-depth-image-transport : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-compressed-image-transport : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-controller-manager : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-cpp-common : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-cv-bridge : Depends: libboost-python1.71.0 but it is not installable Depends: libboost-python1.71.0-py38 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libpython3.8 (>= 3.8.2) but it is not installable ros-noetic-depth-image-proc : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-diagnostic-aggregator : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-diagnostic-common-diagnostics : Depends: hddtemp but it is not installable ros-noetic-diff-drive-controller : Depends: libconsole-bridge0.4 but it is not installable Depends: liburdfdom-model but it is not installable ros-noetic-eigen-conversions : Depends: liborocos-kdl1.4 but it is not installable ros-noetic-filters : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-gazebo-plugins : Depends: libboost-thread1.71.0 but it is not installable Depends: libgazebo11 (>= 11.15.1) but it is not going to be installed Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libprotobuf17 but it is not installable ros-noetic-gazebo-ros : Depends: libboost-thread1.71.0 but it is not installable Depends: libgazebo11 (>= 11.15.1) but it is not going to be installed Depends: libprotobuf17 but it is not installable ros-noetic-gazebo-ros-control : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libgazebo11 (>= 11.15.1) but it is not going to be installed Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: ros-noetic-transmission-interface but it is not going to be installed ros-noetic-image-geometry : Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-proc : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-publisher : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-videoio4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-rotate : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-image-transport : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-image-view : Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-highgui4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgcodecs4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-videoio4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-interactive-markers : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-joint-state-controller : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-kdl-conversions : Depends: liborocos-kdl1.4 but it is not installable ros-noetic-kdl-parser : Depends: liborocos-kdl1.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: liburdfdom-model but it is not installable ros-noetic-laser-assembler : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-laser-filters : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-laser-geometry : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-nodelet : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-nodelet-tutorial-math : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-pcl-ros : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libpcl-common1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-features1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-filters1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-io1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-search1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-segmentation1.10 (>= 1.10.0+dfsg) but it is not installable Depends: libpcl-surface1.10 (>= 1.10.0+dfsg) but it is not installable ros-noetic-pluginlib : Depends: libboost-filesystem1.71.0 but it is not installable ros-noetic-pluginlib-tutorials : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-position-controllers : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-robot-state-publisher : Depends: liborocos-kdl1.4 but it is not installable Depends: liburdfdom-world but it is not installable ros-noetic-rosbag : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: ros-noetic-rosbag-storage but it is not going to be installed ros-noetic-rosconsole : Depends: libboost-regex1.71.0-icu66 but it is not installable Depends: liblog4cxx10v5 (>= 0.10.0) but it is not installable ros-noetic-rosconsole-bridge : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-roscpp : Depends: libboost-chrono1.71.0 but it is not installable Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable ros-noetic-roscpp-tutorials : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-rospack : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libpython3.8 (>= 3.8.2) but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable ros-noetic-rqt-image-view : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable Depends: ros-noetic-rqt-gui-cpp but it is not going to be installed ros-noetic-rqt-rviz : Depends: libboost-program-options1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: ros-noetic-rqt-gui-cpp but it is not going to be installed ros-noetic-rviz : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libboost-program-options1.71.0 but it is not installable Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: liburdfdom-world but it is not installable Depends: libyaml-cpp0.6 (>= 0.6.2) but it is not installable ros-noetic-rviz-plugin-tutorials : Depends: libboost-thread1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable ros-noetic-stage-ros : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-stereo-image-proc : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-calib3d4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-tf : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-tf-conversions : Depends: liborocos-kdl1.4 but it is not installable ros-noetic-tf2 : Depends: libconsole-bridge0.4 but it is not installable ros-noetic-tf2-ros : Depends: libboost-thread1.71.0 but it is not installable Depends: ros-noetic-tf2-py but it is not going to be installed ros-noetic-theora-image-transport : Depends: libconsole-bridge0.4 but it is not installable Depends: libopencv-core4.2 (>= 4.2.0+dfsg) but it is not installable Depends: libopencv-imgproc4.2 (>= 4.2.0+dfsg) but it is not installable ros-noetic-turtle-actionlib : Depends: libboost-thread1.71.0 but it is not installable ros-noetic-urdf : Depends: libboost-filesystem1.71.0 but it is not installable Depends: libconsole-bridge0.4 but it is not installable Depends: libtinyxml2-6a (>= 5.0.0) but it is not installable Depends: liburdfdom-model but it is not installable E: Unable to correct problems, you have held broken packages.我执行到第三步后出现报错,请在此基础上给我能够成功安装ros1的操作步骤
07-23
编译时出现以下问题:/home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp: In member function ‘void realsense2_camera::BaseRealSenseNode::setupFilters()’: /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:232:76: error: ‘rotation_filter’ is not a member of ‘rs2’; did you mean ‘spatial_filter’? 232 | sh_back(std::make_shared<NamedFilter>(std::make_shared<rs2::rotation_filter>(std::vector< rs2_stream >{ RS2_STREAM_DEPTH, RS2_STREAM_COLOR, RS2_STREAM_INFRARED }), _parameters, _logger)); | ^~~~~~~~~~~~~~~ | spatial_filter /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:232:92: error: no matching function for call to ‘make_shared<<expression error> >(std::vector<rs2_stream>)’ 232 | e_shared<NamedFilter>(std::make_shared<rs2::rotation_filter>(std::vector< rs2_stream >{ RS2_STREAM_DEPTH, RS2_STREAM_COLOR, RS2_STREAM_INFRARED }), _parameters, _logger)); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/c++/11/memory:77, from /opt/ros/humble/include/librealsense2/hpp/rs_types.hpp:18, from /opt/ros/humble/include/librealsense2/rs.hpp:8, from /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/../include/base_realsense_node.h:17, from /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:15: /usr/include/c++/11/bits/shared_ptr.h:875:5: note: candidate: ‘template<class _Tp, class ... _Args> std::shared_ptr<_Tp> std::make_shared(_Args&& ...)’ 875 | make_shared(_Args&&... __args) | ^~~~~~~~~~~ /usr/include/c++/11/bits/shared_ptr.h:875:5: note: template argument deduction/substitution failed: /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:232:92: error: template argument 1 is invalid 232 | e_shared<NamedFilter>(std::make_shared<rs2::rotation_filter>(std::vector< rs2_stream >{ RS2_STREAM_DEPTH, RS2_STREAM_COLOR, RS2_STREAM_INFRARED }), _parameters, _logger)); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp: In member function ‘void realsense2_camera::BaseRealSenseNode::imu_callback(rs2::frame)’: /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/base_realsense_node.cpp:522:71: error: ‘class rs2::motion_frame’ has no member named ‘get_combined_motion_data’ 522 | auto combined_motion_data = frame.as<rs2::motion_frame>().get_combined_motion_data(); | ^~~~~~~~~~~~~~~~~~~~~~~~ /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp: In member function ‘void realsense2_camera::BaseRealSenseNode::CalibConfigReadService(realsense2_camera_msgs::srv::CalibConfigRead_Request_<std::allocator<void> >::SharedPtr, realsense2_camera_msgs::srv::CalibConfigRead_Response_<std::allocator<void> >::SharedPtr)’: /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:618:68: error: ‘class rs2::auto_calibrated_device’ has no member named ‘get_calibration_config’; did you mean ‘get_calibration_table’? 618 | res->calib_config = _dev.as<rs2::auto_calibrated_device>().get_calibration_config(); | ^~~~~~~~~~~~~~~~~~~~~~ | get_calibration_table /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp: In member function ‘void realsense2_camera::BaseRealSenseNode::CalibConfigWriteService(realsense2_camera_msgs::srv::CalibConfigWrite_Request_<std::allocator<void> >::SharedPtr, realsense2_camera_msgs::srv::CalibConfigWrite_Response_<std::allocator<void> >::SharedPtr)’: /home/lfm/ros2_ws/src/realsense-ros/realsense2_camera/src/rs_node_setup.cpp:632:48: error: ‘class rs2::auto_calibrated_device’ has no member named ‘set_calibration_config’; did you mean ‘set_calibration_table’? 632 | _dev.as<rs2::auto_calibrated_device>().set_calibration_config(req->calib_config); | ^~~~~~~~~~~~~~~~~~~~~~ | set_calibration_table gmake[2]: *** [CMakeFiles/realsense2_camera.dir/build.make:90:CMakeFiles/realsense2_camera.dir/src/base_realsense_node.cpp.o] 错误 1 gmake[2]: *** 正在等待未完成的任务.... gmake[2]: *** [CMakeFiles/realsense2_camera.dir/build.make:118:CMakeFiles/realsense2_camera.dir/src/rs_node_setup.cpp.o] 错误 1 gmake[1]: *** [CMakeFiles/Makefile2:159:CMakeFiles/realsense2_camera.dir/all] 错误 2 gmake: *** [Makefile:146:all] 错误 2 --- Failed <<< realsense2_camera [16.8s, exited with code 2]
最新发布
07-31
Requirements The code is tested on clean Ubuntu 20.04 with ROS noetic installation. Install the required package toppra: sudo pip3 install toppra catkin_pkg PyYAML empy matplotlib pyrfc3339 Run the code 1. Download and compile the code git clone https://github.com/ZJU-FAST-Lab/Primitive-Planner.git cd Primitive-Planner catkin_make -DCMAKE_BUILD_TYPE=Release 2. Generate the motion primitive library cd src/scripts python3 swarm_path.py The generated motion primitive library is stored in "src/planner/plan_manage/primitive_library/". 3. Run the planner In the "Primitive-Planner/" directory: source devel/setup.bash # or setup.zsh cd src/scripts python3 gen_position_swap.py 20 # It will generate the swarm.launch with 20 drones roslaunch primitive_planner swarm.launch Wait until all the nodes have their launch process finished and keep printing "[FSM]: state: WAIT_TARGET. Waiting for trigger". Open another terminal, publish the trigger cd src/scripts bash pub_trigger.sh Then the drones (drone number is 40) will start to fly like this Change the drone number when executing "python3 gen_position_swap.py <drone_number>". Before starting the "roslaunch" command, please open another terminal and run "htop" to monitor the Memory usage and CPU usage. Each drone requires about 200 MB memory. Keep the htop opened for entire flight. The computation time is printed on the terminal in blue text, named as "plan_time". To get the accurate computation time, please fix the CPU frequency to its maximum by sudo apt install cpufrequtils sudo cpufreq-set -g performance Otherwise the CPU will run in powersave mode with low frequency. (根据上述代码帮我生成复现最适合在乌班图20.04复现的详细的实现过程和每一步的预期输出,需要安装的每个东西的乌班图20.04兼容版本,还有每一步是否需要创建虚拟环境,每一步是在创建的虚拟环境进行还是不进入虚拟环境的终端进行)
07-09
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