1 下载导航包
git clone https://github.com/ros-planning/navigation_experimental.git
2 processing catkin package: ‘map_server’ 缺少Could NOT find Bullet
CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:108 (message):
Could NOT find Bullet (missing: BULLET_DYNAMICS_LIBRARY
BULLET_COLLISION_LIBRARY BULLET_MATH_LIBRARY BULLET_SOFTBODY_LIBRARY
BULLET_INCLUDE_DIR)
Call Stack (most recent call first):
/usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:315 (_FPHSA_FAILURE_MESSAGE)
/usr/share/cmake-2.8/Modules/FindBullet.cmake:76 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
navigation/map_server/CMakeLists.txt:11 (find_package)
解决办法：
sudo apt-get install libbullet-dev
3 cmake版本低——CMake Error at navigation/amcl/CMakeLists.txt:1 (cmake_minimum_required):
CMake 3.1 or higher is required. You are running version 2.8.12.2
解决办法：
sudo apt-get install cmake3
安装完后的版本为：
cmake version 3.5.1
4 cost_map找不到eigen3
– Using these message generators: gencpp;genlisp;genpy
CMake Error at navigation/costmap_2d/CMakeLists.txt:26 (find_package):
By not providing “FindEigen3.cmake” in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by “Eigen3”, but
CMake did not find one.
解决办法：
gedit src/navigation/costmap_2d/CMakeLists.txt
由于cmake3.5中没有findEigen3，所以拷贝一下；
sudo cp /usr/share/cmake-2.8/Modules/FindEigen3.cmake /usr/share/cmake-3.5/Modules/
下载其他教程包：
git clone https://github.com/ros-planning/navigation_tutorials.git
git clone https://github.com/ros-planning/navigation_experimental.git
编译遇到的问题：
1 找不到FindSBPL.cmake
– ==> add_subdirectory(navigation_experimental/sbpl_lattice_planner)
– Using these message generators: gencpp;genlisp;genpy
CMake Error at navigation_experimental/sbpl_lattice_planner/CMakeLists.txt:14 (find_package):
By not providing “FindSBPL.cmake” in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by “SBPL”, but
CMake did not find one
解决办法：
sudo apt-get install ros-indigo-sbpl
再次编译
navigation_experimental/twist_recovery/src/twist_recovery.cpp:38:0:
出现tf错误，算了，放弃了～