ROS源碼安裝kinetic版本

系統:Ubuntu16.04
ROS kinetic源碼編譯記錄
1.安裝引導依賴關係
sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential
2.初始化rosdep
sudo rosdep init
rosdep update
注：如果init和update出錯使用手機網絡共享更新
3.創建catkin工作空間
mkdir ~/ros_catkin_ws
cd ~/ros_catkin_ws
4.ROS-Comm包安裝(ROS package, build, and communication libraries. No GUI tools)
rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall
wstool init -j8 src kinetic-ros_comm-wet.rosinstall
5.解析依賴
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
6.編譯catkin工作空間
./src/catkin/bin/catkin_make_isolated --install `-DCMAKE_BUILD_TYPE=Release
melodic版本編譯出現的問題及解決方法
1>出現 error: ‘nullptr’ was not declared in this scope
解決方法:在./src/ros_comm/rosbag/CMakeLists.txt和./src/ros_comm/rosbag_storage/CMakeLists.txt兩個文件中加入編譯選項 -std=c++11
2>出現“ROS_DISTRO was set to ‘melodic’ before. Please make sure that the environment does not mix paths from different distributions.”
解決方法:由於之前編譯了melodic版本導致編譯kinetic版本環境配置產生衝突，使用env |grep ros也看不到對應的環境變量設置，就把之前編譯melodic版本的工作路徑改變了，編譯kinetic版本正常了。（i下下策）
7.環境配置
寫入.bashrc腳本
echo "source ~/ros_catkin_ws/install_isolated/setup.bash" >> ~/.bashrc
source ~/.bashrc