瓜大无人船编译过程

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瓜大无人船包编译指南。

新建工作空间与源文件夹
```
mkdir -p [WORKSPACE]/src
```
尝试编译
```
cd [WORKSPACE]/
catkin_make
```

报错

-- Checking for module 'bullet'
--   No package 'bullet' found
CMake Error at mypackage/geometry2/tf2_bullet/CMakeLists.txt:11 (find_package):
  By not providing "Findbullet.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "bullet", but
  CMake did not find one.

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

    bulletConfig.cmake
    bullet-config.cmake

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


-- Configuring incomplete, errors occurred!
See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log".
See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

解决
```
sudo apt-get install libbullet-dev
```

继续编译，报错

-- Checking for one of the modules 'libusb'
CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:578 (message):
  None of the required 'libusb' found
Call Stack (most recent call first):
  mypackage/joystick_drivers/ps3joy/CMakeLists.txt:6 (pkg_search_module)


CMake Error at mypackage/joystick_drivers/ps3joy/CMakeLists.txt:11 (message):
  Failed to find libusb


-- Configuring incomplete, errors occurred!
See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log".
See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

解决
```
sudo apt-get install libusb-dev
```

继续编译，报错

-- Checking for module 'libgps'
--   No package 'libgps' found
CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:367 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
  mypackage/gps_umd/gpsd_client/CMakeLists.txt:15 (pkg_check_modules)


-- Configuring incomplete, errors occurred!
See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log".
See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

解决
```
sudo apt-get install libgps-dev
```

继续编译，报错

-- +++ processing catkin package: 'robot_localization'
-- ==> add_subdirectory(mypackage/robot_localization)
robot_localization: You did not request a specific build type: selecting 'RelWithDebInfo'.
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (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):
  mypackage/robot_localization/CMakeLists.txt:9 (find_package)


-- Could not find the required component 'geographic_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/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):
  mypackage/robot_localization/CMakeLists.txt:9 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeOutput.log".
See also "/home/hans/catkin_boat/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

解决

sudo apt-get install ros-kinetic-geographic-msgs

继续编译，报错

[  7%] Building CXX object mypackage/joystick_drivers/joy/CMakeFiles/joy_node.dir/src/joy_node.cpp.o
cc1: warning: command line option ‘-std=c++11’ is valid for C++/ObjC++ but not for C
/home/hans/catkin_boat/src/mypackage/joystick_drivers/spacenav_node/src/spacenav_node.cpp:38:19: fatal error: spnav.h: 没有那个文件或目录
compilation terminated.
mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/build.make:62: recipe for target 'mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/src/spacenav_node.cpp.o' failed
make[2]: *** [mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/src/spacenav_node.cpp.o] Error 1
CMakeFiles/Makefile2:15321: recipe for target 'mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/all' failed
make[1]: *** [mypackage/joystick_drivers/spacenav_node/CMakeFiles/spacenav_node.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....

解决
```
sudo apt-get install libspnav-dev
```

继续编译，报错

In file included from /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/src/wiimote_controller.cpp:45:0:
/home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/include/wiimote/wiimote_controller.h:49:53: fatal error: bluetooth/bluetooth.h: 没有那个文件或目录
compilation terminated.
mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/build.make:62: recipe for target 'mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o' failed
make[2]: *** [mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o] Error 1
CMakeFiles/Makefile2:23860: recipe for target 'mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/all' failed
make[1]: *** [mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....

解决
```
sudo apt-get install libbluetooth-dev
```

继续编译，报错

[ 94%] Building CXX object mypackage/geometry2/tf2_ros/CMakeFiles/tf2_ros_buffer_server.dir/src/buffer_server_main.cpp.o
In file included from /home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/src/wiimote_controller.cpp:45:0:
/home/hans/catkin_boat/src/mypackage/joystick_drivers/wiimote/include/wiimote/wiimote_controller.h:52:35: fatal error: cwiid.h: 没有那个文件或目录
compilation terminated.
[ 94%] Linking CXX executable /home/hans/catkin_boat/devel/lib/joy/joy_node
mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/build.make:62: recipe for target 'mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o' failed
make[2]: *** [mypackage/joystick_drivers/wiimote/CMakeFiles/wiimote_node.dir/src/wiimote_controller.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....

解决
```
sudo apt-get install libcwiid-dev
```
编译完成。

注意：如果报错

/home/jcy/catkin_boat/src/mypackage/my_serial_node/src/gps_serial.cpp:7:38: fatal error: my_serial_node/serialmsg.h: 没有那个文件或目录
/home/jcy/catkin_boat/src/mypackage/my_serial_node/src/talker_ship2.cpp:7:47: fatal error: my_serial_node/PropellerParameter.h: 没有那个文件或目录
/home/jcy/catkin_boat/src/mypackage/my_serial_node/src/serial3.cpp:7:38: fatal error: my_serial_node/serialmsg.h: 没有那个文件或目录
compilation terminated.
compilation terminated.
compilation terminated.
/home/jcy/catkin_boat/src/mypackage/my_serial_node/src/talker_ship2u2.cpp:7:47: fatal error: my_serial_node/PropellerParameter.h: 没有那个文件或目录
compilation terminated.
mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/build.make:62: recipe for target 'mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/src/talker_ship2.cpp.o' failed
make[2]: *** [mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/src/talker_ship2.cpp.o] Error 1
CMakeFiles/Makefile2:10939: recipe for target 'mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/all' failed
make[1]: *** [mypackage/my_serial_node/CMakeFiles/talker_ship2.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
mypackage/my_serial_node/CMakeFiles/gps_serial.dir/build.make:62: recipe for target 'mypackage/my_serial_node/CMakeFiles/gps_serial.dir/src/gps_serial.cpp.o' failed
make[2]: *** [mypackage/my_serial_node/CMakeFiles/gps_serial.dir/src/gps_serial.cpp.o] Error 1
CMakeFiles/Makefile2:10976: recipe for target 'mypackage/my_serial_node/CMakeFiles/gps_serial.dir/all' failed
make[1]: *** [mypackage/my_serial_node/CMakeFiles/gps_serial.dir/all] Error 2
mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/build.make:62: recipe for target 'mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/src/talker_ship2u2.cpp.o' failed
make[2]: *** [mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/src/talker_ship2u2.cpp.o] Error 1
CMakeFiles/Makefile2:10902: recipe for target 'mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/all' failed
make[1]: *** [mypackage/my_serial_node/CMakeFiles/talker_ship2u2.dir/all] Error 2
mypackage/my_serial_node/CMakeFiles/serial3.dir/build.make:62: recipe for target 'mypackage/my_serial_node/CMakeFiles/serial3.dir/src/serial3.cpp.o' failed
make[2]: *** [mypackage/my_serial_node/CMakeFiles/serial3.dir/src/serial3.cpp.o] Error 1
CMakeFiles/Makefile2:11013: recipe for target 'mypackage/my_serial_node/CMakeFiles/serial3.dir/all' failed
make[1]: *** [mypackage/my_serial_node/CMakeFiles/serial3.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

需要复制并替换include包至[WORKSPACE]/devel中。