ROS移植机器人小车：问题集

网上买了个机器人小车，却发现发给我的树莓派硬件不兼容卖家的系统，小车装好了不想再拆装折腾，没办法只能自己安装编译，这里记录一下自己碰到的ROS程序编译问题。

源码由卖家提供，不过我找了一下，发现各家提供的源码大同小异，估计都来自开源项目的改编。

对于这些问题，在ubuntu18.04上，安装时碰到的全部问题的解决办法包括下面的指令

sudo apt install libqt4-dev
sudo apt install ros-melodic-rosserial-python -y
sudo apt install ros-melodic-costmap-2d -y
sudo apt install ros-melodic-geographic-msgs -y
sudo apt install ros-melodic-move-base-msgs -y
sudo apt install libgeographic-dev -y
sudo apt install libv4l-dev
sudo apt-get install libudev-dev

catkin_make -DCATKIN_WHITELIST_PACKAGES="clb_msgs"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""

catkin_make -DCATKIN_WHITELIST_PACKAGES="riki_msgs"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""

catkin_make -DCATKIN_WHITELIST_PACKAGES="exploration_msgs"
catkin_make -DCATKIN_WHITELIST_PACKAGES=""

我的树莓派安装的是ubuntu20.04，所以解决起来有点费劲，melodic要改成noetic，我详细记录了全部问题，分成２个贴子，

ROS移植机器人小车：问题集(2)_tanmx219的博客-CSDN博客

好，言归正传，现在开始列举ROS noetic安装碰到的问题，如下，

========================================================

CMake Error at /usr/share/cmake-3.16/Modules/FindQt4.cmake:1314 (message):
  Found unsuitable Qt version "5.12.8" from /usr/bin/qmake, this code
  requires Qt 4.x
Call Stack (most recent call first):
  lidar/hector_slam/hector_geotiff/CMakeLists.txt:12 (find_package)

在ubuntu18.04或树莓派上的解决办法，

sudo apt install qt4-default 

在ubuntu20.04上，因为不再支持ＱＴ４，所以解决办法有点不同，

==============================================================

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "rosserial_python"
  with any of the following names:

    rosserial_pythonConfig.cmake
    rosserial_python-config.cmake

  Add the installation prefix of "rosserial_python" to CMAKE_PREFIX_PATH or
  set "rosserial_python_DIR" to a directory containing one of the above
  files.  If "rosserial_python" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  clbrobot_project/clbrobot/CMakeLists.txt:7 (find_package)
-- Configuring incomplete, errors occurred!

解决办法，

sudo apt install ros-noetic-rosserial-python -y

========================================================

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "costmap_2d" with
  any of the following names:

    costmap_2dConfig.cmake
    costmap_2d-config.cmake

  Add the installation prefix of "costmap_2d" to CMAKE_PREFIX_PATH or set
  "costmap_2d_DIR" to a directory containing one of the above files.  If
  "costmap_2d" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  m-explore/explore/CMakeLists.txt:5 (find_package)

解决办法，

sudo apt install ros-noetic-costmap-2d -y

========================================================

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "geographic_msgs"
  with any of the following names:

    geographic_msgsConfig.cmake
    geographic_msgs-config.cmake

  Add the installation prefix of "geographic_msgs" to CMAKE_PREFIX_PATH or
  set "geographic_msgs_DIR" to a directory containing one of the above files.
  If "geographic_msgs" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  robot_localization/CMakeLists.txt:9 (find_package)

解决办法，

sudo apt install ros-noetic-geographic-msgs -y

========================================================

CMake Error at robot_localization/CMakeLists.txt:35 (find_package):
  By not providing "FindGeographicLib.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "GeographicLib", but CMake did not find one.

  Could not find a package configuration file provided by "GeographicLib"
  with any of the following names:

    GeographicLibConfig.cmake
    geographiclib-config.cmake

  Add the installation prefix of "GeographicLib" to CMAKE_PREFIX_PATH or set
  "GeographicLib_DIR" to a directory containing one of the above files.  If
  "GeographicLib" provides a separate development package or SDK, be sure it
  has been installed.

解决办法，

sudo apt install libgeographic-dev -y

========================================================

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "move_base_msgs"
  with any of the following names:

    move_base_msgsConfig.cmake
    move_base_msgs-config.cmake

  Add the installation prefix of "move_base_msgs" to CMAKE_PREFIX_PATH or set
  "move_base_msgs_DIR" to a directory containing one of the above files.  If
  "move_base_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  m-explore/explore/CMakeLists.txt:5 (find_package)

解决办法，

sudo apt install ros-noetic-move-base-msgs -y

========================================================

In file included from /home/ubuntu/noetic/catkin_ws/src/camera_umd/uvc_camera/include/uvc_camera/camera.h:3,
                 from /home/ubuntu/noetic/catkin_ws/src/camera_umd/uvc_camera/src/camera_node.cpp:4:
/home/ubuntu/noetic/catkin_ws/src/camera_umd/uvc_camera/include/uvc_cam/uvc_cam.h:26:10: fatal error: libv4l2.h: No such file or directory
   26 | #include <libv4l2.h>
      |          ^~~~~~~~~~~
compilation terminated.

解决办法，

sudo apt install libv4l-dev

========================================================

解决办法，

========================================================

参考：

TX2-ros机器人移植调试第一弹——catkin_make的error_vslyu的博客-CSDN博客