installers_plan

the dependencies install for the motion planning algorithm some tar.gz or .zip file is too big to push into github, please ask me privately to share with you.

1.编译

1）grid_map_core

Report an error:

Could not find a package configuration file provided by "grid_map_core" with any of the following names: grid_map_coreConfig.cmake grid_map_core-config.cmake

Solution:
sudo apt-get update
sudo apt-get -y install ros-kinetic-pcl-ros ros-kinetic-costmap-2d ros-kinetic-grid-map

2）ceres solver

Report an error:

fatal error: ceres/ceres.h: 没有那个文件或目录

Solution:
bash install_ceres.sh

3）IPOPT solver

Report an error:

A required package was not found Call Stack (most recent call first): /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal) cmake/FindIPOPT.cmake:3 (pkg_check_modules) CMakeLists.txt:24 (find_package)

Solution:
Install cppad first：
bash install_cppad.sh
Then install ipopt：
bash ./ipopt_install/install_ipopt.bash

if there occurs some error when test the example：

/usr/bin/ld: 找不到 -lgfortran

then:
Solution:
open terminal -> locate gfortran.so -> sudo cp [the folder that includes gfortran.so]/gfortran.so /user/local/lib

Reason:
The default search dependency library path of the system is: /usr/local/lib.
Reference:the reason Couldn't find the so link ;
Couldn't find the so link

4）benchmark

Could not find a package configuration file provided by "benchmark" with any of the following names: benchmarkConfig.cmake benchmark-config.cmake

Solution:
bash install_googlebenchmark.sh

5）rosparam handler

Could not find a package configuration file provided by "rosparam_handler" with any of the following names: rosparam_handlerConfig.cmake rosparam_handler-config.cmake

Solution:
sudo apt-get install ros-kinetic-rosparam-handler

6)OsqpEigen

Could not find a package configuration file provided by "OsqpEigen" with any of the following names: OsqpEigenConfig.cmake osqpeigen-config.cmake

Solution: bash install_osqp.sh

7)autoreconf

autoreconf: not found

Solution:
sudo apt-get install autoconf automake libtool

8)NLOPT solver

/usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal) cmake/FindNLOPT.cmake:11 (pkg_check_modules) CMakeLists.txt:31 (find_package)

Solution: bash ./installers_plan/install_install_nlopt.sh

9）qt_build

Could not find a package configuration file provided by "qt_build" with any of the following names: qt_buildConfig.cmake qt_build-config.cmake

Solution：
sudo apt-get install ros-kinetic-qt-build

10)rviz_visual_tools

Could not find a package configuration file provided by "rviz_visual_tools" with any of the following names: rviz_visual_toolsConfig.cmake rviz_visual_tools-config.cmake

Solution: sudo apt-get install ros-kinetic-rviz-visual-tools

11)OpenCV2.4 version

Could not find a configuration file for package "OpenCV" that is compatible with requested version "2.4".

Solution:
bash install_opencv2_4.sh

if there occurs the problem that the configuration incomplete:

CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:85 (list)

or complied failed:

/usr/include/c++/7/cstdlib:75:15: fatal error: stdlib.h: 没有那个文件或目录

then:
bash install_opencv2_4gcc6.sh

Reason:
The version of gcc is higher than the opencv2.4.13 requires. Reference:CMake Error: the version of gcc is higher than the opencv2.4.13 requires and Make install error: the version of gcc is higher than the opencv2.4.13 requires

Check the version of opencv:
pkg-config --modversion opencv

12)FCL

A required package was not found Call Stack (most recent call first): /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal) cmake/FindFCL.cmake:12 (pkg_check_modules) CMakeLists.txt:42 (FIND_PACKAGE)

Solution:
bash install_libccd_fcl.sh

13)grid_map_sdf

Could not find a package configuration file provided by "grid_map_sdf" with any of the following names: grid_map_sdfConfig.cmake grid_map_sdf-config.cmake

Solution:
sudo apt-get install ros-kinetic-grid-map-sdf

14)Protobuf

A required package was not found Call Stack (most recent call first): /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal) cmake/FindProtobuf.cmake:209 (pkg_check_modules) CMakeLists.txt:43 (find_package)

Solution:
bash install_googleProtobuf.sh

reference for install;
reference about protobuf

if report the error when you catkin_build:

fatal error: google/protobuf/stubs/stringprintf.h: 没有那个文件或目录

Solution:
Find the QpSpeed package's CMakelist.txt, and add your install path into line 133, like this:

include_directories(
    include
	/home/luyaomin/0Disk/ros_dep/protobuf/protobuf-3.13.0/src/
    ${catkin_INCLUDE_DIRS}
    ${Boost_INCLUDE_DIRS}
	${EIGEN3_INCLUDE_DIR}
	${PROTOBUF_INCLUDE_DIRS}
	third_lib/qpOASES/include
)

15)tf2_sensor_msgs

fatal error: tf2_sensor_msgs/tf2_sensor_msgs.h: 没有那个文件或目录

Solution:
sudo apt-get install ros-kinetic-tf2-sensor-msgs

16)casadi

Could not find a package configuration file provided by "casadi" with any of the following names: casadiConfig.cmake casadi-config.cmake

Solution:
bash install_casadi.sh
[Notice:
The casadi.tar.gz is too big to push on the github. If you want to use it, please ask me privately]

17)vrep

（1）官网下载安装包：[vrep官网，下载3.6版本即可] (https://www.coppeliarobotics.com/) 运行脚本：

bash install_vrep.sh

注意将里面第八行 VREP_DIR_DEFAULT="/home/luyaomin/0Disk/ros_dep/vrep" #the DIR that you download the VREP tar.xz file换成自己的安装位置
（2）vrep和ros的接口安装 实验室 autoSim-ivrc 里的脚本
（3）运行vrep，在调用实验室的模型的时候，如果有报错，调整： （注，vrep如果安装的是3_6而不是3_4的话，在执行./install_dependences.sh的时候会报错，此时会报错‘nullptr’ was not declared in this scope，直接进入错误提示里的v_repLib.cpp文件里，将 nullptr 替换为 NULL。（因为nullptr是新标准C++11里添加的，而这个autoSim-ivrc是基于旧版本的，所以无法对nullptr进行识别。）
修改v_repLib.cpp文件:

使用：

roscore

在vrep_ws工作空间下，

source devel/setup.bash
vrep

之后运行才不会报错，否则会找不到对应的模型。

18)state_sampling abs report error

将对应文件里的abs改为fabs：

if ((path_length > 30 || path_length > ref_path.back().s * 3 / 4)
        && std::fabs(i - center_id) < std::fabs(nearest_id - center_id)) {
        nearest_id = i;
    }

原因：
abs和fabs

19) guide_point

检查包名是否正确

至此，全部编译完成！！！

小细节： 丢失了哪个包，可以去网上搜，如果是ROS_Wiki就有的，可以直接： sudo apt-get install ros-kinetic-pkgName 尝试安装！！！