update the dependencies install

.gitignore

@@ -0,0 +1,2 @@
+## Folders and custom rules
+copy

README.md

@@ -1,62 +1,210 @@
 # installers_plan
-the dependance install for the motion planning algorithm
+the dependencies install for the motion planning algorithm
 
 ## 1.编译
 ### 1）grid_map_core
-Could not find a package configuration file provided by "grid_map_core"
-with any of the following names:<br />
+Report an error:</br>
+<table><tr><td bgcolor=MintCream>
+Could not find a package configuration file provided by "grid_map_core" with any of the following names:<br />
 grid_map_coreConfig.cmake<br />
 grid_map_core-config.cmake
+</td></tr></table>
 
-解决办法：<br />
-安装：<br />
-``sudo apt-get update``
-
+Solution:<br />
+``sudo apt-get update``</br>
 ``sudo apt-get -y install ros-kinetic-pcl-ros ros-kinetic-costmap-2d ros-kinetic-grid-map``
 
-### 2）ceres求解器
+### 2）ceres solver
+Report an error:</br>
+<table><tr><td bgcolor=MintCream>
 fatal error: ceres/ceres.h: 没有那个文件或目录
+</td></tr></table>
 
-解决办法：</br>
-``bash ./installers_plan/install_ceres.sh``
+Solution:</br>
+``bash install_ceres.sh``
 
-### 3）IPOPT求解器
+### 3）IPOPT solver
+Report an error:</br>
+<table><tr><td bgcolor=MintCream>
 A required package was not found
 Call Stack (most recent call first):</br>
 /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
 cmake/FindIPOPT.cmake:3 (pkg_check_modules)</br>
 CMakeLists.txt:24 (find_package)
+</td></tr></table>
 
-解决办法：</br>
-先安装cppad：</br>
-``bash ./installers_plan/install_cppad.sh``</br>
-再安装ipopt：</br>
+Solution: </br>
+Install cppad first：</br>
+``bash install_cppad.sh``</br>
+Then install ipopt：</br>
 ``bash ./ipopt_install/install_ipopt.bash``</br>
 
-如果编译执行时遇到：</br>
-/user/bin/ld: 找不到 -lgfortran </br>
+if there occurs some error when test the example：</br>
+<table><tr><td bgcolor=MintCream>
+/usr/bin/ld: 找不到 -lgfortran </br>
+</td></tr></table>
+
+then:</br>
+Solution:</br>
+``
+open terminal -> locate gfortran.so -> sudo cp [the folder that includes gfortran.so]/gfortran.so /user/local/lib``</br>
+
+Reason: </br>
+The default search dependency library path of the system is: /usr/local/lib. </br>
+Reference:[]()[the reason Couldn't find the so link](https://blog.csdn.net/weixin_43723326/article/details/103427351) ;</br>
+[]()[Couldn't find the so link](https://www.cnblogs.com/feifanrensheng/p/10039959.html) </br>
 
-解决办法：</br>
-打开终端 -> locate gfortran.so -> sudo cp 含有gfortran.so的目录/该文件gfortran.so /user/local/lib</br>
-原因：</br>
-参考[]()[找不到软链接原因](https://blog.csdn.net/weixin_43723326/article/details/103427351) ；
-[]()[找不到软链接](https://www.cnblogs.com/feifanrensheng/p/10039959.html) </br>
-系统的默认搜索依赖库路径为，/usr/local/lib。
 
 ### 4）benchmark
+<table><tr><td bgcolor=MintCream>
 Could not find a package configuration file provided by "benchmark" with
 any of the following names:</br>
 benchmarkConfig.cmake</br>
 benchmark-config.cmake
+</td></tr></table>
 
-解决办法：</br>
-``bash ./installers_plan/install_googlebenchmark.sh``
+Solution:</br>
+``bash install_googlebenchmark.sh``
 
 ### 5）rosparam handler
+<table><tr><td bgcolor=MintCream>
 Could not find a package configuration file provided by "rosparam_handler"
 with any of the following names:</br>
 rosparam_handlerConfig.cmake</br>
 rosparam_handler-config.cmake
+</td></tr></table>
+
+Solution:</br>
+``sudo apt-get install ros-kinetic-rosparam-handler``
+
+### 6)OsqpEigen
+<table><tr><td bgcolor=MintCream>
+Could not find a package configuration file provided by "OsqpEigen" with
+  any of the following names:</br>
+OsqpEigenConfig.cmake </br>
+osqpeigen-config.cmake </br>
+</td></tr></table>
+
+Solution:
+``bash install_osqp.sh``
+
+### 7)autoreconf
+<table><tr><td bgcolor=MintCream>
+autoreconf: not found
+</td></tr></table>
+
+Solution:</br>
+``sudo apt-get install autoconf automake libtool``
+
+
+### 8)NLOPT solver
+<table><tr><td bgcolor=MintCream>
+/usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)</br>
+  cmake/FindNLOPT.cmake:11 (pkg_check_modules)</br>
+  CMakeLists.txt:31 (find_package)
+</td></tr></table>
+
+Solution:
+``bash ./installers_plan/install_install_nlopt.sh``
+
+### 9）qt_build
+<table><tr><td bgcolor=MintCream>
+Could not find a package configuration file provided by "qt_build" with any
+  of the following names:</br>
+qt_buildConfig.cmake</br>
+qt_build-config.cmake
+</td></tr></table>
+
+Solution：</br>
+``sudo apt-get install ros-kinetic-qt-build``
+
+### 10)rviz_visual_tools
+<table><tr><td bgcolor=MintCream>
+Could not find a package configuration file provided by "rviz_visual_tools"
+  with any of the following names:</br>
+rviz_visual_toolsConfig.cmake </br>
+rviz_visual_tools-config.cmake </br>
+</td></tr></table>
+
+Solution:
+``sudo apt-get install ros-kinetic-rviz-visual-tools ``
+
+### 11)OpenCV2.4 version
+<table><tr><td bgcolor=MintCream>
+Could not find a configuration file for package "OpenCV" that is compatible
+  with requested version "2.4".
+</td></tr></table>
+
+Solution:</br>
+``bash install_opencv2_4.sh``
+
+if there occurs the problem that the configuration incomplete:</br>
+<table><tr><td bgcolor=MintCream>
+CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:85 (list)
+</td></tr></table>
+or complied failed: </br>
+<table><tr><td bgcolor=MintCream>
+/usr/include/c++/7/cstdlib:75:15: fatal error: stdlib.h: 没有那个文件或目录 </br>
+</td></tr></table>
+
+then:</br>
+``bash install_opencv2_4gcc6``
+
+Reason: </br>
+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](https://www.jianshu.com/p/7d117fa4924f) and []()[Make install error: the version of gcc is higher than the opencv2.4.13 requires](https://blog.csdn.net/Stackingrule/article/details/90146828)
+
+Check the version of opencv:</br>
+``pkg-config --modversion opencv``
+
+### 12)FCL
+<table><tr><td bgcolor=MintCream>
+A required package was not found
+Call Stack (most recent call first):</br>
+  /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)</br>
+  cmake/FindFCL.cmake:12 (pkg_check_modules)</br>
+  CMakeLists.txt:42 (FIND_PACKAGE)
+</td></tr></table>
+
+Solution:</br>
+``bash install_libccd_fcl``
+
+### 13)grid_map_sdf
+<table><tr><td bgcolor=MintCream>
+Could not find a package configuration file provided by "grid_map_sdf" with
+  any of the following names:</br>
+grid_map_sdfConfig.cmake</br>
+grid_map_sdf-config.cmake</br>
+</td></tr></table>
+
+Solution:</br>
+``sudo apt-get install ros-kinetic-grid-map-sdf``
+
+### 14)Protobuf
+<table><tr><td bgcolor=MintCream>
+A required package was not found
+Call Stack (most recent call first):</br>
+  /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)</br>
+  cmake/FindProtobuf.cmake:209 (pkg_check_modules)</br>
+  CMakeLists.txt:43 (find_package)
+</td></tr></table>
+
+Solution:</br>
+[**Wait a minute, there's still some problem, I'll download a right version soon**]</br>
+``bash install_googleProtobuf.sh`` </br>
+
+[]()[reference for install](https://github.com/protocolbuffers/protobuf/blob/master/src/README.md);</br>
+[]()[reference about protobuf](https://github.com/protocolbuffers/protobuf)
+
+
+### 15)tf2_sensor_msgs
+<table><tr><td bgcolor=MintCream>
+ fatal error: tf2_sensor_msgs/tf2_sensor_msgs.h: 没有那个文件或目录</br>
+</td></tr></table>
+
+ Solution:</br>
+ ``sudo apt-get install ros-kinetic-tf2-sensor-msgs``
 
-解决办法：</br>
-``bash ./installers_plan/install_rosparem_handler.sh``
+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！！！

install_googleProtobuf.sh

@@ -0,0 +1,44 @@
+#!/bin/bash
+set -e  # exit on first error
+UBUNTU_VERSION=`lsb_release --release | cut -f2`
+SRC_PATH="/tmp"
+PROTOBUF_BENCHMARK_VERSION=3.13.0.1
+
+main(){
+    if [ $UBUNTU_VERSION == "16.04" ]; then
+	install_dependencies
+        install_google_protobuf
+    fi
+}
+
+install_dependencies(){
+    sudo apt-get install autoconf automake libtool curl make g++ unzip
+}
+
+install_google_protobuf() {
+    cp protobuf-3.13.0.1.tar.gz $SRC_PATH
+    cd $SRC_PATH
+    tar -xf protobuf-3.13.0.1.tar.gz   
+    cd protobuf-3.13.0.1
+    #git clone https://github.com/google/googletest.git protobuf-3.13.0.1/googletest
+
+    # go into protobuf folder and prepare for build
+    cd protobuf-3.13.0.1
+    ./autogen.sh
+
+    # compile and install
+    ./configure
+    make
+    make check
+    sudo make install
+    sudo ldconfig # refresh shared library cache.
+
+    #test if it's successfully
+    #cmake -E chdir "build" ctest --build-config Release
+
+    echo "protobuf-3.13.0 has been installed successfully if there's no error"
+}
+
+
+# MAIN
+main

install_googlebenchmark.sh

@@ -2,7 +2,7 @@
 set -e  # exit on first error
 UBUNTU_VERSION=`lsb_release --release | cut -f2`
 SRC_PATH="/tmp"
-GOOGLE_BENCHMARK_VERSION=v1.5.2
+GOOGLE_BENCHMARK_VERSION=v1.5.0
 
 main(){
     if [ $UBUNTU_VERSION == "16.04" ]; then
@@ -11,27 +11,19 @@ main(){
 }
 
 install_google_benchmark() {
+    cp benchmark.zip $SRC_PATH
     cd $SRC_PATH
-    # clone google-benchmark if directory does not already exist, or pull
-    if [ ! -d benchmark ]; then
-        git clone https://github.com/google/benchmark.git
-	git clone https://github.com/google/googletest.git benchmark/googletest
-    else
-    	cd benchmark
-    	git checkout master
-    	git pull
-    	cd ..
-    fi
-
-    # go into benchmark repo and prepare for build
+    unzip benchmark.zip
+
+    # go into benchmark folder and prepare for build
     cd benchmark
-    git checkout tags/${GOOGLE_BENCHMARK_VERSION}
 
     # compile and install
-    cmake -E make_directory "build"
-    cmake -E chdir "build" cmake -DCMAKE_BUILD_TYPE=Release ../
-    cmake --build "build" --config Release
-
+    mkdir -p build
+    cd build
+    cmake ../
+    sudo make install
+
     #test if it's successfully
     #cmake -E chdir "build" ctest --build-config Release
 

install_libccd_fcl.sh

@@ -0,0 +1,49 @@
+#!/bin/bash
+set -e  # exit on first error
+DIR=/tmp
+
+main() {
+  install_apt_pkgs
+  install_libccd
+  sudo ldconfig # load the installd library
+  install_fcl
+}
+
+
+install_apt_pkgs() {
+  sudo apt-get update
+  sudo apt-get -y install liboctomap-dev cmake build-essential gcc g++ libboost-all-dev libeigen3-dev
+}
+
+install_libccd() {
+  if (ldconfig -p | grep libccd); then
+    echo "libccd has been installed."
+  else
+    echo "Install libccd......"
+    cd $DIR && rm -rf libccd
+    git clone --branch v2.0 https://github.com/danfis/libccd.git
+    cd libccd
+    mkdir -p build && cd build
+    cmake -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON -DENABLE_DOUBLE_PRECISION=ON .. > /dev/null
+    make && sudo make install
+    echo "libccd is installed succesfully."
+  fi
+}
+
+install_fcl() {
+  if (ldconfig -p | grep libfcl); then
+    echo "fcl has been installed."
+  else
+    echo "Install fcl......."
+    cd $DIR && rm -rf fcl
+    git clone --depth 1 --branch 0.5.0 https://github.com/flexible-collision-library/fcl.git
+    cd fcl
+    mkdir -p build && cd build
+    cmake ..
+    make -j4
+    sudo -E make install
+    echo "fcl is installed successfully."
+  fi
+}
+
+main