ROS笔记-10 ros on RaspberryPi.txt

how to install? follow here: 
	http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi

1. 采用 Raspbian Jessie(通过命令 hostnamectl 查看)

2. 	sudo apt-get update
	sudo apt-get upgrade 依赖网速

3. 使用wstool 安装ROS-Comm (包括ROS package, build, and communication libraries. No GUI tools)
	$ rosinstall_generator ros_comm --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-ros_comm-wet.rosinstall
	$ wstool init src indigo-ros_comm-wet.rosinstall

	建议随手安装 robot 版本
	$ rosinstall_generator robot --rosdistro indigo --deps --wet-only --tar > indigo-robot-wet.rosinstall
	$ wstool init src indigo-robot-wet.rosinstall

4. 解决 rosdep 依赖
	$ cd ~/ros_catkin_ws
	$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y -r --os=debian:jessie

5. 接下来是耗人的构建 建议使用-j2两核，不然会卡死
	sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo -j2

6. 安装新package
	$ cd ~/ros_catkin_ws
	$ rosinstall_generator ros_comm urg_node --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-custom_ros.rosinstall

	使用 wstool 更新
	$ wstool merge -t src indigo-custom_ros.rosinstall
	$ wstool update -t src

	更新 rosdep 依赖
	$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y -r --os=debian:jessie

	构建，之前的似乎会跳过安装，不过还是会make的
	$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo

	可以使用参数(--install之前)
		# "List of ';' separated packages to build"
		$ catkin_make -DCATKIN_BLACKLIST_PACKAGES="foo;bar"
	
sudo ./src/catkin/bin/catkin_make_isolated --install -DCATKIN_BLACKLIST_PACKAGES="pcl_conversions;pcl_msgs;pcl_ros" -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo
	
	
		$ sudo ./src/catkin/bin/catkin_make_isolated --install -DCATKIN_BLACKLIST_PACKAGES="catkin;genmsg" -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo
	或者
		$ sudo ./src/catkin/bin/catkin_make_isolated --pkg urg_node <other package name> --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo


!! 如何安装laser_scan_matcher
	参考-1： http://answers.ros.org/question/197658/errors-at-catkin_make-for-laser_scan_matcher/
			
	pcl_conversions
	pcl_msgs
	perception_pcl/pcl_ros
	
	$ cd ~/ros_catkin_ws
	$ rosinstall_generator ros_comm pcl_ros --rosdistro indigo --deps --wet-only --exclude roslisp --tar > indigo-custom_ros.rosinstall
	
	$ wstool merge -t src indigo-custom_ros.rosinstall
	$ wstool update -t src
	
	$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y -r --os=debian:jessie
	
	！！只能使用=j1参数，否则会出现编译内存错误！！
	sudo ./src/catkin/bin/catkin_make_isolated --pkg pcl_conversions pcl_msgs pcl_ros --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/indigo -j1


	参考-2： http://answers.ros.org/question/229788/how-to-building-pcl-laser_scan_matcher-on-raspberry-pi-2/
	$ git clone https://github.com/AndreaCensi/csm.git (I cloned this into a sub directory of scan_tools)
	$ ./install_quickstart.sh
	
	$ export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/home/durant35/Workspace/ROS_ws/src/csm/sm/pkg-config
	
	$ cp -r /home/durant35/Workspace/ROS_ws/src/csm/deploy/include/* /home/durant35/Workspace/ROS_ws/src/laser_scan_matcher/include
	
	// 	catkin_make [make_targets]
	$ catkin_make laser_scan_matcher
	

~~  traversing 74 packages in topological order: 70 + urg_node + pcl_conversions pcl_msgs pcl_ros
~~  - catkin
~~  - genmsg
~~  - gencpp
~~  - genlisp
~~  - genpy
~~  - angles
~~  - cmake_modules
~~  - class_loader
~~  - cpp_common
~~  - message_generation
~~  - message_runtime
~~  - mk
~~  - ros
~~  - ros_comm
~~  - rosbash
~~  - rosboost_cfg
~~  - rosbuild
~~  - rosclean
~~  - roscpp_traits
~~  - roscreate
~~  - rosgraph
~~  - roslang
~~  - rosmake
~~  - rosmaster
~~  - rosmsg
~~  - rospack
~~  - roslib
~~  - rosparam
~~  - rospy
~~  - rosservice
~~  - rostime
~~  - roscpp_serialization
~~  - roslaunch
~~  - rosunit
~~  - rosconsole
~~  - pluginlib
~~  - roslz4
~~  - rosbag_storage
~~  - rostest
~~  - smclib
~~  - std_msgs
~~  - actionlib_msgs
~~  - bond
~~  - diagnostic_msgs
~~  - geometry_msgs
~~  - rosgraph_msgs
~~  - sensor_msgs
~~  - pcl_msgs
~~  - std_srvs
~~  - tf2_msgs
~~  - tf2
~~  - urg_c
~~  - xmlrpcpp
~~  - roscpp
~~  - bondcpp
~~  - nodelet
~~  - laser_proc
~~  - pcl_conversions
~~  - rosout
~~  - diagnostic_updater
~~  - dynamic_reconfigure
~~  - message_filters
~~  - rosnode
~~  - rostopic
~~  - roswtf
~~  - tf2_py
~~  - topic_tools
~~  - rosbag
~~  - actionlib
~~  - nodelet_topic_tools
~~  - tf2_ros
~~  - tf
~~  - pcl_ros
~~  - urg_node