ros+opencv2.4.9源码安装步骤

step1.配置ROS源
  $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

step2.安装必要软件
  $ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

step3.初始化rosdep
  $ sudo rosdep init
  $ rosdep update

step4.进入到ROS源码包所在的文件夹下,安装依赖库(二者选其一)
  $ rosdep install --from-paths src --rosdistro lunar -y
  或$ rosdep install --from-paths src --ignore-src --rosdistro lunar -y

step5.替换opencv(若需要替换其他版本)
 不要忘记把将原来opencv中的package.xml复制到重新替换的opencv的文件夹中并将OpenCV 3.x改为OpenCV 2.x,即:
  <description>OpenCV 2.x</description>

 修改src/vision_opencv/cv_bridge和src/vision_opencv/image_geometry下的package.xml文件，将其中的opencv3改为opencv2,即：
  <build_depend>opencv2</build_depend>
  <exec_depend>opencv2</exec_depend>

step6.编译ROS
  $ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release  \
      -DENABLE_AVX=ON \
      -DENABLE_FAST_MATH=ON \
      -DENABLE_SSE=ON \
      -DENABLE_SSE2=ON \
      -DENABLE_SSE3=ON \
      -DENABLE_SSE41=ON \
      -DENABLE_SSE42=ON \
      -DENABLE_SSSE3=ON \
      -DWITH_FFMPEG=OFF

如果编译出错，注意出错的原因，把后面参数改为OFF,缺少某个包就把某个包下载或安装

  $ source ./install_isolated/setup.bash

 
scp -r [email protected]:/home/wsh/back_test ./

orocos-bfl
-- checking for module 'orocos-bfl'
--   package 'orocos-bfl' not found
-- checking for module 'bullet'

--   package 'bullet' not found

备注：　依赖库（不一定需要）

$ sudo apt-get install libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg8-dev libjpeg-dev libtiff5-dev libswscale-dev libjasper-dev

email:  [email protected]

author: wsh