ros+opencv2.4.9原始碼安裝步驟
阿新 • • 發佈:2018-12-31
step1.配置ROS源
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
step2.安裝必要軟體
$ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake
step3.初始化rosdep
$ sudo rosdep init
$ rosdep update
step4.進入到ROS原始碼包所在的資料夾下,安裝依賴庫(二者選其一)
$ rosdep install --from-paths src --rosdistro lunar -y
或$ rosdep install --from-paths src --ignore-src --rosdistro lunar -y
step5.替換opencv(若需要替換其他版本)
不要忘記把將原來opencv中的package.xml複製到重新替換的opencv的資料夾中並將OpenCV 3.x改為OpenCV 2.x,即:
<description>OpenCV 2.x</description>
修改src/vision_opencv/cv_bridge和src/vision_opencv/image_geometry下的package.xml檔案,將其中的opencv3改為opencv2,即:
<build_depend>opencv2</build_depend>
<exec_depend>opencv2</exec_depend>
step6.編譯ROS
$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release \
-DENABLE_AVX=ON \
-DENABLE_FAST_MATH=ON \
-DENABLE_SSE=ON \
-DENABLE_SSE2=ON \
-DENABLE_SSE3=ON \
-DENABLE_SSE41=ON \
-DENABLE_SSE42=ON \
-DENABLE_SSSE3=ON \
-DWITH_FFMPEG=OFF
scp -r [email protected]:/home/wsh/back_test ./
orocos-bfl
-- checking for module 'orocos-bfl'
-- package 'orocos-bfl' not found
-- checking for module 'bullet'
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
step2.安裝必要軟體
$ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake
step3.初始化rosdep
$ sudo rosdep init
$ rosdep update
step4.進入到ROS原始碼包所在的資料夾下,安裝依賴庫(二者選其一)
$ rosdep install --from-paths src --rosdistro lunar -y
或$ rosdep install --from-paths src --ignore-src --rosdistro lunar -y
step5.替換opencv(若需要替換其他版本)
不要忘記把將原來opencv中的package.xml複製到重新替換的opencv的資料夾中並將OpenCV 3.x改為OpenCV 2.x,即:
<description>OpenCV 2.x</description>
修改src/vision_opencv/cv_bridge和src/vision_opencv/image_geometry下的package.xml檔案,將其中的opencv3改為opencv2,即:
<build_depend>opencv2</build_depend>
<exec_depend>opencv2</exec_depend>
step6.編譯ROS
$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release \
-DENABLE_AVX=ON \
-DENABLE_FAST_MATH=ON \
-DENABLE_SSE=ON \
-DENABLE_SSE2=ON \
-DENABLE_SSE3=ON \
-DENABLE_SSE41=ON \
-DENABLE_SSE42=ON \
-DENABLE_SSSE3=ON \
-DWITH_FFMPEG=OFF
如果編譯出錯,注意出錯的原因,把後面引數改為OFF,缺少某個包就把某個包下載或安裝
$ source ./install_isolated/setup.bash
scp -r [email protected]:/home/wsh/back_test ./
orocos-bfl
-- checking for module 'orocos-bfl'
-- package 'orocos-bfl' not found
-- checking for module 'bullet'
-- package 'bullet' not found
備註: 依賴庫(不一定需要)
$ sudo apt-get install libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg8-dev libjpeg-dev libtiff5-dev libswscale-dev libjasper-dev
email: [email protected]
author: wsh