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3. 构建
Leiyang edited this page Aug 31, 2020
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- 基础环境
环境 | 规格 |
---|---|
操作系统 | Ubuntu 18.04 |
构建系统 | Catkin Build System |
ROS | Melodic |
Amcl | 1.16.2 |
Cartographer_ros | 1.0.0 |
g2o | 2.6 |
- 仿真环境
环境 | 规格 |
---|---|
Gazebo | 9.13.2 |
- 硬件环境
硬件 | 规格 |
---|---|
NUC | 8i7BEH |
激光雷达 | SLAMTEC RPLIDAR A3 |
- 注:本项目使用了RoboMaster官方开源项目中的config, roborts_common, roborts_base,请在编译前往RoboMaster开源项目中下载这几个文件夹并移动到工作空间的src目录下。
首先安装相应依赖。
sudo apt-get install -y ros-melodic-map-server \
ros-melodic-laser-geometry \
ros-melodic-interactive-markers \
ros-melodic-tf \
ros-melodic-rplidar-ros \
ros-melodic-rviz \
gazebo \
protobuf-compiler \
libprotobuf-dev \
libsuitesparse-dev \
libgoogle-glog-dev
cd workspace/src/
git clone https://github.com/nwpu-v5-team/ICRA-RoboMaster-2020-Planning.git
cd ../
catkin_make -DCATKIN_WHITELIST_PACKAGES="roborts_msgs"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""