我们学习rivz时需要一个大神写好的第三方包，这样我们才可以学习具体的命令以及方法。博主在从网上找rivz的教程时发现大部分都比较老了，不支持ROS的最新版本，所以提供的rivz第三方包安装会出现许多坑。博主经过几次踩坑后把经验分享出来。
学习rivz，首先需要安装arbotix。
1,进入源码目录
$ cd catkin_ws/src/
2，源码从git克隆到当前目录
$ git clone https://github.com/vanadiumlabs/arbotix_ros.git
3，切换到make路径
$ cd catkin_ws
4,make
$ catkin_make
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws$ catkin_make Base path: /home/uu/catkin_ws Source space: /home/uu/catkin_ws/src Build space: /home/uu/catkin_ws/build Devel space: /home/uu/catkin_ws/devel Install space: /home/uu/catkin_ws/install #### #### Running command: "cmake /home/uu/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/uu/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/uu/catkin_ws/install -G Unix Makefiles" in "/home/uu/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/uu/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/uu/catkin_ws/devel;/opt/ros/melodic -- This workspace overlays: /home/uu/catkin_ws/devel;/opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.15", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/uu/catkin_ws/build/test_results -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.15") -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.14 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 7 packages in topological order: -- ~~ - arbotix (metapackage) -- ~~ - arbotix_controllers -- ~~ - arbotix_firmware -- ~~ - arbotix_python -- ~~ - arbotix_sensors -- ~~ - arbotix_msgs -- ~~ - beginner_tutorials -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin metapackage: 'arbotix' -- ==> add_subdirectory(arbotix_ros/arbotix) -- +++ processing catkin package: 'arbotix_controllers' -- ==> add_subdirectory(arbotix_ros/arbotix_controllers) -- +++ processing catkin package: 'arbotix_firmware' -- ==> add_subdirectory(arbotix_ros/arbotix_firmware) -- +++ processing catkin package: 'arbotix_python' -- ==> add_subdirectory(arbotix_ros/arbotix_python) -- +++ processing catkin package: 'arbotix_sensors' -- ==> add_subdirectory(arbotix_ros/arbotix_sensors) -- +++ processing catkin package: 'arbotix_msgs' -- ==> add_subdirectory(arbotix_ros/arbotix_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- arbotix_msgs: 2 messages, 4 services -- +++ processing catkin package: 'beginner_tutorials' -- ==> add_subdirectory(beginner_tutorials) -- Configuring done -- Generating done -- Build files have been written to: /home/uu/catkin_ws/build #### #### Running command: "make -j2 -l2" in "/home/uu/catkin_ws/build" #### Scanning dependencies of target _arbotix_msgs_generate_messages_check_deps_SetupChannel Scanning dependencies of target _arbotix_msgs_generate_messages_check_deps_Relax [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_SetupChannel [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_Relax Scanning dependencies of target std_msgs_generate_messages_eus Scanning dependencies of target _arbotix_msgs_generate_messages_check_deps_Analog [ 0%] Built target std_msgs_generate_messages_eus Scanning dependencies of target _arbotix_msgs_generate_messages_check_deps_Digital [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_Analog Scanning dependencies of target _arbotix_msgs_generate_messages_check_deps_Enable [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_Digital Scanning dependencies of target _arbotix_msgs_generate_messages_check_deps_SetSpeed [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_Enable Scanning dependencies of target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_SetSpeed Scanning dependencies of target std_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_cpp Scanning dependencies of target arbotix_msgs_generate_messages_eus [ 2%] Generating EusLisp code from arbotix_msgs/Digital.msg [ 8%] Built target hello [ 11%] Generating EusLisp code from arbotix_msgs/Analog.msg [ 14%] Generating EusLisp code from arbotix_msgs/Relax.srv Scanning dependencies of target arbotix_msgs_generate_messages_nodejs [ 17%] Generating Javascript code from arbotix_msgs/Digital.msg [ 20%] Generating Javascript code from arbotix_msgs/Analog.msg [ 22%] Generating EusLisp code from arbotix_msgs/SetSpeed.srv [ 25%] Generating Javascript code from arbotix_msgs/Relax.srv [ 28%] Generating EusLisp code from arbotix_msgs/SetupChannel.srv [ 31%] Generating Javascript code from arbotix_msgs/SetSpeed.srv [ 37%] Generating Javascript code from arbotix_msgs/SetupChannel.srv [ 37%] Generating EusLisp code from arbotix_msgs/Enable.srv [ 40%] Generating Javascript code from arbotix_msgs/Enable.srv [ 42%] Generating EusLisp manifest code for arbotix_msgs [ 42%] Built target arbotix_msgs_generate_messages_nodejs Scanning dependencies of target arbotix_msgs_generate_messages_lisp [ 45%] Generating Lisp code from arbotix_msgs/Digital.msg [ 48%] Generating Lisp code from arbotix_msgs/Analog.msg [ 51%] Generating Lisp code from arbotix_msgs/Relax.srv [ 54%] Generating Lisp code from arbotix_msgs/SetSpeed.srv [ 57%] Generating Lisp code from arbotix_msgs/SetupChannel.srv [ 60%] Generating Lisp code from arbotix_msgs/Enable.srv [ 60%] Built target arbotix_msgs_generate_messages_lisp Scanning dependencies of target arbotix_msgs_generate_messages_py [ 62%] Generating Python from MSG arbotix_msgs/Digital [ 65%] Generating Python from MSG arbotix_msgs/Analog [ 65%] Built target arbotix_msgs_generate_messages_eus Scanning dependencies of target arbotix_msgs_generate_messages_cpp [ 68%] Generating C++ code from arbotix_msgs/Digital.msg [ 71%] Generating Python code from SRV arbotix_msgs/Relax [ 74%] Generating Python code from SRV arbotix_msgs/SetSpeed [ 77%] Generating C++ code from arbotix_msgs/Analog.msg [ 80%] Generating Python code from SRV arbotix_msgs/SetupChannel [ 82%] Generating C++ code from arbotix_msgs/Relax.srv [ 85%] Generating Python code from SRV arbotix_msgs/Enable [ 88%] Generating C++ code from arbotix_msgs/SetSpeed.srv [ 91%] Generating Python msg __init__.py for arbotix_msgs [ 94%] Generating Python srv __init__.py for arbotix_msgs [ 97%] Generating C++ code from arbotix_msgs/SetupChannel.srv [ 97%] Built target arbotix_msgs_generate_messages_py [100%] Generating C++ code from arbotix_msgs/Enable.srv [100%] Built target arbotix_msgs_generate_messages_cpp Scanning dependencies of target arbotix_msgs_generate_messages [100%] Built target arbotix_msgs_generate_messages uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws$
这样就解决了arbotix的安装问题
5,同样操作，接下来我们需要安装用来测试与学习的rivz第三方包 rbx_vol_1。
先下载rbx_vol_1 包
下载完成也需要catkin_make 这一步与上面是一样的方法。
$ cd ~/catkin_ws/src/
$ git clone https://github.com/pirobot/rbx1
/////////////////////////////////////////
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src$ git clone https://github.com/pirobot/rbx1
Cloning into 'rbx1'...
remote: Counting objects: 1447, done.
error: RPC failed; curl 18 transfer closed with outstanding read data remaining
fatal: The remote end hung up unexpectedly
fatal: early EOF
fatal: index-pack failed
//////////////////////////////////报错了几次才成功，N年前的资源就是不好
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src$ git clone https://github.com/pirobot/rbx1/
Cloning into 'rbx1'...
remote: Counting objects: 1447, done.
remote: Total 1447 (delta 0), reused 0 (delta 0), pack-reused 1447
Receiving objects: 100% (1447/1447), 7.39 MiB | 14.00 KiB/s, done.
Resolving deltas: 100% (918/918), done.
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src$
$ cd ..
$ catkin_make
uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws/src$ cd .. uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws$ catkin_make Base path: /home/uu/catkin_ws Source space: /home/uu/catkin_ws/src Build space: /home/uu/catkin_ws/build Devel space: /home/uu/catkin_ws/devel Install space: /home/uu/catkin_ws/install #### #### Running command: "cmake /home/uu/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/uu/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/uu/catkin_ws/install -G Unix Makefiles" in "/home/uu/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/uu/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/uu/catkin_ws/devel;/opt/ros/melodic -- This workspace overlays: /home/uu/catkin_ws/devel;/opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.15", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/uu/catkin_ws/build/test_results -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.15") -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.14 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 15 packages in topological order: -- ~~ - arbotix (metapackage) -- ~~ - arbotix_controllers -- ~~ - arbotix_firmware -- ~~ - arbotix_python -- ~~ - arbotix_sensors -- ~~ - rbx1 (metapackage) -- ~~ - arbotix_msgs -- ~~ - beginner_tutorials -- ~~ - rbx1_speech -- ~~ - rbx1_bringup -- ~~ - rbx1_dynamixels -- ~~ - rbx1_vision -- ~~ - rbx1_apps -- ~~ - rbx1_nav -- ~~ - rbx1_description -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin metapackage: 'arbotix' -- ==> add_subdirectory(arbotix_ros/arbotix) -- +++ processing catkin package: 'arbotix_controllers' -- ==> add_subdirectory(arbotix_ros/arbotix_controllers) -- +++ processing catkin package: 'arbotix_firmware' -- ==> add_subdirectory(arbotix_ros/arbotix_firmware) -- +++ processing catkin package: 'arbotix_python' -- ==> add_subdirectory(arbotix_ros/arbotix_python) -- +++ processing catkin package: 'arbotix_sensors' -- ==> add_subdirectory(arbotix_ros/arbotix_sensors) -- +++ processing catkin metapackage: 'rbx1' -- ==> add_subdirectory(rbx1/rbx1) -- +++ processing catkin package: 'arbotix_msgs' -- ==> add_subdirectory(arbotix_ros/arbotix_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- arbotix_msgs: 2 messages, 4 services -- +++ processing catkin package: 'beginner_tutorials' -- ==> add_subdirectory(beginner_tutorials) -- +++ processing catkin package: 'rbx1_speech' -- ==> add_subdirectory(rbx1/rbx1_speech) -- +++ processing catkin package: 'rbx1_bringup' -- ==> add_subdirectory(rbx1/rbx1_bringup) -- +++ processing catkin package: 'rbx1_dynamixels' -- ==> add_subdirectory(rbx1/rbx1_dynamixels) -- +++ processing catkin package: 'rbx1_vision' -- ==> add_subdirectory(rbx1/rbx1_vision) -- +++ processing catkin package: 'rbx1_apps' -- ==> add_subdirectory(rbx1/rbx1_apps) -- +++ processing catkin package: 'rbx1_nav' -- ==> add_subdirectory(rbx1/rbx1_nav) -- +++ processing catkin package: 'rbx1_description' -- ==> add_subdirectory(rbx1/rbx1_description) -- Configuring done -- Generating done -- Build files have been written to: /home/uu/catkin_ws/build #### #### Running command: "make -j2 -l2" in "/home/uu/catkin_ws/build" #### [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_Relax [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_SetupChannel [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_Analog [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_Digital [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_Enable [ 0%] Built target _arbotix_msgs_generate_messages_check_deps_SetSpeed [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_cpp Scanning dependencies of target rbx1_nav_gencfg [ 5%] Built target hello [ 8%] Generating dynamic reconfigure files from cfg/CalibrateAngular.cfg: /home/uu/catkin_ws/devel/include/rbx1_nav/CalibrateAngularConfig.h /home/uu/catkin_ws/devel/lib/python2.7/dist-packages/rbx1_nav/cfg/CalibrateAngularConfig.py [ 27%] Built target arbotix_msgs_generate_messages_eus [ 29%] Generating dynamic reconfigure files from cfg/CalibrateLinear.cfg: /home/uu/catkin_ws/devel/include/rbx1_nav/CalibrateLinearConfig.h /home/uu/catkin_ws/devel/lib/python2.7/dist-packages/rbx1_nav/cfg/CalibrateLinearConfig.py Generating reconfiguration files for CalibrateLinear in rbx1_nav Generating reconfiguration files for CalibrateAngular in rbx1_nav Wrote header file in /home/uu/catkin_ws/devel/include/rbx1_nav/CalibrateLinearConfig.h Wrote header file in /home/uu/catkin_ws/devel/include/rbx1_nav/CalibrateAngularConfig.h [ 45%] Built target arbotix_msgs_generate_messages_nodejs [ 62%] Built target arbotix_msgs_generate_messages_lisp [ 62%] Built target rbx1_nav_gencfg [ 83%] Built target arbotix_msgs_generate_messages_py [100%] Built target arbotix_msgs_generate_messages_cpp [100%] Built target arbotix_msgs_generate_messages uu@uu-HP-EliteBook-6930P-Notebook-PC:~/catkin_ws$
6，再打开一个终端运行roscore
$ roscore
编译结束后我们就可以使用$ roslaunch rbx1_bringup fake_pi_robot.launch
报错：
File "/home/uu/catkin_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver", line 33, in <module>
from arbotix_msgs.msg import *
ImportError: No module named arbotix_msgs.msg
[arbotix-2] process has died [pid 10508, exit code 1, cmd /home/uu/catkin_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver __name:=arbotix __log:=/home/uu/.ros/log/d9a20154-8f19-11e8-ba88-00216a949182/arbotix-2.log].
log file: /home/uu/.ros/log/d9a20154-8f19-11e8-ba88-00216a949182/arbotix-2*.log
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ echo $ROS_PACKAGE_PATH
报错：
IOError: [Errno 13] Permission denied: '/home/uu/.ros/rosdep/sources.cache/index' [arbotix-2] process has died [pid 10665, exit code 1, cmd /home/uu/catkin_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver __name:=arbotix __log:=/home/uu/.ros/log/312402ba-8f1a-11e8-ba88-00216a949182/arbotix-2.log]. log file: /home/uu/.ros/log/312402ba-8f1a-11e8-ba88-00216a949182/arbotix-2*.log
$ sudo rm -fr /home/uu/.ros/rosdep/sources.cache
$ rosdep update
命令运行模拟机器人了
仍然失败。。。。。。。。。。。。。。。。。。。后续补充吧
然后运行
$ rosrun rviz rviz -d 'rospack find rbx1_nav' /sim.rviz
rosrun rviz rviz -d `rospack find rbx1_nav`/sim.rviz- 1
即可看到小车仿真
