參考：
1. 創客製造：
https://www.ncnynl.com/archives/201611/1056.html
2.基於pycharm的ros工程配置
https://blog.csdn.net/weixin_38009585/article/details/80311381
https://blog.csdn.net/SimileciWH/article/details/82222362
https://blog.csdn.net/u013745804/article/details/78951884
https://blog.csdn.net/qq_21508727/article/details/80778997
https://blog.csdn.net/qq_21508727/article/details/80778997
看了很多博客，都對我有幫助，這裏先感謝一下前輩。但是每個人情況不一樣，遇到問題也不一樣，所以在此記錄自己成功配置的過程，但是僅供參考，也是方便自己以後查找。如有誤導，小女先說聲抱歉。也希望大家在配置過程中，細心耐心，不要急躁。加油！
1.配置pycharm環境
問題是創客製造裏寫的很清楚，只是自己開始不理解，
gedit ~/.local/share/applications/jetbrains-pycharm.desktop #如果選擇安裝爲當前用戶可用
[Desktop Entry]
Version=1.0
Type=Application
Name=PyCharm
Icon=/home/ubu/tools/pycharm-professional-2016.2.3/bin/pycharm.png
Exec= bash -i -c "/home/ubu/tools/pycharm-professional-2016.2.3/bin/pycharm.sh" %f
Comment=The Drive to Develop
Categories=Development;IDE;
Terminal=false
StartupWMClass=jetbrains-pycharm
以上是創客裏面的Exec，但是我的就是下面的樣子：
Exec=bash -i -c "/home/xtu/tools/pycharm-2018.3.2/jre64/bin/java -classpath /home/xtu/tools/pycharm-2018.3.2/lib/bootstrap.jar:/home/xtu/tools/pycharm-2018.3.2/lib/extensions.jar:/home/xtu/tools/pycharm-2018.3.2/lib/util.jar:/home/xtu/tools/pycharm-2018.3.2/lib/jdom.jar:/home/xtu/tools/pycharm-2018.3.2/lib/log4j.jar:/home/xtu/tools/pycharm-2018.3.2/lib/trove4j.jar:/home/xtu/tools/pycharm-2018.3.2/lib/jna.jar -Xms128m -Xmx750m -XX:ReservedCodeCacheSize=240m -XX:+UseConcMarkSweepGC -XX:SoftRefLRUPolicyMSPerMB=50 -ea -Dsun.io.useCanonCaches=false -Djava.net.preferIPv4Stack=true -Djdk.http.auth.tunneling.disabledSchemes="" -XX:+HeapDumpOnOutOfMemoryError -XX:-OmitStackTraceInFastThrow -Dawt.useSystemAAFontSettings=lcd -Dsun.java2d.renderer=sun.java2d.marlin.MarlinRenderingEngine -XX:ErrorFile=/home/xtu/java_error_in_PYCHARM_%p.log -XX:HeapDumpPath=/home/xtu/java_error_in_PYCHARM.hprof -Didea.paths.selector=PyCharm2018.3 -Djb.vmOptionsFile=/home/xtu/tools/pycharm-2018.3.2/bin/pycharm64.vmoptions -Didea.platform.prefix=Python com.intellij.idea.Main"%f
我的是不是看起來就不一樣？
1.我開始嘗試Exce全部替換成Exec= bash -i -c "/home/xtu/tools/pycharm-2018.3.2/bin/pycharm.sh" %f
pycharm就打不開了。
2.正確做法是上面，我相信大家能看懂，反正我開始沒弄對
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點上兩個小勾勾你會發現不用再去安裝一些常用庫了
2.catkin_make 時候出現問題
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
原文：https://blog.csdn.net/wuguangbin1230/article/details/77803017
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conda install setuptools -
pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools