在新的ITX上部署ROS kinetic

组件化的工作开始, 在底盘组件化过程中, 目前有到新的ITX板子. 现在部署 ROS kinetic环境.

• 安装 ubuntu 16.04
• 修改 /etc/sudoers.  修改 %sudo ALL=(ALL:ALL) NOPASSWD:ALL  这样有sudo权限的用户无需输入密码.
• 增加网络支持. 修改源为 tsinghua 的源. sudo apt install openssh-server samba. 添加 samba的共享目录和用户.
• 取出一些无用的包  sudo apt remove --purge libreoffice-* totem* rhythmbox* thunderbird* transmission-* eog shotwell evince* simple-scan aisleriot gnome-mines gnome-sudoku gnome-screensaver gnome-screenshot gnome-orca gnome-mahjongg gnome-font-viewer gnome-calendar gnome-calculator gnome-system-log gnome-user-guide firefox* ufw
  
• 添加网络桌面共享 
  sudo apt install dconf-editor xvfb x11vnc vim bash-completion yasm 
  打开 <桌面共享>程序, 要求使用密码确认.
  dconf-editor  设置 org -> gnome -> desktop -> remote-access 取消勾选requlre-encryption
  命令行执行 gsettings set org.gnome.Vino require-encryption false ; gsettings set org.gnome.Vino use-upnp true
  添加 /usr/local/bin/fakevncscreen 
  

  $ cat fakevncscreen
  #!/bin/bash
  
  while [ 1 ]; do
  xvfb_cnt=`pidof Xvfb`
  if [[ $xvfb_cnt -eq 0 ]]; then
    Xvfb :95 -screen 0 1280x1024x16 &
    sleep 2
  fi
  
  x11_cnt=`pidof x11vnc`
  if [[ $x11_cnt -eq 0 ]]; then
    x11vnc -ncache 10 -listen 0.0.0.0 -rfbport 9595 -noipv6 -passwd wanglong -display :95 & #每次vncview退出后, 此程序也会退出.
  else
    sleep 3
  fi
  
  done

  
  
• 从源送货机器人上拷贝工程到本地
  

  //需要拷贝的内容
  sudo scp -P 22 -r ray@192.168.43.16:/etc/ROS_ENV /etc/
  sudo scp -P 22 -r ray@192.168.43.16:/usr/local/bin/fakevncscreen /usr/local/bin/
  scp -P 22 -r ray@192.168.43.16:~/.bashrc ~
  
  scp -P 22 -r ray@192.168.43.16:/work/CuteRobot/{ArTag,doc,dpkg_list_ITX,dpkg_list_nuc} /work/CuteRobot/
  scp -P 22 -r ray@192.168.43.16:/work/CuteRobot/Waffle/{ClearSpecialPkg.sh,SlamMap,src,Voices} /work/CuteRobot/Waffle/
  scp -P 22 -r ray@192.168.43.16:/work/itx_apps/* /work/itx_apps/
  scp -P 22 -r ray@192.168.43.16:/work/nonRosStdPkgs/* /work/nonRosStdPkgs/
  scp -P 22 -r ray@192.168.43.16:/work/reference/* /work/reference/
  scp -P 22 -r ray@192.168.43.16:/work/Waffle/src /work/Waffle_Backup/

  
  
• 部署 ROS_Kinetic.
  

  http://wiki.ros.org/cn/kinetic/Installation/Ubuntu
  
  sudo sh -c '. /etc/lsb-release && echo "deb  `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
  
  sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  或者
  sudo apt-key adv --keyserver 'hkp://pgp.mit.edu:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  或者
  curl -sSL '' | sudo apt-key add -

  sudo apt-get update
  sudo apt-get install ros-kinetic-desktop-full
  
  sudo rosdep init
  rosdep update
  wstool init src
  rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
  
  sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

  
  

  sudo apt install android-tools-adb git-review tree lrzsz
  
  sudo apt install  dkms graphicsmagick lame  libreadline-dev libtinfo-dev libtool-bin libv4l2rds0 xbase-clients
  
  sudo apt install ninja-build libceres-dev libceres1 liblua5.3-0 liblua5.3-dev libpostproc-dev ros-kinetic-amcl ros-kinetic-ar-track-alvar ros-kinetic-ar-track-alvar-msgs ros-kinetic-base-local-planner ros-kinetic-bfl ros-kinetic-carrot-planner ros-kinetic-clear-costmap-recovery ros-kinetic-costmap-2d ros-kinetic-costmap-converter ros-kinetic-costmap-prohibition-layer ros-kinetic-ddynamic-reconfigure ros-kinetic-dwa-local-planner ros-kinetic-ecl-build ros-kinetic-ecl-concepts ros-kinetic-ecl-config ros-kinetic-ecl-errors ros-kinetic-ecl-exceptions ros-kinetic-ecl-license ros-kinetic-ecl-mpl ros-kinetic-ecl-threads ros-kinetic-ecl-time ros-kinetic-ecl-time-lite ros-kinetic-ecl-type-traits ros-kinetic-ecl-utilities ros-kinetic-fake-localization ros-kinetic-global-planner ros-kinetic-laser-proc ros-kinetic-map-msgs ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-move-base-msgs ros-kinetic-move-slow-and-clear ros-kinetic-nav-core ros-kinetic-navfn ros-kinetic-navigation ros-kinetic-navigation-layers ros-kinetic-people-msgs ros-kinetic-robot-pose-ekf ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-rosserial-python ros-kinetic-rosservice  ros-kinetic-rotate-recovery ros-kinetic-serial ros-kinetic-social-navigation-layers ros-kinetic-urg-node ros-kinetic-urg-stamped ros-kinetic-usb-cam ros-kinetic-voxel-grid ros-kinetic-yaml-cpp-0-3 ros-kinetic-yocs-velocity-smoother ros-kinetic-range-sensor-layer ros-kinetic-urg-c
  执行 /work/CuteRobot/Waffle/src/third_pkgs/cartographer/scripts/install_proto3.sh

  
  
  
• 拷贝 ROS的配置信息. itx_backup
  scp -P 22 -r ray@192.168.43.16:/etc/ROS_ENV .
  scp -P 22 -r ray@192.168.43.16:/etc/udev/rules.d/ros-common.rules .
  scp -P 22 -r ray@192.168.43.16:/opt/ros/kinetic/share/usb_cam/launch .
  scp -P 22 -r ray@192.168.43.16:~/.ros/camera_info .
  scp -P 22 -r ray@192.168.43.16:~/.bashrc .
  

• 另外 编译 google cartographer 不通过.参考 https://blog.csdn.net/qq_42138662/article/details/106732334 
  

  cd /work/waffle/src
    git clone https://github.com/googlecartographer/cartographer_ros.git
    git clone https://github.com/googlecartographer/cartographer.git
    git clone https://github.com/ceres-solver/ceres-solver.git
    cd ceres-solver
    git checkout 1.14.0
    修改 CMakeList.txt 中第一行添加 set(CMAKE_CXX_FLAGS "-std=c++11")
    mkdir build && cd build; cmake …  -DBUILD_SHARED_LIBS=ON; make; sudo make install
  
  单独安装protobuf
  sudo apt-get install autoconf autogen
  git clone https://github.com/protocolbuffers/protobuf.git
  cd protobuf
  git submodule update --init --recursive
  ./autogen.sh
  ./configure
  make
  # 这一步可能会报错，无视就好
  make check
  sudo make install
  sudo ldconfig # refresh shared library cache.
  
  sudo rosdep init//这一步会提示已经有这个文件了，可以跳过
    rosdep update
    rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y