我想看到各個報錯和包的依賴關系，比如在?catkin_make 的時候，可能會說缺某些包，要安裝依賴，

在說依賴之前，再提一點，因為我用的是樹莓派3b+，內存只有1G，在編譯的時候很可能會由于內存不足導致編譯失敗，所以要添加一個swap，當然我裝好ubuntu mate 18.04后默認已經有一個 /swapfile 了，只是其大小只有128M，干脆擴大到1G

sudo swapoff /swapfile
sudo dd if=/dev/zero of=/swapfile bs=64M count=16
#count的大小就是增加的swap空間的大小，64M是塊大小，所以空間大小是bs*count=1024MB
sudo mkswap /swapfile
#把剛才空間格式化成swap格式
sudo swapon /swapfile
#啟用swap
sudo swapon -s
#查看是否啟用

?

如果報錯?Could NOT find cv_bridge，那么執行如下安裝即可

sudo apt-get install ros-melodic-cv-bridge
#sudo apt-get install ros-melodic-image-transport

?

報錯Could NOT find depth_image_proc

sudo apt install ros-melodic-depth-image-proc -y
# sudo apt install ros-melodic-rgbd-launch -y

報錯Could NOT find camera_info_manager

sudo apt install ros-melodic-camera-info-manager -y

報錯?

qmake: could not exec '/usr/lib/arm-linux-gnueabihf/qt4/bin/qmake': No such file or directory
CMake Error at /usr/share/cmake-3.10/Modules/FindQt4.cmake:1320 (message):
? Found unsuitable Qt version "" from NOTFOUND, this code requires Qt 4.x

如果要簡單一點，直接添加Qt4支持即可

sudo apt install qt4-default

如果要升級到QT5會有點麻煩

cd /usr/lib/arm-linux-gnueabihf/qt-default/qtchooser
sudo rm default.conf
sudo ln -s ../../../../share/qtchooser/qt5-arm-linux-gnueabihf.conf default.confsudo apt install qt5-default

修改?src/lidar/hector_slam/hector_geotiff/CMakeLists.txt，把

find_package(Qt4 4.6?COMPONENTS QtCore QtGui REQUIRED)

改為

find_package(Qt5 COMPONENTS Core Gui REQUIRED)
?

報錯Could NOT find tf_conversions

sudo apt install ros-melodic-tf-conversions

報錯 Could NOT find diagnostic_updater

sudo apt install ros-melodic-diagnostic-updater

報錯 Could NOT find geographic_msgs

sudo apt install ros-melodic-geographic-msgs

報錯?Could NOT find roslint

sudo apt-get install ros-melodic-roslint

報錯

? By not providing "FindPCL.cmake" in CMAKE_MODULE_PATH this project has
? asked CMake to find a package configuration file provided by "PCL", but
? CMake did not find one.

? Could not find a package configuration file provided by "PCL" with any of
? the following names:

? ? PCLConfig.cmake
? ? pcl-config.cmake

? Add the installation prefix of "PCL" to CMAKE_PREFIX_PATH or set "PCL_DIR"
? to a directory containing one of the above files. ?If "PCL" provides a
? separate development package or SDK, be sure it has been installed.
?

sudo apt install ros-melodic-pcl-ros
# sudo apt install libpcl-dev

報錯 Linux/XnLinuxUSB.cpp:29:10: fatal error: libusb-1.0/libusb.h: No such file or directory
?#include <libusb-1.0/libusb.h>
? ? ? ? ? ^~~~~~~~~~~~~~~~~~~~~
?

sudo apt install libusb-1.0-0-dev

報錯?fatal error: pcl_ros/point_cloud.h: No such file or directory
?#include <pcl_ros/point_cloud.h>
? ? ? ? ? ^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

sudo apt install ros-melodic-pcl-ros

報錯 Could NOT find tf (missing: tf_DIR)

sudo apt install ros-melodic-tf -y

報錯?Could NOT find tf2_geometry_msgs (missing: tf2_geometry_msgs_DIR)

?

sudo apt install ros-melodic-tf2-geometry-msgs -y

?

總結

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