ubuntu18.04机器人开发配置

• 实验室移动机器人平台的开发基于ubuntu，几大基本套件包括QT、ROS、PCL、VTK、cmake等，下面简单说一下安装。

建议安装顺序：cmake(>3.19)——QT———VTK8.2.0——PCL1.9.1——ROS(注意：如果后面要使用Cartographer,就不用装VKK和PCL，使用ROS自带的)

Cmake

去官网下载源码，采用编译安装形式

# 下载安装包，解压
tar -zxvf cmake.tar.gz
cd cmake
./bootstrap

# 如出现找不到open_ssl,安装一下libssl-dev

make
sudo make install

 # 查看版本号
 cmake --version

QT

去官网下载.run安装文件

sudo chmod +x qt.run
sudo ./qt.run
#可视化安装界面，注意填入临时资料库地址
http://mirrors.ustc.edu.cn/qtproject/online/qtsdkrepository/linux_x64/root/qt/

安装VTK

#安装X11
sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev

# 安装OPEN_GL
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev freeglut3-dev

# 解压安装包，进文件夹后

mkdir build && cd build
cmake ..
make -j8
sudo make install

安装PCL

# 首先依赖
sudo apt-get install libeigen3-dev
sudo apt-get install libflann-dev
 sudo apt-get install libboost-all-dev
 sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

# 下载安装包解压，进入文件夹

mkdir build && cd build

camke ..
make -j8
sudo make install

安装ROS（melodic）

# 添加源
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

# 添加秘钥
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

# 更新源
sudo apt update

# 安装ROS完整版
sudo apt install ros-melodic-desktop-full

# 添加环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# 安装其他包
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

# 初始化rosdep（不操作可，需要代理）
sudo rosdep init
rosdep update

# 创建工作目录，并添环境变量
mkdir -p ~/catkin_ws/src
 cd ~/catkin_ws/
catkin_make

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

其他库安装

Eigen

• 用于矩阵运算

sudo apt install libeigen3-dev

Sophus

• Eigen的扩展，用于李群和李代数转换

git clone https://github.com/strasdat/Sophus.git
cd sophus
mkdir build
cd build
cmake ..
make
sudo make install

GTSAM

• GTSAM（Georgia Tech Smoothing and Mapping）是基于因子图的C++库，它可以解决slam和sfm的问题，当然它也可以解决简单或者更加复杂的估计问题。

git clone https://github.com/borglab/gtsam.git
cd gtsam
mkdir build && cd build
cmake ..
make check 
sudo make install

ceres

• 用于非线性优化

# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev

wget http://ceres-solver.org/ceres-solver-2.0.0.tar.gz
tar zxf ceres-solver-2.0.0.tar.gz
cd ceres-solver
mkdir build && cd build
cmake ..
make

sudo make install

g2o

• 用于图优化

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build && cd build
cmake ..
make

sudo make install