蓝桥ROS之f1tenth案例学习与调试（失败）
Posted zhangrelay
tags:
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过程和pc端完全一致：
在蓝桥云课ROS中测试一下是否可行（kinetic/melodic/noetic）：
需要依据云端具体ROS版本进行配置。
下载f1tenth仿真源码包：
zhangrelay / f1tenth · GitCode
git clone https://gitcode.net/ZhangRelay/f1tenth.git
解压缩并安装需要的配置包：
- tf2_geometry_msgs
- ackermann_msgs
- joy
- map_server
shiyanlou:Code/ $
sudo apt install ros-kinetic-tf2-geometry-msgs ros-kinetic-ackermann-msgs ros-kinetic-joy ros-kinetic-map-server ros-kinetic-message-runtime
然后编译，导入环节就可以启动啦。
但是，却失败了。kinetic不可行×
有空换云课中melodic版本。
过程记录如下：
shiyanlou:~/ $ gedit ros.asc [22:42:51]
(gedit:212): GVFS-RemoteVolumeMonitor-WARNING **: remote volume monitor with dbus name org.gtk.vfs.UDisks2VolumeMonitor is not supported
(gedit:212): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files
shiyanlou:~/ $ sudo apt-key add ros.asc [22:43:01]
OK
shiyanlou:~/ $ sudo apt update [22:43:18]
\\u547d\\u4e2d:1 http://mirrors.cloud.aliyuncs.com/ubuntu xenial InRelease
\\u83b7\\u53d6:2 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-updates InRelease [99.8 kB]
\\u83b7\\u53d6:3 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-security InRelease [99.8 kB]
\\u83b7\\u53d6:4 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-updates/main Sources [665 kB]
\\u83b7\\u53d6:5 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-updates/universe Sources [548 kB]
\\u83b7\\u53d6:6 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-updates/main amd64 Packages [2,560 kB]
\\u83b7\\u53d6:7 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-updates/universe amd64 Packages [1,544 kB]
\\u83b7\\u53d6:8 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-security/main Sources [311 kB]
\\u83b7\\u53d6:9 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-security/universe Sources [256 kB]
\\u83b7\\u53d6:10 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-security/main amd64 Packages [2,051 kB]
\\u83b7\\u53d6:11 http://mirrors.cloud.aliyuncs.com/ubuntu xenial-security/universe amd64 Packages [984 kB]
\\u83b7\\u53d6:12 http://packages.ros.org/ros/ubuntu xenial InRelease [4,692 B]
\\u83b7\\u53d6:13 http://packages.ros.org/ros2/ubuntu xenial InRelease [4,668 B]
\\u83b7\\u53d6:14 http://packages.ros.org/ros/ubuntu xenial/main amd64 Packages [854 kB]
\\u83b7\\u53d6:15 http://packages.ros.org/ros2/ubuntu xenial/main amd64 Packages [131 kB]
\\u83b7\\u53d6:16 http://packages.ros.org/ros2/ubuntu xenial/main arm64 Packages [131 kB]
\\u5df2\\u4e0b\\u8f7d 10.2 MB\\uff0c\\u8017\\u65f6 3\\u5206 8\\u79d2 (54.4 kB/s)
\\u6b63\\u5728\\u8bfb\\u53d6\\u8f6f\\u4ef6\\u5305\\u5217\\u8868... \\u5b8c\\u6210
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\\u6b63\\u5728\\u8bfb\\u53d6\\u72b6\\u6001\\u4fe1\\u606f... \\u5b8c\\u6210
\\u6709 698 \\u4e2a\\u8f6f\\u4ef6\\u5305\\u53ef\\u4ee5\\u5347\\u7ea7\\u3002\\u8bf7\\u6267\\u884c \\u2018apt list --upgradable\\u2019 \\u6765\\u67e5\\u770b\\u5b83\\u4eec\\u3002
shiyanlou:~/ $ cd Code [22:46:32]
shiyanlou:Code/ $ git clone https://gitcode.net/ZhangRelay/f1tenth.git
\\u6b63\\u514b\\u9686\\u5230 'f1tenth'...
remote: Enumerating objects: 3, done.
remote: Counting objects: 100% (3/3), done.
remote: Compressing objects: 100% (2/2), done.
remote: Total 3 (delta 0), reused 0 (delta 0), pack-reused 0
\\u5c55\\u5f00\\u5bf9\\u8c61\\u4e2d: 100% (3/3), \\u5b8c\\u6210.
\\u68c0\\u67e5\\u8fde\\u63a5... \\u5b8c\\u6210\\u3002
shiyanlou:Code/ $ unzip f1tenth/f1tenth_simulator.zip [22:47:34]
Archive: f1tenth/f1tenth_simulator.zip
6b8adede93f00e1f56d924d998024ee5f2b51e13
creating: f1tenth_simulator-master/
inflating: f1tenth_simulator-master/CMakeLists.txt
inflating: f1tenth_simulator-master/README.md
creating: f1tenth_simulator-master/include/
creating: f1tenth_simulator-master/include/f1tenth_simulator/
inflating: f1tenth_simulator-master/include/f1tenth_simulator/ackermann_kinematics.hpp
inflating: f1tenth_simulator-master/include/f1tenth_simulator/car_params.hpp
inflating: f1tenth_simulator-master/include/f1tenth_simulator/car_state.hpp
inflating: f1tenth_simulator-master/include/f1tenth_simulator/channel.h
inflating: f1tenth_simulator-master/include/f1tenth_simulator/distance_transform.hpp
inflating: f1tenth_simulator-master/include/f1tenth_simulator/ks_kinematics.hpp
inflating: f1tenth_simulator-master/include/f1tenth_simulator/pose_2d.hpp
inflating: f1tenth_simulator-master/include/f1tenth_simulator/precompute.hpp
inflating: f1tenth_simulator-master/include/f1tenth_simulator/scan_simulator_2d.hpp
inflating: f1tenth_simulator-master/include/f1tenth_simulator/st_kinematics.hpp
creating: f1tenth_simulator-master/launch/
inflating: f1tenth_simulator-master/launch/racecar_model.launch
inflating: f1tenth_simulator-master/launch/simulator.launch
inflating: f1tenth_simulator-master/launch/simulator.rviz
creating: f1tenth_simulator-master/maps/
inflating: f1tenth_simulator-master/maps/berlin.png
inflating: f1tenth_simulator-master/maps/berlin.yaml
inflating: f1tenth_simulator-master/maps/columbia.pgm
inflating: f1tenth_simulator-master/maps/columbia.yaml
inflating: f1tenth_simulator-master/maps/levine.pgm
inflating: f1tenth_simulator-master/maps/levine.yaml
inflating: f1tenth_simulator-master/maps/levine_blocked.pgm
inflating: f1tenth_simulator-master/maps/levine_blocked.yaml
inflating: f1tenth_simulator-master/maps/levinelobby.pgm
inflating: f1tenth_simulator-master/maps/levinelobby.yaml
inflating: f1tenth_simulator-master/maps/mtl.pgm
inflating: f1tenth_simulator-master/maps/mtl.yaml
inflating: f1tenth_simulator-master/maps/porto.pgm
inflating: f1tenth_simulator-master/maps/porto.yaml
inflating: f1tenth_simulator-master/maps/stata_basement.png
inflating: f1tenth_simulator-master/maps/stata_basement.yaml
inflating: f1tenth_simulator-master/maps/torino.pgm
inflating: f1tenth_simulator-master/maps/torino.yaml
creating: f1tenth_simulator-master/media/
inflating: f1tenth_simulator-master/media/racecar_simulator_rviz_1.png
inflating: f1tenth_simulator-master/media/racecar_simulator_rviz_2.png
inflating: f1tenth_simulator-master/media/sim_graph_public.png
creating: f1tenth_simulator-master/node/
inflating: f1tenth_simulator-master/node/behavior_controller.cpp
inflating: f1tenth_simulator-master/node/keyboard.cpp
inflating: f1tenth_simulator-master/node/mux.cpp
inflating: f1tenth_simulator-master/node/random_walk.cpp
inflating: f1tenth_simulator-master/node/simulator.cpp
inflating: f1tenth_simulator-master/package.xml
inflating: f1tenth_simulator-master/params.yaml
inflating: f1tenth_simulator-master/racecar.xacro
creating: f1tenth_simulator-master/src/
inflating: f1tenth_simulator-master/src/distance_transform.cpp
inflating: f1tenth_simulator-master/src/ks_kinematics.cpp
inflating: f1tenth_simulator-master/src/precompute.cpp
inflating: f1tenth_simulator-master/src/scan_simulator_2d.cpp
inflating: f1tenth_simulator-master/src/st_kinematics.cpp
shiyanlou:Code/ $ sudo apt install ros-kinetic-tf2-geometry-msgs ros-kinetic-ackermann-msgs ros-kinetic-joy ros-kinetic-ma
ros-kinetic-magical-ros2-conversion-tool
ros-kinetic-magni-bringup
ros-kinetic-magni-demos
ros-kinetic-magni-description
ros-kinetic-magni-nav
ros-kinetic-magni-robot
ros-kinetic-magni-teleop
ros-kinetic-magni-viz
ros-kinetic-manipulation-msgs
ros-kinetic-manipulator-h
ros-kinetic-manipulator-h-base-module
ros-kinetic-manipulator-h-base-module-msgs
ros-kinetic-manipulator-h-bringup
ros-kinetic-manipulator-h-description
ros-kinetic-manipulator-h-gazebo
ros-kinetic-manipulator-h-gui
ros-kinetic-manipulator-h-kinematics-dynamics
ros-kinetic-manipulator-h-manager
ros-kinetic-map-laser
ros-kinetic-map-msgs
ros-kinetic-map-organizer
ros-kinetic-map-organizer-msgs
ros-kinetic-map-server
ros-kinetic-mapviz
ros-kinetic-mapviz-plugins
ros-kinetic-marker-msgs
ros-kinetic-marker-rviz-plugin
ros-kinetic-marshmallow
ros-kinetic-marti-can-msgs
ros-kinetic-marti-common-msgs
ros-kinetic-marti-data-structures
ros-kinetic-marti-dbw-msgs
ros-kinetic-marti-nav-msgs
ros-kinetic-marti-perception-msgs
ros-kinetic-marti-sensor-msgs
ros-kinetic-marti-status-msgs
ros-kinetic-marti-visualization-msgs
ros-kinetic-marvelmind-nav
ros-kinetic-master-discovery-fkie
ros-kinetic-master-sync-fkie
ros-kinetic-mav-comm
ros-kinetic-mavlink
ros-kinetic-mav-msgs
ros-kinetic-mav-planning-msgs
ros-kinetic-mavros
ros-kinetic-mavros-extras
ros-kinetic-mavros-msgs
shiyanlou:Code/ $ sudo apt install ros-kinetic-tf2-geometry-msgs ros-kinetic-ackermann-msgs ros-kinetic-joy ros-kinetic-map-server ros-kinetic-message-runtime
\\u6b63\\u5728\\u8bfb\\u53d6\\u8f6f\\u4ef6\\u5305\\u5217\\u8868... \\u5b8c\\u6210
\\u6b63\\u5728\\u5206\\u6790\\u8f6f\\u4ef6\\u5305\\u7684\\u4f9d\\u8d56\\u5173\\u7cfb\\u6811
\\u6b63\\u5728\\u8bfb\\u53d6\\u72b6\\u6001\\u4fe1\\u606f... \\u5b8c\\u6210
\\u5c06\\u4f1a\\u540c\\u65f6\\u5b89\\u88c5\\u4e0b\\u5217\\u8f6f\\u4ef6\\uff1a
evemu-tools evtest inputattach joystick libevemu3
\\u4e0b\\u5217\\u3010\\u65b0\\u3011\\u8f6f\\u4ef6\\u5305\\u5c06\\u88ab\\u5b89\\u88c5\\uff1a
evemu-tools evtest inputattach joystick libevemu3 ros-kinetic-ackermann-msgs
ros-kinetic-joy
\\u4e0b\\u5217\\u8f6f\\u4ef6\\u5305\\u5c06\\u88ab\\u5347\\u7ea7\\uff1a
ros-kinetic-map-server ros-kinetic-message-runtime
ros-kinetic-tf2-geometry-msgs
\\u5347\\u7ea7\\u4e86 3 \\u4e2a\\u8f6f\\u4ef6\\u5305\\uff0c\\u65b0\\u5b89\\u88c5\\u4e86 7 \\u4e2a\\u8f6f\\u4ef6\\u5305\\uff0c\\u8981\\u5378\\u8f7d 0 \\u4e2a\\u8f6f\\u4ef6\\u5305\\uff0c\\u6709 695 \\u4e2a\\u8f6f\\u4ef6\\u5305\\u672a\\u88ab\\u5347\\u7ea7\\u3002
\\u9700\\u8981\\u4e0b\\u8f7d 251 kB \\u7684\\u5f52\\u6863\\u3002
\\u89e3\\u538b\\u7f29\\u540e\\u4f1a\\u6d88\\u8017 821 kB \\u7684\\u989d\\u5916\\u7a7a\\u95f4\\u3002
\\u60a8\\u5e0c\\u671b\\u7ee7\\u7eed\\u6267\\u884c\\u5417\\uff1f [Y/n] y
\\u83b7\\u53d6:1 http://mirrors.cloud.aliyuncs.com/ubuntu xenial/universe amd64 libevemu3 amd64 2.1.0-1build1 [11.3 kB]
\\u83b7\\u53d6:2 http://mirrors.cloud.aliyuncs.com/ubuntu xenial/universe amd64 evemu-tools amd64 2.1.0-1build1 [11.2 kB]
\\u83b7\\u53d6:3 http://mirrors.cloud.aliyuncs.com/ubuntu xenial/universe amd64 evtest amd64 1:1.33-1 [13.8 kB]
\\u83b7\\u53d6:4 http://mirrors.cloud.aliyuncs.com/ubuntu xenial/main amd64 inputattach amd64 1:1.4.9-1 [20.7 kB]
\\u83b7\\u53d6:5 http://mirrors.cloud.aliyuncs.com/ubuntu xenial/universe amd64 joystick amd64 1:1.4.9-1 [39.5 kB]
\\u83b7\\u53d6:6 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-map-server amd64 1.14.9-1xenial-20210503-111735-0800 [62.7 kB]
\\u83b7\\u53d6:7 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-message-runtime amd64 0.4.12-0xenial-20210503-093919-0800 [4,718 B]
\\u83b7\\u53d6:8 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-ackermann-msgs amd64 1.0.1-0xenial-20210503-100445-0800 [17.5 kB]
\\u83b7\\u53d6:9 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-joy amd64 1.13.0-1xenial-20210503-114409-0800 [56.1 kB]
\\u83b7\\u53d6:10 http://packages.ros.org/ros/ubuntu xenial/main amd64 ros-kinetic-tf2-geometry-msgs amd64 0.5.20-0xenial-20210503-141015-0800 [13.6 kB]
\\u5df2\\u4e0b\\u8f7d 251 kB\\uff0c\\u8017\\u65f6 10\\u79d2 (24.3 kB/s)
\\u6b63\\u5728\\u9009\\u4e2d\\u672a\\u9009\\u62e9\\u7684\\u8f6f\\u4ef6\\u5305 libevemu3:amd64\\u3002
(\\u6b63\\u5728\\u8bfb\\u53d6\\u6570\\u636e\\u5e93 ... \\u7cfb\\u7edf\\u5f53\\u524d\\u5171\\u5b89\\u88c5\\u6709 185892 \\u4e2a\\u6587\\u4ef6\\u548c\\u76ee\\u5f55\\u3002)
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../libevemu3_2.1.0-1build1_amd64.deb ...
\\u6b63\\u5728\\u89e3\\u5305 libevemu3:amd64 (2.1.0-1build1) ...
\\u6b63\\u5728\\u9009\\u4e2d\\u672a\\u9009\\u62e9\\u7684\\u8f6f\\u4ef6\\u5305 evemu-tools\\u3002
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../evemu-tools_2.1.0-1build1_amd64.deb ...
\\u6b63\\u5728\\u89e3\\u5305 evemu-tools (2.1.0-1build1) ...
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../ros-kinetic-map-server_1.14.9-1xenial-20210503-111735-0800_amd64.deb ...
\\u6b63\\u5728\\u5c06 ros-kinetic-map-server (1.14.9-1xenial-20210503-111735-0800) \\u89e3\\u5305\\u5230 (1.14.4-0xenial-20181116-181950-0800) \\u4e0a ...
\\u6b63\\u5728\\u9009\\u4e2d\\u672a\\u9009\\u62e9\\u7684\\u8f6f\\u4ef6\\u5305 evtest\\u3002
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../evtest_1%3a1.33-1_amd64.deb ...
\\u6b63\\u5728\\u89e3\\u5305 evtest (1:1.33-1) ...
\\u6b63\\u5728\\u9009\\u4e2d\\u672a\\u9009\\u62e9\\u7684\\u8f6f\\u4ef6\\u5305 inputattach\\u3002
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../inputattach_1%3a1.4.9-1_amd64.deb ...
\\u6b63\\u5728\\u89e3\\u5305 inputattach (1:1.4.9-1) ...
\\u6b63\\u5728\\u9009\\u4e2d\\u672a\\u9009\\u62e9\\u7684\\u8f6f\\u4ef6\\u5305 joystick\\u3002
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../joystick_1%3a1.4.9-1_amd64.deb ...
\\u6b63\\u5728\\u89e3\\u5305 joystick (1:1.4.9-1) ...
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../ros-kinetic-message-runtime_0.4.12-0xenial-20210503-093919-0800_amd64.deb ...
\\u6b63\\u5728\\u5c06 ros-kinetic-message-runtime (0.4.12-0xenial-20210503-093919-0800) \\u89e3\\u5305\\u5230 (0.4.12-0xenial-20180824-083918-0800) \\u4e0a ...
\\u6b63\\u5728\\u9009\\u4e2d\\u672a\\u9009\\u62e9\\u7684\\u8f6f\\u4ef6\\u5305 ros-kinetic-ackermann-msgs\\u3002
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../ros-kinetic-ackermann-msgs_1.0.1-0xenial-20210503-100445-0800_amd64.deb ...
\\u6b63\\u5728\\u89e3\\u5305 ros-kinetic-ackermann-msgs (1.0.1-0xenial-20210503-100445-0800) ...
\\u6b63\\u5728\\u9009\\u4e2d\\u672a\\u9009\\u62e9\\u7684\\u8f6f\\u4ef6\\u5305 ros-kinetic-joy\\u3002
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../ros-kinetic-joy_1.13.0-1xenial-20210503-114409-0800_amd64.deb ...
\\u6b63\\u5728\\u89e3\\u5305 ros-kinetic-joy (1.13.0-1xenial-20210503-114409-0800) ...
\\u6b63\\u51c6\\u5907\\u89e3\\u5305 .../ros-kinetic-tf2-geometry-msgs_0.5.20-0xenial-20210503-141015-0800_amd64.deb ...
\\u6b63\\u5728\\u5c06 ros-kinetic-tf2-geometry-msgs (0.5.20-0xenial-20210503-141015-0800) \\u89e3\\u5305\\u5230 (0.5.20-0xenial-20181116-183540-0800) \\u4e0a ...
\\u6b63\\u5728\\u5904\\u7406\\u7528\\u4e8e man-db (2.7.5-1) \\u7684\\u89e6\\u53d1\\u5668 ...
\\u6b63\\u5728\\u8bbe\\u7f6e libevemu3:amd64 (2.1.0-1build1) ...
\\u6b63\\u5728\\u8bbe\\u7f6e evemu-tools (2.1.0-1build1) ...
\\u6b63\\u5728\\u8bbe\\u7f6e ros-kinetic-map-server (1.14.9-1xenial-20210503-111735-0800) ...
\\u6b63\\u5728\\u8bbe\\u7f6e evtest (1:1.33-1) ...
\\u6b63\\u5728\\u8bbe\\u7f6e inputattach (1:1.4.9-1) ...
\\u6b63\\u5728\\u8bbe\\u7f6e joystick (1:1.4.9-1) ...
\\u6b63\\u5728\\u8bbe\\u7f6e ros-kinetic-message-runtime (0.4.12-0xenial-20210503-093919-0800) ...
\\u6b63\\u5728\\u8bbe\\u7f6e ros-kinetic-ackermann-msgs (1.0.1-0xenial-20210503-100445-0800) ...
\\u6b63\\u5728\\u8bbe\\u7f6e ros-kinetic-joy (1.13.0-1xenial-20210503-114409-0800) ...
\\u6b63\\u5728\\u8bbe\\u7f6e ros-kinetic-tf2-geometry-msgs (0.5.20-0xenial-20210503-141015-0800) ...
\\u6b63\\u5728\\u5904\\u7406\\u7528\\u4e8e libc-bin (2.23-0ubuntu10) \\u7684\\u89e6\\u53d1\\u5668 ...
shiyanlou:Code/ $ ls [22:52:15]
f1tenth
shiyanlou:Code/ $ cd f1tenth [22:52:37]
shiyanlou:f1tenth/ (master*) $ catkin_make [22:52:40]
Base path: /home/shiyanlou/Code/f1tenth
Source space: /home/shiyanlou/Code/f1tenth/src
Build space: /home/shiyanlou/Code/f1tenth/build
Devel space: /home/shiyanlou/Code/f1tenth/devel
Install space: /home/shiyanlou/Code/f1tenth/install
Creating symlink "/home/shiyanlou/Code/f1tenth/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/shiyanlou/Code/f1tenth/src -DCATKIN_DEVEL_PREFIX=/home/shiyanlou/Code/f1tenth/devel -DCMAKE_INSTALL_PREFIX=/home/shiyanlou/Code/f1tenth/install -G Unix Makefiles" in "/home/shiyanlou/Code/f1tenth/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/shiyanlou/Code/f1tenth/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/shiyanlou/Code/f1tenth/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 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - f1tenth_simulator
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'f1tenth_simulator'
-- ==> add_subdirectory(f1tenth_simulator-master)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /home/shiyanlou/Code/f1tenth/build/f1tenth_simulator-master/cmake/f1tenth_simulator-genmsg.cmake:3 (message):
Invoking generate_messages() without having added any message or service
file before.
You should either add add_message_files() and/or add_service_files() calls
or remove the invocation of generate_messages().
Call Stack (most recent call first):
/opt/ros/kinetic/share/genmsg/cmake/genmsg-extras.cmake:307 (include)
f1tenth_simulator-master/CMakeLists.txt:63 (generate_messages)
-- f1tenth_simulator: 0 messages, 0 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/shiyanlou/Code/f1tenth/build
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/f1tenth/build"
####
Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target nav_msgs_generate_messages_cpp
Scanning dependencies of target f1tenth_simulator
Scanning dependencies of target sensor_msgs_generate_messages_cpp
[ 0%] Built target nav_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_cpp
[ 5%] Building CXX object f1tenth_simulator-master/CMakeFiles/f1tenth_simulator.dir/src/precompute.cpp.o
[ 11%] Building CXX object f1tenth_simulator-master/CMakeFiles/f1tenth_simulator.dir/src/st_kinematics.cpp.o
Scanning dependencies of target nav_msgs_generate_messages_lisp
Scanning dependencies of target sensor_msgs_generate_messages_lisp
[ 11%] Built target sensor_msgs_generate_messages_lisp
[ 11%] Built target nav_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_lisp
Scanning dependencies of target nav_msgs_generate_messages_py
[ 11%] Built target std_msgs_generate_messages_lisp
[ 11%] Built target nav_msgs_generate_messages_py
Scanning dependencies of target sensor_msgs_generate_messages_py
[ 17%] Building CXX object f1tenth_simulator-master/CMakeFiles/f1tenth_simulator.dir/src/scan_simulator_2d.cpp.o
[ 17%] Built target sensor_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_py
[ 17%] Built target std_msgs_generate_messages_py
Scanning dependencies of target nav_msgs_generate_messages_nodejs
[ 17%] Built target nav_msgs_generate_messages_nodejs
[ 23%] Building CXX object f1tenth_simulator-master/CMakeFiles/f1tenth_simulator.dir/src/distance_transform.cpp.o
[ 29%] Building CXX object f1tenth_simulator-master/CMakeFiles/f1tenth_simulator.dir/src/ks_kinematics.cpp.o
/home/shiyanlou/Code/f1tenth/src/f1tenth_simulator-master/src/st_kinematics.cpp: In static member function \\u2018static racecar_simulator::CarState racecar_simulator::STKinematics::update_k(racecar_simulator::CarState, double, double, racecar_simulator::CarParams, double)\\u2019:
/home/shiyanlou/Code/f1tenth/src/f1tenth_simulator-master/src/st_kinematics.cpp:102:12: warning: unused variable \\u2018theta_double_dot\\u2019 [-Wunused-variable]
double theta_double_dot = accel / p.wheelbase * std::tan(start.steer_angle) +
^
/home/shiyanlou/Code/f1tenth/src/f1tenth_simulator-master/src/st_kinematics.cpp:104:12: warning: unused variable \\u2018slip_angle_dot\\u2019 [-Wunused-variable]
double slip_angle_dot = 0;
^
Scanning dependencies of target sensor_msgs_generate_messages_nodejs
[ 29%] Built target sensor_msgs_generate_messages_nodejs
Scanning dependencies of target std_msgs_generate_messages_nodejs
Scanning dependencies of target sensor_msgs_generate_messages_eus
[ 29%] Built target std_msgs_generate_messages_nodejs
Scanning dependencies of target std_msgs_generate_messages_eus
[ 29%] Built target sensor_msgs_generate_messages_eus
[ 29%] Built target std_msgs_generate_messages_eus
Scanning dependencies of target nav_msgs_generate_messages_eus
Scanning dependencies of target f1tenth_simulator_generate_messages_lisp
Scanning dependencies of target f1tenth_simulator_generate_messages_cpp
[ 29%] Built target nav_msgs_generate_messages_eus
[ 29%] Built target f1tenth_simulator_generate_messages_cpp
[ 29%] Built target f1tenth_simulator_generate_messages_lisp
Scanning dependencies of target f1tenth_simulator_generate_messages_py
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[ 29%] Built target f1tenth_simulator_generate_messages_py
Scanning dependencies of target f1tenth_simulator_generate_messages_nodejs
[ 35%] Generating EusLisp manifest code for f1tenth_simulator
[ 35%] Built target f1tenth_simulator_generate_messages_nodejs
[ 41%] Linking CXX shared library /home/shiyanlou/Code/f1tenth/devel/lib/libf1tenth_simulator.so
[ 41%] Built target f1tenth_simulator
Scanning dependencies of target mux
Scanning dependencies of target random_walk
Scanning dependencies of target simulator
make[2]: *** No rule to make target '/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2', needed by '/home/shiyanlou/Code/f1tenth/devel/lib/f1tenth_simulator/mux'\\u3002 \\u505c\\u6b62\\u3002
make[2]: *** \\u6b63\\u5728\\u7b49\\u5f85\\u672a\\u5b8c\\u6210\\u7684\\u4efb\\u52a1....
make[2]: *** No rule to make target '/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2', needed by '/home/shiyanlou/Code/f1tenth/devel/lib/f1tenth_simulator/random_walk'\\u3002 \\u505c\\u6b62\\u3002
make[2]: *** \\u6b63\\u5728\\u7b49\\u5f85\\u672a\\u5b8c\\u6210\\u7684\\u4efb\\u52a1....
[ 47%] Building CXX object f1tenth_simulator-master/CMakeFiles/random_walk.dir/node/random_walk.cpp.o
[ 52%] Building CXX object f1tenth_simulator-master/CMakeFiles/mux.dir/node/mux.cpp.o
make[2]: *** No rule to make target '/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2', needed by '/home/shiyanlou/Code/f1tenth/devel/lib/f1tenth_simulator/simulator'\\u3002 \\u505c\\u6b62\\u3002
make[2]: *** \\u6b63\\u5728\\u7b49\\u5f85\\u672a\\u5b8c\\u6210\\u7684\\u4efb\\u52a1....
[ 58%] Building CXX object f1tenth_simulator-master/CMakeFiles/simulator.dir/node/simulator.cpp.o
[ 58%] Built target f1tenth_simulator_generate_messages_eus
Scanning dependencies of target keyboard
make[2]: *** No rule to make target '/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2', needed by '/home/shiyanlou/Code/f1tenth/devel/lib/f1tenth_simulator/keyboard'\\u3002 \\u505c\\u6b62\\u3002
make[2]: *** \\u6b63\\u5728\\u7b49\\u5f85\\u672a\\u5b8c\\u6210\\u7684\\u4efb\\u52a1....
[ 64%] Building CXX object f1tenth_simulator-master/CMakeFiles/keyboard.dir/node/keyboard.cpp.o
/home/shiyanlou/Code/f1tenth/src/f1tenth_simulator-master/node/random_walk.cpp:59:51: warning: unused parameter \\u2018msg\\u2019 [-Wunused-parameter]
void odom_callback(const nav_msgs::Odometry & msg)
^
/home/shiyanlou/Code/f1tenth/src/f1tenth_simulator-master/node/keyboard.cpp:16:21: warning: unused parameter \\u2018not_used\\u2019 [-Wunused-parameter]
void sigHandler(int not_used)
^
CMakeFiles/Makefile2:2361: recipe for target 'f1tenth_simulator-master/CMakeFiles/keyboard.dir/all' failed
make[1]: *** [f1tenth_simulator-master/CMakeFiles/keyboard.dir/all] Error 2
make[1]: *** \\u6b63\\u5728\\u7b49\\u5f85\\u672a\\u5b8c\\u6210\\u7684\\u4efb\\u52a1....
/home/shiyanlou/Code/f1tenth/src/f1tenth_simulator-master/node/simulator.cpp: In member function \\u2018void RacecarSimulator::update_pose(const ros::TimerEvent&)\\u2019:
/home/shiyanlou/Code/f1tenth/src/f1tenth_simulator-master/node/simulator.cpp:311:36: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if (steering_buffer.size() < buffer_length)
^
CMakeFiles/Makefile2:495: recipe for target 'f1tenth_simulator-master/CMakeFiles/random_walk.dir/all' failed
make[1]: *** [f1tenth_simulator-master/CMakeFiles/random_walk.dir/all] Error 2
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make[1]: *** [f1tenth_simulator-master/CMakeFiles/mux.dir/all] Error 2
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make[1]: *** [f1tenth_simulator-master/CMakeFiles/simulator.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
shiyanlou:f1tenth/ (master*) $ catkin_make -j1 -l1 [22:53:20]
Base path: /home/shiyanlou/Code/f1tenth
Source space: /home/shiyanlou/Code/f1tenth/src
Build space: /home/shiyanlou/Code/f1tenth/build
Devel space: /home/shiyanlou/Code/f1tenth/devel
Install space: /home/shiyanlou/Code/f1tenth/install
####
#### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/f1tenth/build"
####
####
#### Running command: "make -j1 -l1" in "/home/shiyanlou/Code/f1tenth/build"
####
[ 35%] Built target f1tenth_simulator
[ 35%] Built target std_msgs_generate_messages_cpp
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[ 35%] Built target f1tenth_simulator_generate_messages_cpp
make[2]: *** No rule to make target '/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2', needed by '/home/shiyanlou/Code/f1tenth/devel/lib/f1tenth_simulator/random_walk'\\u3002 \\u505c\\u6b62\\u3002
CMakeFiles/Makefile2:495: recipe for target 'f1tenth_simulator-master/CMakeFiles/random_walk.dir/all' failed
make[1]: *** [f1tenth_simulator-master/CMakeFiles/random_walk.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1 -l1" failed
shiyanlou:f1tenth/ (master*) $ catkin_make [22:54:03]
Base path: /home/shiyanlou/Code/f1tenth
Source space: /home/shiyanlou/Code/f1tenth/src
Build space: /home/shiyanlou/Code/f1tenth/build
Devel space: /home/shiyanlou/Code/f1tenth/devel
Install space: /home/shiyanlou/Code/f1tenth/install
####
#### Running command: "make cmake_check_build_system" in "/home/shiyanlou/Code/f1tenth/build"
####
####
#### Running command: "make -j4 -l4" in "/home/shiyanlou/Code/f1tenth/build"
####
[ 0%] Built target nav_msgs_generate_messages_cpp
[ 35%] Built target f1tenth_simulator
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[ 35%] Built target sensor_msgs_generate_messages_cpp
[ 35%] Built target std_msgs_generate_messages_lisp
[ 35%] Built target nav_msgs_generate_messages_lisp
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[ 35%] Built target nav_msgs_generate_messages_eus
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[ 35%] Built target f1tenth_simulator_generate_messages_cpp
[ 41%] Built target f1tenth_simulator_generate_messages_eus
make[2]: *** No rule to make target '/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2', needed by '/home/shiyanlou/Code/f1tenth/devel/lib/f1tenth_simulator/random_walk'\\u3002 \\u505c\\u6b62\\u3002
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make[1]: *** [f1tenth_simulator-master/CMakeFiles/random_walk.dir/all] Error 2
make[1]: *** \\u6b63\\u5728\\u7b49\\u5f85\\u672a\\u5b8c\\u6210\\u7684\\u4efb\\u52a1....
make[2]: *** No rule to make target '/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2', needed by '/home/shiyanlou/Code/f1tenth/devel/lib/f1tenth_simulator/mux'\\u3002 \\u505c\\u6b62\\u3002
CMakeFiles/Makefile2:533: recipe for target 'f1tenth_simulator-master/CMakeFiles/mux.dir/all' failed
make[1]: *** [f1tenth_simulator-master/CMakeFiles/mux.dir/all] Error 2
make[2]: *** No rule to make target '/opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2', needed by '/home/shiyanlou/Code/f1tenth/devel/lib/f1tenth_simulator/simulator'\\u3002 \\u505c\\u6b62\\u3002
CMakeFiles/Makefile2:571: recipe for target 'f1tenth_simulator-master/CMakeFiles/simulator.dir/all' failed
make[1]: *** [f1tenth_simulator-master/CMakeFiles/simulator.dir/all] Error 2
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make: *** [all] Error 2
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shiyanlou:f1tenth/ (master*) $ [22:54:29]
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