Up ros-gopigo3 のインストール 作成: 2021-03-06
更新: 2021-03-06

    紆余曲折があり，最終的に以下がソルーション。
    ( key_teleop トラブル )，

  • ソースのインストール
    $ cd ~/catkin_ws/src

    $ git clone https://github.com/ros-gopigo3/gopigo3
      Cloning into 'gopigo3'... remote: Enumerating objects: 123, done. remote: Counting objects: 100% (123/123), done. remote: Compressing objects: 100% (80/80), done. remote: Total 123 (delta 40), reused 109 (delta 28), pack-reused 0 Receiving objects: 100% (123/123), 6.00 MiB | 2.56 MiB/s, done. Resolving deltas: 100% (40/40), done.

  • 中身のチェック
      $ ls beginner_tutorials CMakeLists.txt gopigo3 teleop_tools $ ls gopigo3 gopigo3 gopigo3_description key_teleop README.md gopigo3_bringup gopigo3_fake LICENSE

    key_teleop は，teleop_tools の中にもある：
      $ ls teleop_tools joy_teleop key_teleop mouse_teleop README.md teleop_tools teleop_tools_msgs

    gopigo3 の key_teleop を削除する。
    ( 理由 : key_teleop トラブル )

  • ビルド
    $ cd ~/catkin_ws

    $ catkin_make

    $ source devel/setup.bash

$ catkin_make Base path: /home/ubuntu/catkin_ws Source space: /home/ubuntu/catkin_ws/src Build space: /home/ubuntu/catkin_ws/build Devel space: /home/ubuntu/catkin_ws/devel Install space: /home/ubuntu/catkin_ws/install #### #### Running command: "cmake /home/ubuntu/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/ubuntu/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/ubuntu/catkin_ws/install -G Unix Makefiles" in "/home/ubuntu/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/ubuntu/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /home/ubuntu/catkin_ws/devel;/opt/ros/noetic -- This workspace overlays: /home/ubuntu/catkin_ws/devel;/opt/ros/noetic -- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.5", minimum required is "3") -- Using PYTHON_EXECUTABLE: /usr/bin/python3 -- Using Debian Python package layout -- Using empy: /usr/lib/python3/dist-packages/em.py -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/ubuntu/catkin_ws/build/test_results -- Forcing gtest/gmock from source, though one was otherwise available. -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python3 (found version "3.8.5") -- Using Python nosetests: /usr/bin/nosetests3 -- catkin 0.8.9 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 10 packages in topological order: -- ~~ - gopigo3 (metapackage) -- ~~ - gopigo3_bringup -- ~~ - joy_teleop -- ~~ - key_teleop -- ~~ - bringup_car -- ~~ - mouse_teleop -- ~~ - teleop_tools (metapackage) -- ~~ - teleop_tools_msgs -- ~~ - gopigo3_fake -- ~~ - gopigo3_description -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin metapackage: 'gopigo3' -- ==> add_subdirectory(gopigo3/gopigo3) -- +++ processing catkin package: 'gopigo3_bringup' -- ==> add_subdirectory(gopigo3/gopigo3_bringup/gopigo3_bringup) -- +++ processing catkin package: 'joy_teleop' -- ==> add_subdirectory(teleop_tools/joy_teleop) -- Installing devel-space wrapper /home/ubuntu/catkin_ws/src/teleop_tools/joy_teleop/scripts/joy_teleop.py to /home/ubuntu/catkin_ws/devel/lib/joy_teleop -- Installing devel-space wrapper /home/ubuntu/catkin_ws/src/teleop_tools/joy_teleop/scripts/incrementer_server.py to /home/ubuntu/catkin_ws/devel/lib/joy_teleop -- +++ processing catkin package: 'key_teleop' -- ==> add_subdirectory(teleop_tools/key_teleop) -- Installing devel-space wrapper /home/ubuntu/catkin_ws/src/teleop_tools/key_teleop/scripts/key_teleop.py to /home/ubuntu/catkin_ws/devel/lib/key_teleop -- +++ processing catkin package: 'bringup_car' -- ==> add_subdirectory(gopigo3/gopigo3_bringup/bringup_car) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- bringup_car: 2 messages, 1 services -- +++ processing catkin package: 'mouse_teleop' -- ==> add_subdirectory(teleop_tools/mouse_teleop) -- Installing devel-space wrapper /home/ubuntu/catkin_ws/src/teleop_tools/mouse_teleop/scripts/mouse_teleop.py to /home/ubuntu/catkin_ws/devel/lib/mouse_teleop -- +++ processing catkin metapackage: 'teleop_tools' -- ==> add_subdirectory(teleop_tools/teleop_tools) -- +++ processing catkin package: 'teleop_tools_msgs' -- ==> add_subdirectory(teleop_tools/teleop_tools_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Generating .msg files for action teleop_tools_msgs/Increment /home/ubuntu/catkin_ws/src/teleop_tools/teleop_tools_msgs/action/Increment.action -- teleop_tools_msgs: 7 messages, 0 services -- +++ processing catkin package: 'gopigo3_fake' -- ==> add_subdirectory(gopigo3/gopigo3_fake) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'gopigo3_description' -- ==> add_subdirectory(gopigo3/gopigo3_description) -- Configuring done -- Generating done -- Build files have been written to: /home/ubuntu/catkin_ws/build #### #### Running command: "make -j4 -l4" in "/home/ubuntu/catkin_ws/build" #### [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target _bringup_car_generate_messages_check_deps_MotorStatusLR [ 0%] Built target _bringup_car_generate_messages_check_deps_MotorStatus [ 0%] Built target _bringup_car_generate_messages_check_deps_SPI [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_py [ 0%] Built target _teleop_tools_msgs_generate_messages_check_deps_IncrementActionGoal [ 0%] Built target _teleop_tools_msgs_generate_messages_check_deps_IncrementAction [ 0%] Built target _teleop_tools_msgs_generate_messages_check_deps_IncrementFeedback [ 0%] Built target 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