[ROS]激光驱动安装

合集 - SLAM(55)

1.个人资源索引2018-03-032.SLAM学习笔记（1）基本概念2015-08-063.SLAM学习笔记（2）SLAM算法2015-08-214.[ROS]2 尝试编译OrbSLAM2016-01-185.[ROS]1 小乌龟2016-01-186.SLAM最近的工作2015-11-057.SLAM学习笔记（3）相关概念2015-09-168.[SLAM]2D激光线特征提取2016-07-169.[SLAM] GMapping SLAM源码阅读（草稿）2016-07-0110.[QGLViewer]First Demo2016-06-2911.SLAM数据集2016-06-2312.[SLAM]2D激光扫描匹配方法2016-06-1513.[g2o]一个备忘2016-04-2114.[ROS] slam_gmapping2016-01-2415.[ROS]3 Linux编程练习2016-01-2016.Linux学习和ROS安装（1）2017-12-1917.小豆包的学习之旅：机器人定位2017-05-0218.小豆包的学习之旅：传感器观测模型2017-04-2119.Kinect2.0相机标定2017-04-1020.小豆包的学习之旅：里程计运动模型2017-04-0321.小豆包的学习之旅：入门篇2017-04-0222.Kinect2.0点云数据获取2017-03-3023.[硬件]Robot运动控制2017-03-2224.[硬件]Urg_viewer数据读取2017-03-1425.[硬件]三维点云数据获取2017-03-0426.Kinect2.0获取数据2017-02-1527.ndt histogram_direction2016-09-0828.rplidar & hector slam without odometry2016-08-2629.rplidar测试2016-08-1230.[原创]NDT方法在SLAM中的应用2016-08-0831.[SLAM]Karto SLAM算法学习（草稿）2016-07-2232.ROS学习备忘2018-07-18

33.[ROS]激光驱动安装2018-07-16

34.OrbSLAM2采集点云数据2018-03-2635.Cartographer源码阅读(8)：imu_tracker2018-03-2136.[硬件]点云数据采集22018-03-1937.Cartographer源码阅读(9)：图优化的前端——闭环检测2018-03-0838.Cartographer源码阅读(7)：轨迹推算和位姿推算的原理2018-03-0839.Ethzasl MSF源码阅读(3)：MSF_Core和PoseMeasurement2018-03-0740.Ethzasl MSF源码阅读(2)：百川汇海2018-03-0641.Ethzasl MSF源码阅读(1)：程序入口和主题订阅2018-03-0442.Cartographer源码阅读(6)：LocalTrajectoryBuilder和PoseExtrapolator2018-02-2543.Cartographer源码阅读(5)：PoseGraph位姿图2018-02-2444.Cartographer源码阅读(4)：Node和MapBuilder对象22018-01-1045.Cartographer源码阅读(3)：程序逻辑结构2017-12-2946.Cartographer源码阅读(2)：Node和MapBuilder对象2017-12-2847.Cartographer源码阅读(1)：程序入口2017-12-2848.实时Cartographer测试(1) - rplidar2017-12-2149.Cartographer安装2017-12-2050.ROS安装（2）2017-12-2051.[ROS]一些传感器数据读取融合问题的思考2017-05-0652.小豆包的学习之旅：占用概率栅格地图和cost-map2017-05-0253.小豆包的学习之旅：开发记录2017-04-2954.[概述]移动机器人自主探索2017-04-1855.MRPT编译2017-04-14

收起

参考资料：

https://blog.csdn.net/hongliang2009/article/details/73302986

https://blog.csdn.net/bohaijun_123/article/details/69660713

https://blog.csdn.net/Changer_sun/article/details/79211981

https://blog.csdn.net/owldestiny/article/details/7951679

ROS使用Xsens传感器 https://blog.csdn.net/qq_31356389/article/details/79216765

1. SICK LMS111驱动安装：

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carto@cartoPC:~$ mkdir laser_ws carto@cartoPC:~$ cd ./laser_ws carto@cartoPC:~/laser_ws$ git clone https://github.com/clearpathrobotics/LMS1xx.git 正克隆到 'LMS1xx'... remote: Counting objects: 337, done. remote: Total 337 (delta 0), reused 0 (delta 0), pack-reused 337 接收对象中: 100% (337/337), 244.37 KiB | 313.00 KiB/s, 完成. 处理 delta 中: 100% (155/155), 完成. 检查连接... 完成。 carto@cartoPC:~/laser_ws$ catkin_make Base path: /home/carto/laser_ws The specified source space "/home/carto/laser_ws/src" does not exist carto@cartoPC:~/laser_ws$ cd src carto@cartoPC:~/laser_ws/src$ cd LMS1xx carto@cartoPC:~/laser_ws/src/LMS1xx$ catkin_make Base path: /home/carto/laser_ws/src/LMS1xx The specified base path "/home/carto/laser_ws/src/LMS1xx" contains a package but "catkin_make" must be invoked in the root of workspace carto@cartoPC:~/laser_ws/src/LMS1xx$ cd ../../ carto@cartoPC:~/laser_ws$ catkin_make Base path: /home/carto/laser_ws Source space: /home/carto/laser_ws/src Build space: /home/carto/laser_ws/build Devel space: /home/carto/laser_ws/devel Install space: /home/carto/laser_ws/install Creating symlink "/home/carto/laser_ws/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake" #### #### Running command: "cmake /home/carto/laser_ws/src -DCATKIN_DEVEL_PREFIX=/home/carto/laser_ws/devel -DCMAKE_INSTALL_PREFIX=/home/carto/laser_ws/install -G Unix Makefiles" in "/home/carto/laser_ws/build" #### -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~  traversing 1 packages in topological order: -- ~~  - lms1xx -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'lms1xx' -- ==> add_subdirectory(LMS1xx) -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/build #### #### Running command: "make -j12 -l12" in "/home/carto/laser_ws/build" #### Scanning dependencies of target LMS1xx [ 25%] Building CXX object LMS1xx/CMakeFiles/LMS1xx.dir/src/LMS1xx.cpp.o [ 50%] Linking CXX shared library /home/carto/laser_ws/devel/lib/libLMS1xx.so [ 50%] Built target LMS1xx Scanning dependencies of target LMS1xx_node [ 75%] Building CXX object LMS1xx/CMakeFiles/LMS1xx_node.dir/src/LMS1xx_node.cpp.o [100%] Linking CXX executable /home/carto/laser_ws/devel/lib/lms1xx/LMS1xx_node [100%] Built target LMS1xx_node

 2.安装北洋的驱动过程中报错，genmsg依赖出现问题的解决方法：

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1）从https://github.com/ros/genmsg下载genmsg 2）安装步骤 ①编译：cd genmsg        mkdir build        cd build        cmake ..        make ②安装：sudo make install

 

3. UTM30-lx驱动安装过程如下：

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carto@cartoPC:~/laser_ws$ cd src carto@cartoPC:~/laser_ws/src$ mkdir hokuyo carto@cartoPC:~/laser_ws/src$ cd hokuyo carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-drivers/driver_common.git 正克隆到 'driver_common'... remote: Counting objects: 1807, done. remote: Total 1807 (delta 0), reused 0 (delta 0), pack-reused 1807 接收对象中: 100% (1807/1807), 331.49 KiB | 335.00 KiB/s, 完成. 处理 delta 中: 100% (797/797), 完成. 检查连接... 完成。 carto@cartoPC:~/laser_ws/src/hokuyo$ cd driver_common/driver_base carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base$ mkdir build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base$ cd build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$  cmake .. -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.58.0 -- driver_base: 3 messages, 0 services -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ make Scanning dependencies of target _driver_base_generate_messages_check_deps_SensorLevels [  0%] Built target _driver_base_generate_messages_check_deps_SensorLevels Scanning dependencies of target std_msgs_generate_messages_lisp [  0%] Built target std_msgs_generate_messages_lisp Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigValue [  0%] Built target _driver_base_generate_messages_check_deps_ConfigValue Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigString [  0%] Built target _driver_base_generate_messages_check_deps_ConfigString Scanning dependencies of target driver_base_generate_messages_lisp [  5%] Generating Lisp code from driver_base/ConfigValue.msg [ 11%] Generating Lisp code from driver_base/ConfigString.msg [ 17%] Generating Lisp code from driver_base/SensorLevels.msg [ 17%] Built target driver_base_generate_messages_lisp Scanning dependencies of target std_msgs_generate_messages_nodejs [ 17%] Built target std_msgs_generate_messages_nodejs Scanning dependencies of target driver_base_generate_messages_nodejs [ 23%] Generating Javascript code from driver_base/ConfigValue.msg [ 29%] Generating Javascript code from driver_base/ConfigString.msg [ 35%] Generating Javascript code from driver_base/SensorLevels.msg [ 35%] Built target driver_base_generate_messages_nodejs Scanning dependencies of target std_msgs_generate_messages_py [ 35%] Built target std_msgs_generate_messages_py Scanning dependencies of target driver_base_generate_messages_py [ 41%] Generating Python from MSG driver_base/ConfigValue [ 47%] Generating Python from MSG driver_base/ConfigString [ 52%] Generating Python from MSG driver_base/SensorLevels [ 58%] Generating Python msg __init__.py for driver_base [ 58%] Built target driver_base_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_eus [ 58%] Built target std_msgs_generate_messages_eus Scanning dependencies of target driver_base_generate_messages_eus [ 64%] Generating EusLisp code from driver_base/ConfigValue.msg [ 70%] Generating EusLisp code from driver_base/ConfigString.msg [ 76%] Generating EusLisp code from driver_base/SensorLevels.msg [ 82%] Generating EusLisp manifest code for driver_base [ 82%] Built target driver_base_generate_messages_eus Scanning dependencies of target std_msgs_generate_messages_cpp [ 82%] Built target std_msgs_generate_messages_cpp Scanning dependencies of target driver_base_generate_messages_cpp [ 88%] Generating C++ code from driver_base/ConfigValue.msg [ 94%] Generating C++ code from driver_base/ConfigString.msg [100%] Generating C++ code from driver_base/SensorLevels.msg [100%] Built target driver_base_generate_messages_cpp Scanning dependencies of target driver_base_generate_messages [100%] Built target driver_base_generate_messages carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ sudo make install [sudo] carto 的密码： Traceback (most recent call last):   File "/opt/ros/kinetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py", line 41, in <module>     from genmsg import EXT_MSG, EXT_SRV, MsgContext ImportError: No module named genmsg CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels.dir/build.make:57: recipe for target 'CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels' failed make[2]: *** [CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels] Error 1 CMakeFiles/Makefile2:728: recipe for target 'CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels.dir/all' failed make[1]: *** [CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cd ./ carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cd / carto@cartoPC:/$ cd ~/laser_ws carto@cartoPC:~/laser_ws$ cd src carto@cartoPC:~/laser_ws/src$ git clone  https://github.com/ros/genmsg.git 正克隆到 'genmsg'... remote: Counting objects: 1755, done. remote: Total 1755 (delta 0), reused 0 (delta 0), pack-reused 1755 接收对象中: 100% (1755/1755), 371.61 KiB | 312.00 KiB/s, 完成. 处理 delta 中: 100% (937/937), 完成. 检查连接... 完成。 carto@cartoPC:~/laser_ws/src$ cd genmsg carto@cartoPC:~/laser_ws/src/genmsg$ mkdir build carto@cartoPC:~/laser_ws/src/genmsg$ cd build carto@cartoPC:~/laser_ws/src/genmsg/build$  cmake .. -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/genmsg/build/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/genmsg/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/src/genmsg/build carto@cartoPC:~/laser_ws/src/genmsg/build$ make carto@cartoPC:~/laser_ws/src/genmsg/build$ sudo make install [sudo] carto 的密码： Install the project... -- Install configuration: "" -- Installing: /usr/local/_setup_util.py -- Installing: /usr/local/env.sh -- Installing: /usr/local/setup.bash -- Installing: /usr/local/setup.sh -- Installing: /usr/local/setup.zsh -- Installing: /usr/local/.rosinstall -- Installing: /usr/local/lib/pkgconfig/genmsg.pc -- Installing: /usr/local/share/genmsg/cmake/genmsg-extras.cmake -- Installing: /usr/local/share/genmsg/cmake/genmsgConfig.cmake -- Installing: /usr/local/share/genmsg/cmake/genmsgConfig-version.cmake -- Installing: /usr/local/share/genmsg/package.xml -- Installing: /usr/local/share/genmsg/cmake/pkg-genmsg.cmake.em -- Installing: /usr/local/share/genmsg/cmake/pkg-genmsg.context.in -- Installing: /usr/local/share/genmsg/cmake/pkg-msg-extras.cmake.in -- Installing: /usr/local/share/genmsg/cmake/pkg-msg-paths.cmake.develspace.in -- Installing: /usr/local/share/genmsg/cmake/pkg-msg-paths.cmake.installspace.in + cd /home/carto/laser_ws/src/genmsg + mkdir -p /usr/local/lib/python2.7/dist-packages + /usr/bin/env PYTHONPATH=/usr/local/lib/python2.7/dist-packages:/home/carto/laser_ws/src/genmsg/build/lib/python2.7/dist-packages: CATKIN_BINARY_DIR=/home/carto/laser_ws/src/genmsg/build /usr/bin/python /home/carto/laser_ws/src/genmsg/setup.py build --build-base /home/carto/laser_ws/src/genmsg/build install --install-layout=deb --prefix=/usr/local --install-scripts=/usr/local/bin running build running build_py creating /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7 creating /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/__init__.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/command_line.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/msg_loader.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/deps.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/names.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/gentools.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/srvs.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/template_tools.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/base.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg copying src/genmsg/msgs.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg running install running install_lib creating /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/__init__.py -> /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/command_line.py -> /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/msg_loader.py -> /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/deps.py -> /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/names.py -> /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/gentools.py -> /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/srvs.py -> /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/template_tools.py -> /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/base.py -> /usr/local/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/msgs.py -> /usr/local/lib/python2.7/dist-packages/genmsg byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/__init__.py to __init__.pyc byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/command_line.py to command_line.pyc byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/msg_loader.py to msg_loader.pyc byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/deps.py to deps.pyc byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/names.py to names.pyc byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/gentools.py to gentools.pyc byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/srvs.py to srvs.pyc byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/template_tools.py to template_tools.pyc byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/base.py to base.pyc byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/msgs.py to msgs.pyc running install_egg_info Writing /usr/local/lib/python2.7/dist-packages/genmsg-0.5.11.egg-info -- Installing: /usr/local/lib/genmsg/genmsg_check_deps.py carto@cartoPC:~/laser_ws/src/genmsg/build$ cd driver_common/driver_base bash: cd: driver_common/driver_base: 没有那个文件或目录 carto@cartoPC:~/laser_ws/src/genmsg/build$ cd ../../ carto@cartoPC:~/laser_ws/src$ cd hokuyo/driver_common/driver_base carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base$ cd build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cmake .. -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.58.0 -- driver_base: 3 messages, 0 services -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ make [  0%] Built target _driver_base_generate_messages_check_deps_SensorLevels [  0%] Built target std_msgs_generate_messages_lisp [  0%] Built target _driver_base_generate_messages_check_deps_ConfigValue [  0%] Built target _driver_base_generate_messages_check_deps_ConfigString [  0%] Built target driver_base_generate_messages_lisp [  0%] Built target std_msgs_generate_messages_nodejs [  0%] Built target driver_base_generate_messages_nodejs [  0%] Built target std_msgs_generate_messages_py [  0%] Built target driver_base_generate_messages_py [  0%] Built target std_msgs_generate_messages_eus [  0%] Built target driver_base_generate_messages_eus [  0%] Built target std_msgs_generate_messages_cpp [  0%] Built target driver_base_generate_messages_cpp [  0%] Built target driver_base_generate_messages carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ sudo make istall make: *** No rule to make target 'istall'。 停止。 carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ sudo make install [  0%] Built target _driver_base_generate_messages_check_deps_SensorLevels [  0%] Built target std_msgs_generate_messages_lisp [  0%] Built target _driver_base_generate_messages_check_deps_ConfigValue [  0%] Built target _driver_base_generate_messages_check_deps_ConfigString [ 17%] Built target driver_base_generate_messages_lisp [ 17%] Built target std_msgs_generate_messages_nodejs [ 35%] Built target driver_base_generate_messages_nodejs [ 35%] Built target std_msgs_generate_messages_py [ 58%] Built target driver_base_generate_messages_py [ 58%] Built target std_msgs_generate_messages_eus [ 82%] Built target driver_base_generate_messages_eus [ 82%] Built target std_msgs_generate_messages_cpp [100%] Built target driver_base_generate_messages_cpp [100%] Built target driver_base_generate_messages Install the project... -- Install configuration: "" -- Installing: /usr/local/_setup_util.py -- Installing: /usr/local/env.sh -- Installing: /usr/local/setup.bash -- Installing: /usr/local/setup.sh -- Installing: /usr/local/setup.zsh -- Installing: /usr/local/.rosinstall -- Installing: /usr/local/share/driver_base/msg/ConfigString.msg -- Installing: /usr/local/share/driver_base/msg/ConfigValue.msg -- Installing: /usr/local/share/driver_base/msg/SensorLevels.msg -- Installing: /usr/local/share/driver_base/cmake/driver_base-msg-paths.cmake -- Installing: /usr/local/include/driver_base -- Installing: /usr/local/include/driver_base/ConfigString.h -- Installing: /usr/local/include/driver_base/ConfigValue.h -- Installing: /usr/local/include/driver_base/SensorLevels.h -- Installing: /usr/local/share/roseus/ros/driver_base -- Installing: /usr/local/share/roseus/ros/driver_base/msg -- Installing: /usr/local/share/roseus/ros/driver_base/msg/ConfigString.l -- Installing: /usr/local/share/roseus/ros/driver_base/msg/SensorLevels.l -- Installing: /usr/local/share/roseus/ros/driver_base/msg/ConfigValue.l -- Installing: /usr/local/share/roseus/ros/driver_base/manifest.l -- Installing: /usr/local/share/common-lisp/ros/driver_base -- Installing: /usr/local/share/common-lisp/ros/driver_base/msg -- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package_SensorLevels.lisp -- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/ConfigString.lisp -- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/ConfigValue.lisp -- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package.lisp -- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/SensorLevels.lisp -- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package_ConfigString.lisp -- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/driver_base-msg.asd -- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package_ConfigValue.lisp -- Installing: /usr/local/share/gennodejs/ros/driver_base -- Installing: /usr/local/share/gennodejs/ros/driver_base/msg -- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/ConfigString.js -- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/ConfigValue.js -- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/_index.js -- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/SensorLevels.js -- Installing: /usr/local/share/gennodejs/ros/driver_base/_index.js Listing /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base ... Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/__init__.py ... Listing /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg ... Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.py ... Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.py ... Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.py ... Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/__init__.py ... -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/__init__.py -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/__init__.pyc -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.pyc -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.pyc -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/__init__.py -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/__init__.pyc -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.py -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.py -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.pyc -- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.py -- Installing: /usr/local/lib/pkgconfig/driver_base.pc -- Installing: /usr/local/share/driver_base/cmake/driver_base-msg-extras.cmake -- Installing: /usr/local/share/driver_base/cmake/driver_baseConfig.cmake -- Installing: /usr/local/share/driver_base/cmake/driver_baseConfig-version.cmake -- Installing: /usr/local/share/driver_base/package.xml -- Up-to-date: /usr/local/include/driver_base -- Installing: /usr/local/include/driver_base/driver_node.h -- Installing: /usr/local/include/driver_base/driver.h carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cd ../../ carto@cartoPC:~/laser_ws/src/hokuyo/driver_common$ cd driver_common carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common$ mkdir build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common$ cd build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ cmake .. -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/driver_common/build/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/driver_common/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/driver_common/build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ make carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ sudo make install Install the project... -- Install configuration: "" -- Installing: /usr/local/_setup_util.py -- Installing: /usr/local/env.sh -- Installing: /usr/local/setup.bash -- Installing: /usr/local/setup.sh -- Installing: /usr/local/setup.zsh -- Installing: /usr/local/.rosinstall -- Installing: /usr/local/share/driver_common/package.xml carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ cd ../../carto@cartoPC:~/laser_ws/src/hokuyo/driver_common$ cd timestamp_tools carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools$ mkdir build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools$ cd build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ cmake ... CMake Error: The source directory "/home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build/..." does not exist. Specify --help for usage, or press the help button on the CMake GUI. carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ cmake .. -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- Boost version: 1.58.0 -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ make carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ sudo make install Install the project... -- Install configuration: "" -- Installing: /usr/local/_setup_util.py -- Installing: /usr/local/env.sh -- Installing: /usr/local/setup.bash -- Installing: /usr/local/setup.sh -- Installing: /usr/local/setup.zsh -- Installing: /usr/local/.rosinstall -- Installing: /usr/local/lib/pkgconfig/timestamp_tools.pc -- Installing: /usr/local/share/timestamp_tools/cmake/timestamp_toolsConfig.cmake -- Installing: /usr/local/share/timestamp_tools/cmake/timestamp_toolsConfig-version.cmake -- Installing: /usr/local/share/timestamp_tools/package.xml -- Installing: /usr/local/include/timestamp_tools -- Installing: /usr/local/include/timestamp_tools/trigger_matcher.h -- Installing: /usr/local/include/timestamp_tools/periodic_timestamp_min_filter.h carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ cd ~/laser_ws carto@cartoPC:~/laser_ws$ cd src/hokuyo carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-perception/laser_proc.git 正克隆到 'laser_proc'... remote: Counting objects: 93, done. remote: Total 93 (delta 0), reused 0 (delta 0), pack-reused 92 展开对象中: 100% (93/93), 完成. 检查连接... 完成。 carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-drivers/urg_c.git 正克隆到 'urg_c'... remote: Counting objects: 2352, done. remote: Total 2352 (delta 0), reused 0 (delta 0), pack-reused 2352 接收对象中: 100% (2352/2352), 2.03 MiB | 556.00 KiB/s, 完成. 处理 delta 中: 100% (1473/1473), 完成. 检查连接... 完成。 carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-drivers/hokuyo_node.git 正克隆到 'hokuyo_node'... remote: Counting objects: 452, done. remote: Total 452 (delta 0), reused 0 (delta 0), pack-reused 452 接收对象中: 100% (452/452), 84.30 KiB | 0 bytes/s, 完成. 处理 delta 中: 100% (229/229), 完成. 检查连接... 完成。 carto@cartoPC:~/laser_ws/src/hokuyo$ cd hokuyo_node carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node$ mkdir build carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node$ cd build carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ rosdep install --from-paths ~/laser_ws/src --ignore-src #All required rosdeps installed successfully carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ catkin_make -DCATKIN_WHITELIST_PACKAGES="hokuyo_node" Base path: /home/carto/laser_ws/src/hokuyo/hokuyo_node/build The specified source space "/home/carto/laser_ws/src/hokuyo/hokuyo_node/build/src" does not exist carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ cd ~/laser_ws carto@cartoPC:~/laser_ws$ catkin_make install Base path: /home/carto/laser_ws Source space: /home/carto/laser_ws/src Build space: /home/carto/laser_ws/build Devel space: /home/carto/laser_ws/devel Install space: /home/carto/laser_ws/install #### #### Running command: "cmake /home/carto/laser_ws/src -DCATKIN_DEVEL_PREFIX=/home/carto/laser_ws/devel -DCMAKE_INSTALL_PREFIX=/home/carto/laser_ws/install -G Unix Makefiles" in "/home/carto/laser_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~  traversing 8 packages in topological order: -- ~~  - genmsg -- ~~  - driver_common (metapackage) -- ~~  - urg_c -- ~~  - timestamp_tools -- ~~  - driver_base -- ~~  - hokuyo_node -- ~~  - laser_proc -- ~~  - lms1xx -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'genmsg' -- ==> add_subdirectory(genmsg) -- +++ processing catkin metapackage: 'driver_common' -- ==> add_subdirectory(hokuyo/driver_common/driver_common) -- +++ processing catkin package: 'urg_c' -- ==> add_subdirectory(hokuyo/urg_c) -- +++ processing catkin package: 'timestamp_tools' -- ==> add_subdirectory(hokuyo/driver_common/timestamp_tools) -- Boost version: 1.58.0 -- +++ processing catkin package: 'driver_base' -- ==> add_subdirectory(hokuyo/driver_common/driver_base) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.58.0 -- driver_base: 3 messages, 0 services -- +++ processing catkin package: 'hokuyo_node' -- ==> add_subdirectory(hokuyo/hokuyo_node) -- Boost version: 1.58.0 -- Found the following Boost libraries: --   system --   thread --   chrono --   date_time --   atomic -- +++ processing catkin package: 'laser_proc' -- ==> add_subdirectory(hokuyo/laser_proc) -- +++ processing catkin package: 'lms1xx' -- ==> add_subdirectory(LMS1xx) -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/build #### #### Running command: "make install -j12 -l12" in "/home/carto/laser_ws/build" #### Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigValue Scanning dependencies of target std_msgs_generate_messages_py Scanning dependencies of target std_msgs_generate_messages_nodejs Scanning dependencies of target _driver_base_generate_messages_check_deps_SensorLevels Scanning dependencies of target std_msgs_generate_messages_eus Scanning dependencies of target std_msgs_generate_messages_lisp Scanning dependencies of target liburg_c Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigString Scanning dependencies of target std_msgs_generate_messages_cpp Scanning dependencies of target hokuyo_node_gencfg Scanning dependencies of target libhokuyo Scanning dependencies of target laser_proc_library [  0%] Built target std_msgs_generate_messages_nodejs [  0%] Built target std_msgs_generate_messages_cpp [  0%] Built target std_msgs_generate_messages_py [  0%] Built target std_msgs_generate_messages_eus [  1%] Built target std_msgs_generate_messages_lisp [  1%] Generating dynamic reconfigure files from cfg/Hokuyo.cfg: /home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py [  2%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_sensor.c.o [  5%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/libhokuyo.dir/src/hokuyo.cpp.o [  5%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_proc_library.dir/src/LaserProc.cpp.o [  6%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_connection.c.o [  7%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_debug.c.o [  9%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_ring_buffer.c.o [ 10%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_utils.c.o [ 13%] Built target LMS1xx [ 13%] Built target _driver_base_generate_messages_check_deps_SensorLevels [ 13%] Built target _driver_base_generate_messages_check_deps_ConfigString [ 14%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_serial.c.o [ 14%] Built target _driver_base_generate_messages_check_deps_ConfigValue [ 15%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_serial_utils.c.o [ 17%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_tcpclient.c.o [ 18%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_time.c.o Scanning dependencies of target driver_base_generate_messages_py Scanning dependencies of target driver_base_generate_messages_eus [ 19%] Generating EusLisp code from driver_base/ConfigValue.msg Traceback (most recent call last):   File "/home/carto/laser_ws/src/hokuyo/hokuyo_node/cfg/Hokuyo.cfg", line 39, in <module> [ 22%] Built target LMS1xx_node     from driver_base.msg import SensorLevels ImportError: No module named msg [ 23%] Generating Python from MSG driver_base/ConfigValue [ 25%] Generating EusLisp code from driver_base/ConfigString.msg hokuyo/hokuyo_node/CMakeFiles/hokuyo_node_gencfg.dir/build.make:63: recipe for target '/home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h' failed make[2]: *** [/home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h] Error 1 CMakeFiles/Makefile2:2702: recipe for target 'hokuyo/hokuyo_node/CMakeFiles/hokuyo_node_gencfg.dir/all' failed make[1]: *** [hokuyo/hokuyo_node/CMakeFiles/hokuyo_node_gencfg.dir/all] Error 2 make[1]: *** 正在等待未完成的任务.... [ 26%] Generating EusLisp code from driver_base/SensorLevels.msg [ 27%] Generating EusLisp manifest code for driver_base [ 28%] Generating Python from MSG driver_base/ConfigString Scanning dependencies of target driver_base_generate_messages_nodejs [ 30%] Generating Python from MSG driver_base/SensorLevels [ 31%] Generating Javascript code from driver_base/ConfigValue.msg [ 32%] Generating Javascript code from driver_base/ConfigString.msg [ 34%] Linking C shared library /home/carto/laser_ws/devel/lib/libliburg_c.so [ 35%] Generating Javascript code from driver_base/SensorLevels.msg [ 35%] Built target liburg_c [ 35%] Built target driver_base_generate_messages_nodejs [ 36%] Generating Python msg __init__.py for driver_base [ 36%] Built target driver_base_generate_messages_py [ 36%] Built target driver_base_generate_messages_eus [ 38%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_proc_library.so [ 38%] Built target laser_proc_library [ 39%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblibhokuyo.so [ 39%] Built target libhokuyo Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make install -j12 -l12" failed carto@cartoPC:~/laser_ws$ cd src/hokuyo/laser_proc carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc$ mkdir build carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc$ cd build carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ cmake .. -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/laser_proc/build/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/laser_proc/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/src/hokuyo/laser_proc/build carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ make Scanning dependencies of target laser_proc_library [  8%] Building CXX object CMakeFiles/laser_proc_library.dir/src/LaserProc.cpp.o [ 16%] Linking CXX shared library devel/lib/liblaser_proc_library.so [ 16%] Built target laser_proc_library Scanning dependencies of target laser_publisher [ 25%] Building CXX object CMakeFiles/laser_publisher.dir/src/LaserPublisher.cpp.o [ 33%] Linking CXX shared library devel/lib/liblaser_publisher.so [ 33%] Built target laser_publisher Scanning dependencies of target laser_transport [ 41%] Building CXX object CMakeFiles/laser_transport.dir/src/LaserTransport.cpp.o [ 50%] Linking CXX shared library devel/lib/liblaser_transport.so [ 50%] Built target laser_transport Scanning dependencies of target laser_proc_ROS [ 58%] Building CXX object CMakeFiles/laser_proc_ROS.dir/src/LaserProcROS.cpp.o [ 66%] Linking CXX shared library devel/lib/liblaser_proc_ROS.so [ 66%] Built target laser_proc_ROS Scanning dependencies of target LaserProcNodelet [ 75%] Building CXX object CMakeFiles/LaserProcNodelet.dir/src/LaserProcNodelet.cpp.o [ 83%] Linking CXX shared library devel/lib/libLaserProcNodelet.so [ 83%] Built target LaserProcNodelet Scanning dependencies of target laser_proc [ 91%] Building CXX object CMakeFiles/laser_proc.dir/src/laser_proc.cpp.o [100%] Linking CXX executable devel/lib/laser_proc/laser_proc [100%] Built target laser_proc carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ sudo make install [sudo] carto 的密码： [ 16%] Built target laser_proc_library [ 33%] Built target laser_publisher [ 50%] Built target laser_transport [ 66%] Built target laser_proc_ROS [ 83%] Built target LaserProcNodelet [100%] Built target laser_proc Install the project... -- Install configuration: "" -- Installing: /usr/local/_setup_util.py -- Installing: /usr/local/env.sh -- Installing: /usr/local/setup.bash -- Installing: /usr/local/setup.sh -- Installing: /usr/local/setup.zsh -- Installing: /usr/local/.rosinstall -- Installing: /usr/local/lib/pkgconfig/laser_proc.pc -- Installing: /usr/local/share/laser_proc/cmake/laser_procConfig.cmake -- Installing: /usr/local/share/laser_proc/cmake/laser_procConfig-version.cmake -- Installing: /usr/local/share/laser_proc/package.xml -- Installing: /usr/local/lib/liblaser_proc_library.so -- Set runtime path of "/usr/local/lib/liblaser_proc_library.so" to "" -- Installing: /usr/local/lib/liblaser_publisher.so -- Set runtime path of "/usr/local/lib/liblaser_publisher.so" to "" -- Installing: /usr/local/lib/liblaser_transport.so -- Set runtime path of "/usr/local/lib/liblaser_transport.so" to "" -- Installing: /usr/local/lib/liblaser_proc_ROS.so -- Set runtime path of "/usr/local/lib/liblaser_proc_ROS.so" to "" -- Installing: /usr/local/lib/libLaserProcNodelet.so -- Set runtime path of "/usr/local/lib/libLaserProcNodelet.so" to "" -- Installing: /usr/local/lib/laser_proc/laser_proc -- Set runtime path of "/usr/local/lib/laser_proc/laser_proc" to "" -- Installing: /usr/local/include/laser_proc -- Installing: /usr/local/include/laser_proc/LaserProcROS.h -- Installing: /usr/local/include/laser_proc/LaserProc.h -- Installing: /usr/local/include/laser_proc/LaserPublisher.h -- Installing: /usr/local/include/laser_proc/LaserTransport.h -- Installing: /usr/local/share/laser_proc/nodelets.xml carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ cd ../../ carto@cartoPC:~/laser_ws/src/hokuyo$ cd hokuyo_node carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node$ cd build carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ rosdep isntall --from-paths ~/laser_ws/src --ignore-src Usage: rosdep [options] <command> <args>   Commands:   rosdep check <stacks-and-packages>...   check if the dependencies of package(s) have been met.   rosdep install <stacks-and-packages>...   generate a bash script and then execute it.   rosdep db   generate the dependency database and print it to the console.   rosdep init   initialize rosdep sources in /etc/ros/rosdep.  May require sudo.   rosdep keys <stacks-and-packages>...   list the rosdep keys that the packages depend on.   rosdep resolve <rosdeps>   resolve <rosdeps> to system dependencies   rosdep update   update the local rosdep database based on the rosdep sources.   rosdep what-needs <rosdeps>...   print a list of packages that declare a rosdep on (at least   one of) <rosdeps>   rosdep where-defined <rosdeps>...   print a list of yaml files that declare a rosdep on (at least   one of) <rosdeps>   rosdep fix-permissions   Recursively change the permissions of the user's ros home directory.   May require sudo.  Can be useful to fix permissions after calling   "rosdep update" with sudo accidentally.     rosdep: error: Unsupported command isntall. carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ rosdep install --from-paths ~/laser_ws/src --ignore-src #All required rosdeps installed successfully carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ cd ~/laser_ws carto@cartoPC:~/laser_ws$ catkin_make install Base path: /home/carto/laser_ws Source space: /home/carto/laser_ws/src Build space: /home/carto/laser_ws/build Devel space: /home/carto/laser_ws/devel Install space: /home/carto/laser_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/carto/laser_ws/build" #### #### #### Running command: "make install -j12 -l12" in "/home/carto/laser_ws/build" #### [  0%] Built target std_msgs_generate_messages_eus [  0%] Built target std_msgs_generate_messages_nodejs [ 13%] Built target liburg_c [ 13%] Built target std_msgs_generate_messages_cpp [ 14%] Generating dynamic reconfigure files from cfg/Hokuyo.cfg: /home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py [ 14%] Built target std_msgs_generate_messages_lisp [ 14%] Built target std_msgs_generate_messages_py [ 17%] Built target libhokuyo [ 19%] Built target laser_proc_library Scanning dependencies of target open_urg_sensor Scanning dependencies of target getFirmwareVersion Scanning dependencies of target laser_publisher [ 21%] Building C object hokuyo/urg_c/CMakeFiles/open_urg_sensor.dir/current/samples/open_urg_sensor.c.o Scanning dependencies of target getID [ 23%] Built target LMS1xx [ 25%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/getFirmwareVersion.dir/src/getFirmwareVersion.cpp.o [ 25%] Built target _driver_base_generate_messages_check_deps_SensorLevels [ 26%] Built target _driver_base_generate_messages_check_deps_ConfigString [ 26%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/getID.dir/src/getID.cpp.o [ 27%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_publisher.dir/src/LaserPublisher.cpp.o [ 27%] Built target _driver_base_generate_messages_check_deps_ConfigValue Scanning dependencies of target driver_base_generate_messages_lisp Scanning dependencies of target driver_base_generate_messages_cpp [ 30%] Built target LMS1xx_node [ 31%] Generating Lisp code from driver_base/ConfigValue.msg [ 32%] Generating Lisp code from driver_base/ConfigString.msg [ 34%] Generating C++ code from driver_base/ConfigValue.msg [ 39%] Built target driver_base_generate_messages_py [ 40%] Linking C shared library /home/carto/laser_ws/devel/lib/libopen_urg_sensor.so [ 44%] Built target driver_base_generate_messages_nodejs [ 50%] Built target driver_base_generate_messages_eus [ 51%] Generating Lisp code from driver_base/SensorLevels.msg [ 52%] Generating C++ code from driver_base/ConfigString.msg [ 53%] Generating C++ code from driver_base/SensorLevels.msg [ 53%] Built target open_urg_sensor [ 53%] Built target driver_base_generate_messages_lisp Scanning dependencies of target sensor_parameter Scanning dependencies of target sync_time_stamp Scanning dependencies of target calculate_xy Scanning dependencies of target angle_convert_test Scanning dependencies of target get_distance [ 56%] Building C object hokuyo/urg_c/CMakeFiles/calculate_xy.dir/current/samples/calculate_xy.c.o [ 56%] Building C object hokuyo/urg_c/CMakeFiles/sync_time_stamp.dir/current/samples/sync_time_stamp.c.o [ 59%] Building C object hokuyo/urg_c/CMakeFiles/sensor_parameter.dir/current/samples/sensor_parameter.c.o [ 59%] Building C object hokuyo/urg_c/CMakeFiles/angle_convert_test.dir/current/samples/angle_convert_test.c.o [ 60%] Building C object hokuyo/urg_c/CMakeFiles/get_distance.dir/current/samples/get_distance.c.o /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/calculate_xy.c: In function ‘main’: /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/calculate_xy.c:43:51: warning: passing argument 4 of ‘urg_get_distance’ makes pointer from integer without a cast [-Wint-conversion]      n = urg_get_distance(&urg, data, &time_stamp, system_time_stamp);                                                    ^ In file included from /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/calculate_xy.c:12:0: /home/carto/laser_ws/src/hokuyo/urg_c/current/include/urg_c/urg_sensor.h:298:16: note: expected ‘long long unsigned int *’ but argument is of type ‘long long unsigned int’      extern int urg_get_distance(urg_t *urg, long data[], long *time_stamp, unsigned long long *system_time_stamp);                 ^ /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/get_distance.c: In function ‘main’: Generating reconfiguration files for Hokuyo in hokuyo_node /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/get_distance.c:89:55: warning: passing argument 4 of ‘urg_get_distance’ makes pointer from integer without a cast [-Wint-conversion]          n = urg_get_distance(&urg, data, &time_stamp, system_time_stamp);                                                        ^ In file included from /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/get_distance.c:11:0: /home/carto/laser_ws/src/hokuyo/urg_c/current/include/urg_c/urg_sensor.h:298:16: note: expected ‘long long unsigned int *’ but argument is of type ‘long long unsigned int’      extern int urg_get_distance(urg_t *urg, long data[], long *time_stamp, unsigned long long *system_time_stamp);                 ^ Wrote header file in /home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h [ 63%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/sensor_parameter [ 63%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/sync_time_stamp [ 64%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/angle_convert_test [ 65%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/calculate_xy [ 67%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_distance Scanning dependencies of target get_distance_intensity [ 67%] Built target hokuyo_node_gencfg Scanning dependencies of target get_multiecho [ 68%] Building C object hokuyo/urg_c/CMakeFiles/get_distance_intensity.dir/current/samples/get_distance_intensity.c.o [ 68%] Built target sync_time_stamp [ 68%] Built target driver_base_generate_messages_cpp [ 68%] Built target sensor_parameter [ 68%] Built target angle_convert_test [ 68%] Built target calculate_xy Scanning dependencies of target find_port [ 68%] Built target get_distance Scanning dependencies of target get_multiecho_intensity Scanning dependencies of target timeout_test [ 69%] Building C object hokuyo/urg_c/CMakeFiles/get_multiecho.dir/current/samples/get_multiecho.c.o Scanning dependencies of target reboot_test Scanning dependencies of target hokuyo_node Scanning dependencies of target driver_base_generate_messages [ 72%] Building C object hokuyo/urg_c/CMakeFiles/get_multiecho_intensity.dir/current/samples/get_multiecho_intensity.c.o [ 72%] Building C object hokuyo/urg_c/CMakeFiles/timeout_test.dir/current/samples/timeout_test.c.o [ 73%] Building C object hokuyo/urg_c/CMakeFiles/find_port.dir/current/samples/find_port.c.o [ 75%] Building C object hokuyo/urg_c/CMakeFiles/reboot_test.dir/current/samples/reboot_test.c.o [ 75%] Built target driver_base_generate_messages [ 76%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_distance_intensity [ 77%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/hokuyo_node.dir/src/hokuyo_node.cpp.o [ 78%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/timeout_test [ 80%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_multiecho [ 81%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/find_port [ 82%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_multiecho_intensity [ 84%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/reboot_test [ 84%] Built target get_distance_intensity [ 84%] Built target timeout_test [ 84%] Built target find_port [ 84%] Built target get_multiecho [ 84%] Built target get_multiecho_intensity [ 84%] Built target reboot_test [ 85%] Linking CXX executable /home/carto/laser_ws/devel/lib/hokuyo_node/getFirmwareVersion [ 86%] Linking CXX executable /home/carto/laser_ws/devel/lib/hokuyo_node/getID [ 86%] Built target getFirmwareVersion [ 86%] Built target getID [ 88%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_publisher.so [ 88%] Built target laser_publisher Scanning dependencies of target laser_transport [ 89%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_transport.dir/src/LaserTransport.cpp.o [ 90%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_transport.so [ 90%] Built target laser_transport Scanning dependencies of target laser_proc_ROS [ 92%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_proc_ROS.dir/src/LaserProcROS.cpp.o [ 93%] Linking CXX executable /home/carto/laser_ws/devel/lib/hokuyo_node/hokuyo_node [ 94%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_proc_ROS.so [ 94%] Built target laser_proc_ROS Scanning dependencies of target LaserProcNodelet Scanning dependencies of target laser_proc [ 96%] Building CXX object hokuyo/laser_proc/CMakeFiles/LaserProcNodelet.dir/src/LaserProcNodelet.cpp.o [ 97%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_proc.dir/src/laser_proc.cpp.o [ 97%] Built target hokuyo_node [ 98%] Linking CXX executable /home/carto/laser_ws/devel/lib/laser_proc/laser_proc [100%] Linking CXX shared library /home/carto/laser_ws/devel/lib/libLaserProcNodelet.so [100%] Built target laser_proc [100%] Built target LaserProcNodelet Install the project... -- Install configuration: "" -- Installing: /home/carto/laser_ws/install/_setup_util.py -- Installing: /home/carto/laser_ws/install/env.sh -- Installing: /home/carto/laser_ws/install/setup.bash -- Installing: /home/carto/laser_ws/install/setup.sh -- Installing: /home/carto/laser_ws/install/setup.zsh -- Installing: /home/carto/laser_ws/install/.rosinstall -- Installing: /home/carto/laser_ws/install/lib/pkgconfig/genmsg.pc -- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/genmsg-extras.cmake -- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/genmsgConfig.cmake -- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/genmsgConfig-version.cmake -- Installing: /home/carto/laser_ws/install/share/genmsg/package.xml -- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-genmsg.cmake.em -- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-genmsg.context.in -- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-msg-extras.cmake.in -- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-msg-paths.cmake.develspace.in -- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-msg-paths.cmake.installspace.in + cd /home/carto/laser_ws/src/genmsg + mkdir -p /home/carto/laser_ws/install/lib/python2.7/dist-packages + /usr/bin/env PYTHONPATH=/home/carto/laser_ws/install/lib/python2.7/dist-packages:/home/carto/laser_ws/build/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages CATKIN_BINARY_DIR=/home/carto/laser_ws/build /usr/bin/python /home/carto/laser_ws/src/genmsg/setup.py build --build-base /home/carto/laser_ws/build/genmsg install --install-layout=deb --prefix=/home/carto/laser_ws/install --install-scripts=/home/carto/laser_ws/install/bin running build running build_py creating /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7 creating /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/__init__.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/command_line.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/msg_loader.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/deps.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/names.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/gentools.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/srvs.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/template_tools.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/base.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg copying src/genmsg/msgs.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg running install running install_lib creating /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/__init__.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/command_line.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/msg_loader.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/deps.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/names.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/gentools.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/srvs.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/template_tools.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/base.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/msgs.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/__init__.py to __init__.pyc byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/command_line.py to command_line.pyc byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/msg_loader.py to msg_loader.pyc byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/deps.py to deps.pyc byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/names.py to names.pyc byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/gentools.py to gentools.pyc byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/srvs.py to srvs.pyc byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/template_tools.py to template_tools.pyc byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/base.py to base.pyc byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/msgs.py to msgs.pyc running install_egg_info Writing /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg-0.5.11.egg-info -- Installing: /home/carto/laser_ws/install/lib/genmsg/genmsg_check_deps.py -- Installing: /home/carto/laser_ws/install/share/driver_common/package.xml -- Installing: /home/carto/laser_ws/install/lib/pkgconfig/urg_c.pc -- Installing: /home/carto/laser_ws/install/share/urg_c/cmake/urg_cConfig.cmake -- Installing: /home/carto/laser_ws/install/share/urg_c/cmake/urg_cConfig-version.cmake -- Installing: /home/carto/laser_ws/install/share/urg_c/package.xml -- Installing: /home/carto/laser_ws/install/lib/libliburg_c.so -- Installing: /home/carto/laser_ws/install/lib/libopen_urg_sensor.so -- Set runtime path of "/home/carto/laser_ws/install/lib/libopen_urg_sensor.so" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/angle_convert_test -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/angle_convert_test" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/calculate_xy -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/calculate_xy" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/find_port -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/find_port" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/get_distance -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_distance" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/get_distance_intensity -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_distance_intensity" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/get_multiecho -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_multiecho" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/get_multiecho_intensity -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_multiecho_intensity" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/reboot_test -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/reboot_test" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/sensor_parameter -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/sensor_parameter" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/sync_time_stamp -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/sync_time_stamp" to "" -- Installing: /home/carto/laser_ws/install/lib/urg_c/timeout_test -- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/timeout_test" to "" -- Installing: /home/carto/laser_ws/install/include/urg_c -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_debug.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_serial_utils.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_sensor.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_connection.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_tcpclient.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_detect_os.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_serial.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_errno.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_utils.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_time.h -- Installing: /home/carto/laser_ws/install/include/urg_c/urg_ring_buffer.h -- Installing: /home/carto/laser_ws/install/lib/pkgconfig/timestamp_tools.pc -- Installing: /home/carto/laser_ws/install/share/timestamp_tools/cmake/timestamp_toolsConfig.cmake -- Installing: /home/carto/laser_ws/install/share/timestamp_tools/cmake/timestamp_toolsConfig-version.cmake -- Installing: /home/carto/laser_ws/install/share/timestamp_tools/package.xml -- Installing: /home/carto/laser_ws/install/include/timestamp_tools -- Installing: /home/carto/laser_ws/install/include/timestamp_tools/trigger_matcher.h -- Installing: /home/carto/laser_ws/install/include/timestamp_tools/periodic_timestamp_min_filter.h -- Installing: /home/carto/laser_ws/install/share/driver_base/msg/ConfigString.msg -- Installing: /home/carto/laser_ws/install/share/driver_base/msg/ConfigValue.msg -- Installing: /home/carto/laser_ws/install/share/driver_base/msg/SensorLevels.msg -- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_base-msg-paths.cmake -- Installing: /home/carto/laser_ws/install/include/driver_base -- Installing: /home/carto/laser_ws/install/include/driver_base/ConfigString.h -- Installing: /home/carto/laser_ws/install/include/driver_base/ConfigValue.h -- Installing: /home/carto/laser_ws/install/include/driver_base/SensorLevels.h -- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base -- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg -- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg/ConfigString.l -- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg/SensorLevels.l -- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg/ConfigValue.l -- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/manifest.l -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package_SensorLevels.lisp -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/ConfigString.lisp -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/ConfigValue.lisp -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package.lisp -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/SensorLevels.lisp -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package_ConfigString.lisp -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/driver_base-msg.asd -- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package_ConfigValue.lisp -- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base -- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg -- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/ConfigString.js -- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/ConfigValue.js -- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/_index.js -- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/SensorLevels.js -- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/_index.js Listing /home/carto/laser_ws/devel/lib/python2.7/dist-packages/driver_base ... Listing /home/carto/laser_ws/devel/lib/python2.7/dist-packages/driver_base/msg ... -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/__init__.py -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/__init__.pyc -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.pyc -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.pyc -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/__init__.py -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/__init__.pyc -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.py -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.py -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.pyc -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.py -- Installing: /home/carto/laser_ws/install/lib/pkgconfig/driver_base.pc -- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_base-msg-extras.cmake -- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_baseConfig.cmake -- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_baseConfig-version.cmake -- Installing: /home/carto/laser_ws/install/share/driver_base/package.xml -- Up-to-date: /home/carto/laser_ws/install/include/driver_base -- Installing: /home/carto/laser_ws/install/include/driver_base/driver_node.h -- Installing: /home/carto/laser_ws/install/include/driver_base/driver.h -- Installing: /home/carto/laser_ws/install/include/hokuyo_node/HokuyoConfig.h -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/__init__.py Listing /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg ... Compiling /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py ... Compiling /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/__init__.py ... -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/__init__.py -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/__init__.pyc -- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.pyc -- Installing: /home/carto/laser_ws/install/lib/pkgconfig/hokuyo_node.pc -- Installing: /home/carto/laser_ws/install/share/hokuyo_node/cmake/hokuyo_nodeConfig.cmake -- Installing: /home/carto/laser_ws/install/share/hokuyo_node/cmake/hokuyo_nodeConfig-version.cmake -- Installing: /home/carto/laser_ws/install/share/hokuyo_node/package.xml -- Installing: /home/carto/laser_ws/install/lib/liblibhokuyo.so -- Set runtime path of "/home/carto/laser_ws/install/lib/liblibhokuyo.so" to "" -- Up-to-date: /home/carto/laser_ws/install/include/hokuyo_node -- Installing: /home/carto/laser_ws/install/include/hokuyo_node/hokuyo.h -- Installing: /home/carto/laser_ws/install/lib/hokuyo_node/hokuyo_node -- Set runtime path of "/home/carto/laser_ws/install/lib/hokuyo_node/hokuyo_node" to "" -- Installing: /home/carto/laser_ws/install/lib/hokuyo_node/getID -- Set runtime path of "/home/carto/laser_ws/install/lib/hokuyo_node/getID" to "" -- Installing: /home/carto/laser_ws/install/lib/hokuyo_node/getFirmwareVersion -- Set runtime path of "/home/carto/laser_ws/install/lib/hokuyo_node/getFirmwareVersion" to "" -- Installing: /home/carto/laser_ws/install/share/hokuyo_node/TODO -- Installing: /home/carto/laser_ws/install/share/hokuyo_node/unplug_test.launch -- Installing: /home/carto/laser_ws/install/share/hokuyo_node/COPYING.lib -- Installing: /home/carto/laser_ws/install/share/hokuyo_node/hokuyo_test.launch -- Installing: /home/carto/laser_ws/install/share/hokuyo_node/hokuyo_test.vcg -- Installing: /home/carto/laser_ws/install/share/hokuyo_node/hokuyo_test_intensity.launch -- Installing: /home/carto/laser_ws/install/lib/pkgconfig/laser_proc.pc -- Installing: /home/carto/laser_ws/install/share/laser_proc/cmake/laser_procConfig.cmake -- Installing: /home/carto/laser_ws/install/share/laser_proc/cmake/laser_procConfig-version.cmake -- Installing: /home/carto/laser_ws/install/share/laser_proc/package.xml -- Installing: /home/carto/laser_ws/install/lib/liblaser_proc_library.so -- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_proc_library.so" to "" -- Installing: /home/carto/laser_ws/install/lib/liblaser_publisher.so -- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_publisher.so" to "" -- Installing: /home/carto/laser_ws/install/lib/liblaser_transport.so -- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_transport.so" to "" -- Installing: /home/carto/laser_ws/install/lib/liblaser_proc_ROS.so -- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_proc_ROS.so" to "" -- Installing: /home/carto/laser_ws/install/lib/libLaserProcNodelet.so -- Set runtime path of "/home/carto/laser_ws/install/lib/libLaserProcNodelet.so" to "" -- Installing: /home/carto/laser_ws/install/lib/laser_proc/laser_proc -- Set runtime path of "/home/carto/laser_ws/install/lib/laser_proc/laser_proc" to "" -- Installing: /home/carto/laser_ws/install/include/laser_proc -- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserProcROS.h -- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserProc.h -- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserPublisher.h -- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserTransport.h -- Installing: /home/carto/laser_ws/install/share/laser_proc/nodelets.xml -- Installing: /home/carto/laser_ws/install/lib/pkgconfig/lms1xx.pc -- Installing: /home/carto/laser_ws/install/share/lms1xx/cmake/lms1xxConfig.cmake -- Installing: /home/carto/laser_ws/install/share/lms1xx/cmake/lms1xxConfig-version.cmake -- Installing: /home/carto/laser_ws/install/share/lms1xx/package.xml -- Installing: /home/carto/laser_ws/install/lib/libLMS1xx.so -- Installing: /home/carto/laser_ws/install/lib/lms1xx/LMS1xx_node -- Set runtime path of "/home/carto/laser_ws/install/lib/lms1xx/LMS1xx_node" to "" -- Installing: /home/carto/laser_ws/install/share/lms1xx/meshes -- Installing: /home/carto/laser_ws/install/share/lms1xx/meshes/sick-lms1xx.dae -- Installing: /home/carto/laser_ws/install/share/lms1xx/meshes/sick-lms1xx.stl -- Installing: /home/carto/laser_ws/install/share/lms1xx/launch -- Installing: /home/carto/laser_ws/install/share/lms1xx/launch/LMS1xx.launch -- Installing: /home/carto/laser_ws/install/share/lms1xx/urdf -- Installing: /home/carto/laser_ws/install/share/lms1xx/urdf/sick_lms1xx.urdf.xacro -- Installing: /home/carto/laser_ws/install/lib/lms1xx/find_sick -- Installing: /home/carto/laser_ws/install/lib/lms1xx/set_sick_ip

 配置过程：

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carto@cartoPC:~$ ls -l /dev/ttyACM0 crw-rw---- 1 root dialout 166, 0 7月  31 09:00 /dev/ttyACM0 carto@cartoPC:~$ sudo chmod a+rw /dev/ttyACM0 [sudo] carto 的密码：

注意这里是ttyACM0，区别与ttyUSB0。

测试过程如下

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carto@cartoPC:~/laser_ws$ roslaunch hokuyo_node hokuyo_test.launch ... logging to /home/carto/.ros/log/770997bc-946b-11e8-b5cd-505bc2bbfd81/roslaunch-cartoPC-10296.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.   started roslaunch server http://cartoPC:33469/   SUMMARY ========   PARAMETERS  * /hokuyo/calibrate_time: False  * /hokuyo/intensity: False  * /hokuyo/port: /dev/ttyACM0  * /rosdistro: kinetic  * /rosversion: 1.12.13   NODES   /     hokuyo (hokuyo_node/hokuyo_node)   auto-starting new master process[master]: started with pid [10306] ROS_MASTER_URI=http://localhost:11311   setting /run_id to 770997bc-946b-11e8-b5cd-505bc2bbfd81 process[rosout-1]: started with pid [10319] started core service [/rosout] process[hokuyo-2]: started with pid [10326] [ INFO] [1533004992.190478541]: Connected to device with ID: H1625686 [ INFO] [1533004992.293404655]: Streaming data.

 

4. XSENS MTi-30驱动安装

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carto@cartoPC:~/laser_ws$ cd src carto@cartoPC:~/laser_ws/src$ git clone https://github.com/ethz-asl/ethzasl_xsens_driver 正克隆到 'ethzasl_xsens_driver'... remote: Counting objects: 778, done. remote: Compressing objects: 100% (4/4), done. remote: Total 778 (delta 0), reused 1 (delta 0), pack-reused 774 接收对象中: 100% (778/778), 231.99 KiB | 430.00 KiB/s, 完成. 处理 delta 中: 100% (480/480), 完成. 检查连接... 完成。 carto@cartoPC:~/laser_ws/src$ cd ethzasl_xsens_driver carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ mkdir build carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ cd build carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ cmake .. -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/src/ethzasl_xsens_driver/build carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ make carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ sudo make install [sudo] carto 的密码： Install the project... -- Install configuration: "" -- Installing: /usr/local/_setup_util.py -- Installing: /usr/local/env.sh -- Installing: /usr/local/setup.bash -- Installing: /usr/local/setup.sh -- Installing: /usr/local/setup.zsh -- Installing: /usr/local/.rosinstall -- Installing: /usr/local/lib/pkgconfig/xsens_driver.pc -- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig.cmake -- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig-version.cmake -- Installing: /usr/local/share/xsens_driver/package.xml -- Installing: /usr/local/lib/xsens_driver/mtnode.py -- Installing: /usr/local/lib/xsens_driver/mtdef.py -- Installing: /usr/local/lib/xsens_driver/mtdevice.py -- Installing: /usr/local/share/xsens_driver/launch -- Installing: /usr/local/share/xsens_driver/launch/xsens_driver.launch carto@cartoPC:~/laser_ws$ cd src carto@cartoPC:~/laser_ws/src$ git clone https://github.com/ethz-asl/ethzasl_xsens_driver 正克隆到 'ethzasl_xsens_driver'... remote: Counting objects: 778, done. remote: Compressing objects: 100% (4/4), done. remote: Total 778 (delta 0), reused 1 (delta 0), pack-reused 774 接收对象中: 100% (778/778), 231.99 KiB | 430.00 KiB/s, 完成. 处理 delta 中: 100% (480/480), 完成. 检查连接... 完成。 carto@cartoPC:~/laser_ws/src$ cd ethzasl_xsens_driver carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ mkdir build carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ cd build carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ cmake .. -- The C compiler identification is GNU 5.4.0 -- The CXX compiler identification is GNU 5.4.0 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Detecting C compile features -- Detecting C compile features - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Detecting CXX compile features -- Detecting CXX compile features - done -- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic -- This workspace overlays: /opt/ros/kinetic -- Found PythonInterp: /usr/bin/python (found version "2.7.12") -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/test_results -- Found gmock sources under '/usr/src/gmock': gmock will be built -- Looking for pthread.h -- Looking for pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE  -- Found gtest sources under '/usr/src/gmock': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.11 -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Configuring done -- Generating done -- Build files have been written to: /home/carto/laser_ws/src/ethzasl_xsens_driver/build carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ make carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ sudo make install [sudo] carto 的密码： Install the project... -- Install configuration: "" -- Installing: /usr/local/_setup_util.py -- Installing: /usr/local/env.sh -- Installing: /usr/local/setup.bash -- Installing: /usr/local/setup.sh -- Installing: /usr/local/setup.zsh -- Installing: /usr/local/.rosinstall -- Installing: /usr/local/lib/pkgconfig/xsens_driver.pc -- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig.cmake -- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig-version.cmake -- Installing: /usr/local/share/xsens_driver/package.xml -- Installing: /usr/local/lib/xsens_driver/mtnode.py -- Installing: /usr/local/lib/xsens_driver/mtdef.py -- Installing: /usr/local/lib/xsens_driver/mtdevice.py -- Installing: /usr/local/share/xsens_driver/launch -- Installing: /usr/local/share/xsens_driver/launch/xsens_driver.launch carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$

测试LMS111：

　　rosrun lms1xx LMS1xx_node _host:=192.168.0.1

真烦，LMS111的驱动老是崩溃，不知道神码原因，读取的数据很不稳定，不知道是不是电压采用12V的原因，数据是采用路由器转发的，难道这个有问题？总之是搞不定了！