first commit for the installers

.gitmodules

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+[submodule "ipopt_install"]
+	path = ipopt_install
+	url = https://github.com/YaominJun/ipopt_install.git

README.md

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 # installers_plan
 the dependance 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:
+grid_map_coreConfig.cmake
+grid_map_core-config.cmake
+解决办法：
+安装：
+sudo apt-get update
+sudo apt-get -y install ros-kinetic-pcl-ros ros-kinetic-costmap-2d ros-kinetic-grid-map
+###（2）ceres求解器
+fatal error: ceres/ceres.h: 没有那个文件或目录
+解决办法：
+bash ./installers_plan/install_ceres.sh
+###（3）IPOPT求解器
+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)
+解决办法：
+先安装cppad：bash ./installers_plan/install_cppad.sh
+再安装ipopt：bash ./ipopt_install/install_ipopt.bash
+如果编译执行时遇到：/user/bin/ld: 找不到 -lgfortran 
+解决办法：
+打开终端 -> locate gfortran.so -> sudo cp 含有gfortran.so的目录/该文件gfortran.so /user/local/lib
+原因：[]()[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) 系统的默认搜索依赖库路径为，/usr/local/lib。
+###（4）benchmark
+Could not find a package configuration file provided by "benchmark" with
+any of the following names:
+benchmarkConfig.cmake
+benchmark-config.cmake
+解决办法：
+bash ./installers_plan/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
+解决办法：
+bash ./installers_plan/install_rosparem_handler.sh

install_ceres.sh

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+#!/bin/bash
+set -e  # exit on first error
+UBUNTU_VERSION=`lsb_release --release | cut -f2`
+SRC_PATH="/tmp"
+CERES_VERSION=1.12.0
+
+main(){
+    if [ $UBUNTU_VERSION == "16.04" ]; then
+        install_dependencies
+        install_ceres_solver
+    fi
+}
+
+install_dependencies() {
+    sudo apt-get update -qq
+    sudo apt-get install -qq -y cmake \
+                           libgoogle-glog-dev \
+                           libatlas-base-dev \
+                           libeigen3-dev \
+                           libsuitesparse-dev
+}
+
+
+install_ceres_solver() {
+    cd $SRC_PATH
+    # clone ceres-solver if directory does not already exist, or pull
+    if [ ! -d ceres-solver ]; then
+        git clone https://github.com/ceres-solver/ceres-solver.git
+    else
+    	cd ceres-solver
+    	git checkout master
+    	git pull
+    	cd ..
+    fi
+
+    # go into ceres-solver repo and prepare for build
+    cd ceres-solver
+    git checkout tags/${CERES_VERSION}
+    mkdir -p build
+    cd build
+    cmake -DBUILD_SHARED_LIBS=ON ..
+
+    # compile and install
+    make -j$(nproc) 2>&1 | grep ...
+    sudo make install
+}
+
+
+# MAIN
+main

install_cppad.sh

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+#!/bin/bash
+set -e
+
+main()
+{
+  install_apt_pkgs
+  install_cppad
+}
+
+install_apt_pkgs() {
+  sudo apt-get update
+  sudo apt-get -y install cmake g++
+}
+
+install_cppad()
+{
+    echo "Prepare to install CppAD ..."
+    CppAD="cppad"
+    VERSION="20180000.0"
+    CppAD_URL="http://www.coin-or.org/download/source/CppAD/$CppAD-$VERSION.gpl.tgz"
+    TEMP_DIR=$(mktemp -d)
+    CPPADDIR="$TEMP_DIR/$CppAD-$VERSION"
+    #sudo apt-get -qq install cmake
+    if ( ls /usr/include | grep cppad );then
+        echo "cppad is already installed......"
+    else
+        cd $TEMP_DIR
+        wget $CppAD_URL
+        tar -xf $CppAD-$VERSION.gpl.tgz
+        rm -f $CppAD-$VERSION.gpl.tgz
+        mkdir -p $CppAD-$VERSION/build
+        cd $CppAD-$VERSION/build
+        cmake \
+            -D cppad_cxx_flags="-Wall -ansi -pedantic-errors -std=c++11 -Wshadow" \
+            ..
+        sudo make install
+        echo "CppAD installed successfully"
+        cd $TEMP_DIR
+        rm -rf $CppAD-$VERSION
+    fi
+}
+
+main

install_googlebenchmark.sh

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+#!/bin/bash
+set -e  # exit on first error
+UBUNTU_VERSION=`lsb_release --release | cut -f2`
+SRC_PATH="/tmp"
+GOOGLE_BENCHMARK_VERSION=v1.5.2
+
+main(){
+    if [ $UBUNTU_VERSION == "16.04" ]; then
+        install_google_benchmark
+    fi
+}
+
+install_google_benchmark() {
+    cd $SRC_PATH
+    # clone google-benchmark if directory does not already exist, or pull
+    if [ ! -d benchmark ]; then
+        git clone https://github.com/google/benchmark.git
+	git clone https://github.com/google/googletest.git benchmark/googletest
+    else
+    	cd benchmark
+    	git checkout master
+    	git pull
+    	cd ..
+    fi
+
+    # go into benchmark repo and prepare for build
+    cd benchmark
+    git checkout tags/${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
+
+    #test if it's successfully
+    #cmake -E chdir "build" ctest --build-config Release
+
+    echo "benchmark has been installed successfully if there's no error"
+}
+
+
+# MAIN
+main

install_rosparem_handler.sh

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+#!/bin/bash
+set -e  # exit on first error
+UBUNTU_VERSION=`lsb_release --release | cut -f2`
+SRC_PATH="../ivrc_ws/src/"
+PARAMHANDLER_VERSION=0.1.3
+
+main(){
+    if [ $UBUNTU_VERSION == "16.04" ]; then
+        install_rosparam_handler
+    fi
+}
+
+install_rosparam_handler() {
+    cd $SRC_PATH
+    # clone ceres-solver if directory does not already exist, or pull
+    if [ ! -d rosparam_handler ]; then
+        git clone https://github.com/cbandera/rosparam_handler.git
+    else
+    	cd rosparam_handler
+    	git checkout master
+    	git pull
+    	cd ..
+    fi
+
+    # go into ceres-solver repo and prepare for build
+    cd rosparam_handler/
+    git checkout master
+    git checkout tags/${PARAMHANDLER_VERSION}
+    mkdir -p build
+    cd build
+
+    cmake -DBUILD_SHARED_LIBS=ON ..
+
+
+    # compile and install
+    make -j$(nproc) 2>&1 | grep ...
+    sudo make install
+
+}
+
+
+# MAIN
+main