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.安裝必要軟體
  $ 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.進入到ROS原始碼包所在的資料夾下,安裝依賴庫(二者選其一)
  $ rosdep install --from-paths src --rosdistro lunar -y
  或$ rosdep install --from-paths src --ignore-src --rosdistro lunar -y

step5.替換opencv(若需要替換其他版本)
 不要忘記把將原來opencv中的package.xml複製到重新替換的opencv的資料夾中並將OpenCV 3.x改為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檔案，將其中的opencv3改為opencv2,即：
  <build_depend>opencv2</build_depend>
  <exec_depend>opencv2</exec_depend>

step6.編譯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

如果編譯出錯，注意出錯的原因，把後面引數改為OFF,缺少某個包就把某個包下載或安裝

  $ 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

備註：　依賴庫（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