Perparation & install
先在软件&更新，勾选源代码，选择一个国内的源。
安装指北 http://wiki.ros.org/melodic/Installation/Ubuntu
1. 添加源
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| sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
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2. 添加密钥
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| sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
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3. 更新一下源
4. 下载ros
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| sudo apt install ros-melodic-desktop-full // 大概2g
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5. 配置环境变量
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| echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
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6. 一些其他的依赖
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| sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
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7. 安装proto
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| sudo apt install libprotobuf-dev protobuf-compiler
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8. 安装nng
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| git clone https://github.com/nanomsg/nng.git
cd nng
mkdir build
cd build
cmake ..
cmake --build .
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9. 更新cmake
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| wget https://cmake.org/files/v3.13/cmake-3.13.5.tar.gz
tar zxvf cmake-3.13.5.tar.gz
cd cmake-3.13.5
./configure
make
sudo make install
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10. 安装json
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| git clone https://github.com/nlohmann/json.git
cd json
mkdir build
cd build
cmake .. -DJSON_buildTest=ON
cmake --build .
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11. 安装pcap
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| sudo apt install libpcap-dev
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12. 安装gtsam
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| git clone https://github.com/borglab/gtsam.git
cd gtsam
mkdir build
cd build
cmake ..
make -j4
sudo make install
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13. 创建ROS工作空间
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| mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make -jl
source devel/setup.bash
echo $ROS_PACKAGE_PATH
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