源码安装ROS Melodic Python3 指南（转） + 安装记录

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这篇文章转自 https://blog.csdn.net/id9502/article/details/80410989

csdn真是作大死，我保存这篇博客的时候还不需要花钱就能看，现在居然要vip才能看

简直就是ros源码阅读顺序表

1. 首先安装基本依赖包：

安装ros依赖：

sudo apt install python3-rosdep2 python3-rosinstall-generator python3-rosinstall build-essential python3-defusedxml python3-netifaces

安装编译依赖：

sudo apt install libeigen3-dev libboost-thread-dev libgtest-dev libconsole-bridge-dev libpoco-dev python3-sip-dev libboost-filesystem-dev libboost-program-options-dev libtinyxml2-dev libtinyxml-dev pyqt5-dev libcurl4-openssl-dev libboost-regex-dev liblz4-dev libbz2-dev libboost-singals-dev liburdfdom-headers-dev liburdfdom-dev uuid-dev libassimp-dev libogre-1.9-dev libyaml-cpp-dev

2. 配置rosdep

mkdir setups
cd setups
touch rosdep
chmod +x ./rosdep

添加脚本内容：

#!/usr/bin/env python3

from rosdep2.main import rosdep_main
rosdep_main()

执行

sudo ./rosdep init
./rosdep update

3. 获取基本ros环境的源码

首先下载执行文件

wget https://raw.githubusercontent.com/ros-infrastructure/rosinstall_generator/master/bin/rosinstall_generator
wget https://raw.githubusercontent.com/vcstools/wstool/master/scripts/wstool
wget https://raw.githubusercontent.com/ros-infrastructure/rospkg/master/scripts/rosversion
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_find_pkg
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_create_pkg
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_generate_changelog
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_tag_changelog
wget https://raw.githubusercontent.com/ros-infrastructure/catkin_pkg/master/bin/catkin_test_changelog
chmod +x ./rosinstall_generator
chmod +x ./wstool
chmod +x ./rosversion
chmod +x ./catkin_find_pkg
chmod +x ./catkin_create_pkg
chmod +x ./catkin_generate_changelog
chmod +x ./catkin_tag_changelog
chmod +x ./catkin_test_changelog

记得修改第一行引用的python 为python3，并把下面的from _future_ import 行删除

新建总工程目录并执行ros源代码下载

mkdir ../workspace
cd ../workspace
../setups/rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
../setups/wstool init -j8 src melodic-desktop-full.rosinstall

如果安装失败的话，可以试试继续安装：

../setups/wstool update -j 8 -t src

接下来解决依赖

../setups/rosdep install --from-paths src --ignore-src --rosdistro melodic -y

4. 安装Catkin

从Github Catkin上下载源码，cmake并选择python版本为3，安装地址选为自己的环境文件夹env

export ROS_PYTHON_VERSION=3
mkdir build
cd build
cmake ..
make DESTDIR=xxxxxxx
make install

然后回到workspace目录
修改 ./src/orocos_kinematics_dynamics/python_orocos_kdl/CMakeLists.txt 中

SET(PYTHON_VERSION 2 CACHE STRING "Python Version")

改为

SET(PYTHON_VERSION 3 CACHE STRING "Python Version")

修改 src/dynamic_reconfigure/cfg/Test.cfg 和 src/nodelet_core/nodelet_topic_tools/cfg/NodeletThrottle.cfg 第一行为

#! /usr/bin/env python3

添加 regex 依赖到 src/ros_comm/rosconsole/CMakeLists.txt 72 行后（维持其他不变，添加boost_regex）

target_link_libraries(rosconsole ${rosconsole_backend_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES} boost_regex)

修改 src/vision_opencv/cv_bridge/CMakeLists.txt 11 行为

find_package(Boost REQUIRED python-py36)

../env/setup.sh 最后一行添加

export ROS_PYTHON_VERSION=3

5. 开始编译

source ../env/setup.zsh
catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
mv ../setups/* ../env/bin/

如果想更换安装地点的话，可以在最后catkin之后加 –install-space xxxxxxx

6. 开始使用ROS

以后任何新Term执行ROS命令前都要载入配置环境（也可以加入~/.bashrc或者~/.zshrc里面自动执行）

source ../env/setup.zsh

启动 ros 调度核心

roscore

开新窗口启动 rviz 来测试

rosrun rviz rviz

若能成功启动，万事大吉！

备注：rqt 系列的 ros 程序似乎没有自动修改第一行为 python3，需要手动修改。

1’. 懒人福利

简单编译后打包好的 deb 文件（不对安装结果负责，因为依赖太多了数不清，所以如果有不能运行的按照log添加添加吧，另外欢迎随意修正这个 deb），如果你和我一样用的 debian testing 系统，欢迎直接 copy 我编译完的二进制包：https://pan.baidu.com/s/1WmZAA7J-2uvSz8S9-XmdWQ

下面是我自己的安装记录================================

2019年07月28日 12:55

rosdep2 rosinstall-generator rosinstall 之类的可以找到源码自己装

也可以pip装

wstool我用源码装的

workspace我单独建了个文件夹，

rosinstall_generator desktop_full --rosdistro melodic --deps --tar > melodic-desktop-full.rosinstall
wstool init -j8 src melodic-desktop-full.rosinstall

这两句里头的melodic我都换成了kinetic，然后发现workspace文件夹下生成了一个src文件夹，以及一个

kinetic-desktop-full.rosinstall文件，内容如下：

- tar:
local-name: actionlib
uri: https://github.com/ros-gbp/actionlib-release/archive/release/kinetic/actionlib/1.11.13-0.tar.gz
version: actionlib-release-release-kinetic-actionlib-1.11.13-0
- tar:
local-name: angles
uri: https://github.com/ros-gbp/geometry_angles_utils-release/archive/release/kinetic/angles/1.9.11-0.tar.gz
version: geometry_angles_utils-release-release-kinetic-angles-1.9.11-0
- tar:
local-name: bond_core/bond
uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bond/1.8.3-0.tar.gz
version: bond_core-release-release-kinetic-bond-1.8.3-0
- tar:
local-name: bond_core/bond_core
uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bond_core/1.8.3-0.tar.gz
version: bond_core-release-release-kinetic-bond_core-1.8.3-0
- tar:
local-name: bond_core/bondcpp
uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bondcpp/1.8.3-0.tar.gz
version: bond_core-release-release-kinetic-bondcpp-1.8.3-0
- tar:
local-name: bond_core/bondpy
uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/bondpy/1.8.3-0.tar.gz
version: bond_core-release-release-kinetic-bondpy-1.8.3-0
- tar:
local-name: bond_core/smclib
uri: https://github.com/ros-gbp/bond_core-release/archive/release/kinetic/smclib/1.8.3-0.tar.gz
version: bond_core-release-release-kinetic-smclib-1.8.3-0
- tar:
local-name: catkin
uri: https://github.com/ros-gbp/catkin-release/archive/release/kinetic/catkin/0.7.18-1.tar.gz
version: catkin-release-release-kinetic-catkin-0.7.18-1
- tar:
local-name: class_loader
uri: https://github.com/ros-gbp/class_loader-release/archive/release/kinetic/class_loader/0.3.9-0.tar.gz
version: class_loader-release-release-kinetic-class_loader-0.3.9-0
- tar:
local-name: cmake_modules
uri: https://github.com/ros-gbp/cmake_modules-release/archive/release/kinetic/cmake_modules/0.4.2-0.tar.gz
version: cmake_modules-release-release-kinetic-cmake_modules-0.4.2-0
- tar:
local-name: collada_urdf/collada_parser
uri: https://github.com/ros-gbp/collada_urdf-release/archive/release/kinetic/collada_parser/1.12.12-0.tar.gz
version: collada_urdf-release-release-kinetic-collada_parser-1.12.12-0
- tar:
local-name: collada_urdf/collada_urdf
uri: https://github.com/ros-gbp/collada_urdf-release/archive/release/kinetic/collada_urdf/1.12.12-0.tar.gz
version: collada_urdf-release-release-kinetic-collada_urdf-1.12.12-0
- tar:
local-name: common_msgs/actionlib_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/actionlib_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-actionlib_msgs-1.12.7-0
- tar:
local-name: common_msgs/common_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/common_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-common_msgs-1.12.7-0
- tar:
local-name: common_msgs/diagnostic_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/diagnostic_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-diagnostic_msgs-1.12.7-0
- tar:
local-name: common_msgs/geometry_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/geometry_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-geometry_msgs-1.12.7-0
- tar:
local-name: common_msgs/nav_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/nav_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-nav_msgs-1.12.7-0
- tar:
local-name: common_msgs/sensor_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/sensor_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-sensor_msgs-1.12.7-0
- tar:
local-name: common_msgs/shape_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/shape_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-shape_msgs-1.12.7-0
- tar:
local-name: common_msgs/stereo_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/stereo_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-stereo_msgs-1.12.7-0
- tar:
local-name: common_msgs/trajectory_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/trajectory_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-trajectory_msgs-1.12.7-0
- tar:
local-name: common_msgs/visualization_msgs
uri: https://github.com/ros-gbp/common_msgs-release/archive/release/kinetic/visualization_msgs/1.12.7-0.tar.gz
version: common_msgs-release-release-kinetic-visualization_msgs-1.12.7-0
- tar:
local-name: common_tutorials/actionlib_tutorials
uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/actionlib_tutorials/0.1.10-0.tar.gz
version: common_tutorials-release-release-kinetic-actionlib_tutorials-0.1.10-0
- tar:
local-name: common_tutorials/common_tutorials
uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/common_tutorials/0.1.10-0.tar.gz
version: common_tutorials-release-release-kinetic-common_tutorials-0.1.10-0
- tar:
local-name: common_tutorials/nodelet_tutorial_math
uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/nodelet_tutorial_math/0.1.10-0.tar.gz
version: common_tutorials-release-release-kinetic-nodelet_tutorial_math-0.1.10-0
- tar:
local-name: common_tutorials/pluginlib_tutorials
uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/pluginlib_tutorials/0.1.10-0.tar.gz
version: common_tutorials-release-release-kinetic-pluginlib_tutorials-0.1.10-0
- tar:
local-name: common_tutorials/turtle_actionlib
uri: https://github.com/ros-gbp/common_tutorials-release/archive/release/kinetic/turtle_actionlib/0.1.10-0.tar.gz
version: common_tutorials-release-release-kinetic-turtle_actionlib-0.1.10-0
- tar:
local-name: control_msgs
uri: https://github.com/ros-gbp/control_msgs-release/archive/release/kinetic/control_msgs/1.5.0-0.tar.gz
version: control_msgs-release-release-kinetic-control_msgs-1.5.0-0
- tar:
local-name: diagnostics/diagnostic_aggregator
uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_aggregator/1.9.3-0.tar.gz
version: diagnostics-release-release-kinetic-diagnostic_aggregator-1.9.3-0
- tar:
local-name: diagnostics/diagnostic_analysis
uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_analysis/1.9.3-0.tar.gz
version: diagnostics-release-release-kinetic-diagnostic_analysis-1.9.3-0
- tar:
local-name: diagnostics/diagnostic_common_diagnostics
uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_common_diagnostics/1.9.3-0.tar.gz
version: diagnostics-release-release-kinetic-diagnostic_common_diagnostics-1.9.3-0
- tar:
local-name: diagnostics/diagnostic_updater
uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostic_updater/1.9.3-0.tar.gz
version: diagnostics-release-release-kinetic-diagnostic_updater-1.9.3-0
- tar:
local-name: diagnostics/diagnostics
uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/diagnostics/1.9.3-0.tar.gz
version: diagnostics-release-release-kinetic-diagnostics-1.9.3-0
- tar:
local-name: diagnostics/self_test
uri: https://github.com/ros-gbp/diagnostics-release/archive/release/kinetic/self_test/1.9.3-0.tar.gz
version: diagnostics-release-release-kinetic-self_test-1.9.3-0
- tar:
local-name: dynamic_reconfigure
uri: https://github.com/ros-gbp/dynamic_reconfigure-release/archive/release/kinetic/dynamic_reconfigure/1.5.50-0.tar.gz
version: dynamic_reconfigure-release-release-kinetic-dynamic_reconfigure-1.5.50-0
- tar:
local-name: eigen_stl_containers
uri: https://github.com/ros-gbp/eigen_stl_containers-release/archive/release/kinetic/eigen_stl_containers/0.1.8-0.tar.gz
version: eigen_stl_containers-release-release-kinetic-eigen_stl_containers-0.1.8-0
- tar:
local-name: executive_smach/executive_smach
uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/executive_smach/2.0.1-0.tar.gz
version: executive_smach-release-release-kinetic-executive_smach-2.0.1-0
- tar:
local-name: executive_smach/smach
uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/smach/2.0.1-0.tar.gz
version: executive_smach-release-release-kinetic-smach-2.0.1-0
- tar:
local-name: executive_smach/smach_msgs
uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/smach_msgs/2.0.1-0.tar.gz
version: executive_smach-release-release-kinetic-smach_msgs-2.0.1-0
- tar:
local-name: executive_smach/smach_ros
uri: https://github.com/ros-gbp/executive_smach-release/archive/release/kinetic/smach_ros/2.0.1-0.tar.gz
version: executive_smach-release-release-kinetic-smach_ros-2.0.1-0
- tar:
local-name: filters
uri: https://github.com/ros-gbp/filters-release/archive/release/kinetic/filters/1.7.5-0.tar.gz
version: filters-release-release-kinetic-filters-1.7.5-0
- tar:
local-name: gazebo_ros_pkgs/gazebo_dev
uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_dev/2.5.19-1.tar.gz
version: gazebo_ros_pkgs-release-release-kinetic-gazebo_dev-2.5.19-1
- tar:
local-name: gazebo_ros_pkgs/gazebo_msgs
uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_msgs/2.5.19-1.tar.gz
version: gazebo_ros_pkgs-release-release-kinetic-gazebo_msgs-2.5.19-1
- tar:
local-name: gazebo_ros_pkgs/gazebo_plugins
uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_plugins/2.5.19-1.tar.gz
version: gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.19-1
- tar:
local-name: gazebo_ros_pkgs/gazebo_ros
uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros/2.5.19-1.tar.gz
version: gazebo_ros_pkgs-release-release-kinetic-gazebo_ros-2.5.19-1
- tar:
local-name: gazebo_ros_pkgs/gazebo_ros_pkgs
uri: https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros_pkgs/2.5.19-1.tar.gz
version: gazebo_ros_pkgs-release-release-kinetic-gazebo_ros_pkgs-2.5.19-1
- tar:
local-name: gencpp
uri: https://github.com/ros-gbp/gencpp-release/archive/release/kinetic/gencpp/0.6.0-0.tar.gz
version: gencpp-release-release-kinetic-gencpp-0.6.0-0
- tar:
local-name: geneus
uri: https://github.com/tork-a/geneus-release/archive/release/kinetic/geneus/2.2.6-0.tar.gz
version: geneus-release-release-kinetic-geneus-2.2.6-0
- tar:
local-name: genlisp
uri: https://github.com/ros-gbp/genlisp-release/archive/release/kinetic/genlisp/0.4.16-0.tar.gz
version: genlisp-release-release-kinetic-genlisp-0.4.16-0
- tar:
local-name: genmsg
uri: https://github.com/ros-gbp/genmsg-release/archive/release/kinetic/genmsg/0.5.11-0.tar.gz
version: genmsg-release-release-kinetic-genmsg-0.5.11-0
- tar:
local-name: gennodejs
uri: https://github.com/RethinkRobotics-release/gennodejs-release/archive/release/kinetic/gennodejs/2.0.1-0.tar.gz
version: gennodejs-release-release-kinetic-gennodejs-2.0.1-0
- tar:
local-name: genpy
uri: https://github.com/ros-gbp/genpy-release/archive/release/kinetic/genpy/0.6.7-0.tar.gz
version: genpy-release-release-kinetic-genpy-0.6.7-0
- tar:
local-name: geometric_shapes
uri: https://github.com/ros-gbp/geometric_shapes-release/archive/release/kinetic/geometric_shapes/0.5.4-1.tar.gz
version: geometric_shapes-release-release-kinetic-geometric_shapes-0.5.4-1
- tar:
local-name: geometry/eigen_conversions
uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/eigen_conversions/1.11.9-0.tar.gz
version: geometry-release-release-kinetic-eigen_conversions-1.11.9-0
- tar:
local-name: geometry/geometry
uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/geometry/1.11.9-0.tar.gz
version: geometry-release-release-kinetic-geometry-1.11.9-0
- tar:
local-name: geometry/kdl_conversions
uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/kdl_conversions/1.11.9-0.tar.gz
version: geometry-release-release-kinetic-kdl_conversions-1.11.9-0
- tar:
local-name: geometry/tf
uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/tf/1.11.9-0.tar.gz
version: geometry-release-release-kinetic-tf-1.11.9-0
- tar:
local-name: geometry/tf_conversions
uri: https://github.com/ros-gbp/geometry-release/archive/release/kinetic/tf_conversions/1.11.9-0.tar.gz
version: geometry-release-release-kinetic-tf_conversions-1.11.9-0
- tar:
local-name: geometry2/tf2
uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2/0.5.20-0.tar.gz
version: geometry2-release-release-kinetic-tf2-0.5.20-0
- tar:
local-name: geometry2/tf2_eigen
uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_eigen/0.5.20-0.tar.gz
version: geometry2-release-release-kinetic-tf2_eigen-0.5.20-0
- tar:
local-name: geometry2/tf2_geometry_msgs
uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_geometry_msgs/0.5.20-0.tar.gz
version: geometry2-release-release-kinetic-tf2_geometry_msgs-0.5.20-0
- tar:
local-name: geometry2/tf2_kdl
uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_kdl/0.5.20-0.tar.gz
version: geometry2-release-release-kinetic-tf2_kdl-0.5.20-0
- tar:
local-name: geometry2/tf2_msgs
uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_msgs/0.5.20-0.tar.gz
version: geometry2-release-release-kinetic-tf2_msgs-0.5.20-0
- tar:
local-name: geometry2/tf2_py
uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_py/0.5.20-0.tar.gz
version: geometry2-release-release-kinetic-tf2_py-0.5.20-0
- tar:
local-name: geometry2/tf2_ros
uri: https://github.com/ros-gbp/geometry2-release/archive/release/kinetic/tf2_ros/0.5.20-0.tar.gz
version: geometry2-release-release-kinetic-tf2_ros-0.5.20-0
- tar:
local-name: geometry_tutorials/geometry_tutorials
uri: https://github.com/ros-gbp/geometry_tutorials-release/archive/release/kinetic/geometry_tutorials/0.2.2-0.tar.gz
version: geometry_tutorials-release-release-kinetic-geometry_tutorials-0.2.2-0
- tar:
local-name: geometry_tutorials/turtle_tf
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local-name: ros_comm/topic_tools
uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/topic_tools/1.12.14-0.tar.gz
version: ros_comm-release-release-kinetic-topic_tools-1.12.14-0
- tar:
local-name: ros_comm/xmlrpcpp
uri: https://github.com/ros-gbp/ros_comm-release/archive/release/kinetic/xmlrpcpp/1.12.14-0.tar.gz
version: ros_comm-release-release-kinetic-xmlrpcpp-1.12.14-0
- tar:
local-name: ros_comm_msgs/rosgraph_msgs
uri: https://github.com/ros-gbp/ros_comm_msgs-release/archive/release/kinetic/rosgraph_msgs/1.11.2-0.tar.gz
version: ros_comm_msgs-release-release-kinetic-rosgraph_msgs-1.11.2-0
- tar:
local-name: ros_comm_msgs/std_srvs
uri: https://github.com/ros-gbp/ros_comm_msgs-release/archive/release/kinetic/std_srvs/1.11.2-0.tar.gz
version: ros_comm_msgs-release-release-kinetic-std_srvs-1.11.2-0
- tar:
local-name: ros_environment
uri: https://github.com/ros-gbp/ros_environment-release/archive/release/kinetic/ros_environment/1.0.0-0.tar.gz
version: ros_environment-release-release-kinetic-ros_environment-1.0.0-0
- tar:
local-name: ros_tutorials/ros_tutorials
uri: https://github.com/ros-gbp/ros_tutorials-release/archive/release/kinetic/ros_tutorials/0.7.1-0.tar.gz
version: ros_tutorials-release-release-kinetic-ros_tutorials-0.7.1-0
- tar:
local-name: ros_tutorials/roscpp_tutorials
uri: https://github.com/ros-gbp/ros_tutorials-release/archive/release/kinetic/roscpp_tutorials/0.7.1-0.tar.gz
version: ros_tutorials-release-release-kinetic-roscpp_tutorials-0.7.1-0
- tar:
local-name: ros_tutorials/rospy_tutorials
uri: https://github.com/ros-gbp/ros_tutorials-release/archive/release/kinetic/rospy_tutorials/0.7.1-0.tar.gz
version: ros_tutorials-release-release-kinetic-rospy_tutorials-0.7.1-0
- tar:
local-name: ros_tutorials/turtlesim
uri: https://github.com/ros-gbp/ros_tutorials-release/archive/release/kinetic/turtlesim/0.7.1-0.tar.gz
version: ros_tutorials-release-release-kinetic-turtlesim-0.7.1-0
- tar:
local-name: rosbag_migration_rule
uri: https://github.com/ros-gbp/rosbag_migration_rule-release/archive/release/kinetic/rosbag_migration_rule/1.0.0-0.tar.gz
version: rosbag_migration_rule-release-release-kinetic-rosbag_migration_rule-1.0.0-0
- tar:
local-name: rosconsole_bridge
uri: https://github.com/ros-gbp/rosconsole_bridge-release/archive/release/kinetic/rosconsole_bridge/0.5.2-0.tar.gz
version: rosconsole_bridge-release-release-kinetic-rosconsole_bridge-0.5.2-0
- tar:
local-name: roscpp_core/cpp_common
uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/cpp_common/0.6.11-0.tar.gz
version: roscpp_core-release-release-kinetic-cpp_common-0.6.11-0
- tar:
local-name: roscpp_core/roscpp_core
uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/roscpp_core/0.6.11-0.tar.gz
version: roscpp_core-release-release-kinetic-roscpp_core-0.6.11-0
- tar:
local-name: roscpp_core/roscpp_serialization
uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/roscpp_serialization/0.6.11-0.tar.gz
version: roscpp_core-release-release-kinetic-roscpp_serialization-0.6.11-0
- tar:
local-name: roscpp_core/roscpp_traits
uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/roscpp_traits/0.6.11-0.tar.gz
version: roscpp_core-release-release-kinetic-roscpp_traits-0.6.11-0
- tar:
local-name: roscpp_core/rostime
uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/rostime/0.6.11-0.tar.gz
version: roscpp_core-release-release-kinetic-rostime-0.6.11-0
- tar:
local-name: roslint
uri: https://github.com/ros-gbp/roslint-release/archive/release/kinetic/roslint/0.11.0-0.tar.gz
version: roslint-release-release-kinetic-roslint-0.11.0-0
- tar:
local-name: roslisp
uri: https://github.com/ros-gbp/roslisp-release/archive/release/kinetic/roslisp/1.9.21-0.tar.gz
version: roslisp-release-release-kinetic-roslisp-1.9.21-0
- tar:
local-name: rospack
uri: https://github.com/ros-gbp/rospack-release/archive/release/kinetic/rospack/2.4.5-1.tar.gz
version: rospack-release-release-kinetic-rospack-2.4.5-1
- tar:
local-name: rqt/rqt_gui
uri: https://github.com/ros-gbp/rqt-release/archive/release/kinetic/rqt_gui/0.5.0-0.tar.gz
version: rqt-release-release-kinetic-rqt_gui-0.5.0-0
- tar:
local-name: rqt/rqt_gui_cpp
uri: https://github.com/ros-gbp/rqt-release/archive/release/kinetic/rqt_gui_cpp/0.5.0-0.tar.gz
version: rqt-release-release-kinetic-rqt_gui_cpp-0.5.0-0
- tar:
local-name: rqt/rqt_gui_py
uri: https://github.com/ros-gbp/rqt-release/archive/release/kinetic/rqt_gui_py/0.5.0-0.tar.gz
version: rqt-release-release-kinetic-rqt_gui_py-0.5.0-0
- tar:
local-name: rqt/rqt_py_common
uri: https://github.com/ros-gbp/rqt-release/archive/release/kinetic/rqt_py_common/0.5.0-0.tar.gz
version: rqt-release-release-kinetic-rqt_py_common-0.5.0-0
- tar:
local-name: rqt_action
uri: https://github.com/ros-gbp/rqt_action-release/archive/release/kinetic/rqt_action/0.4.9-0.tar.gz
version: rqt_action-release-release-kinetic-rqt_action-0.4.9-0
- tar:
local-name: rqt_bag/rqt_bag
uri: https://github.com/ros-gbp/rqt_bag-release/archive/release/kinetic/rqt_bag/0.4.12-0.tar.gz
version: rqt_bag-release-release-kinetic-rqt_bag-0.4.12-0
- tar:
local-name: rqt_bag/rqt_bag_plugins
uri: https://github.com/ros-gbp/rqt_bag-release/archive/release/kinetic/rqt_bag_plugins/0.4.12-0.tar.gz
version: rqt_bag-release-release-kinetic-rqt_bag_plugins-0.4.12-0
- tar:
local-name: rqt_common_plugins
uri: https://github.com/ros-gbp/rqt_common_plugins-release/archive/release/kinetic/rqt_common_plugins/0.4.8-0.tar.gz
version: rqt_common_plugins-release-release-kinetic-rqt_common_plugins-0.4.8-0
- tar:
local-name: rqt_console
uri: https://github.com/ros-gbp/rqt_console-release/archive/release/kinetic/rqt_console/0.4.8-0.tar.gz
version: rqt_console-release-release-kinetic-rqt_console-0.4.8-0
- tar:
local-name: rqt_dep
uri: https://github.com/ros-gbp/rqt_dep-release/archive/release/kinetic/rqt_dep/0.4.9-0.tar.gz
version: rqt_dep-release-release-kinetic-rqt_dep-0.4.9-0
- tar:
local-name: rqt_graph
uri: https://github.com/ros-gbp/rqt_graph-release/archive/release/kinetic/rqt_graph/0.4.9-0.tar.gz
version: rqt_graph-release-release-kinetic-rqt_graph-0.4.9-0
- tar:
local-name: rqt_image_view
uri: https://github.com/ros-gbp/rqt_image_view-release/archive/release/kinetic/rqt_image_view/0.4.13-0.tar.gz
version: rqt_image_view-release-release-kinetic-rqt_image_view-0.4.13-0
- tar:
local-name: rqt_launch
uri: https://github.com/ros-gbp/rqt_launch-release/archive/release/kinetic/rqt_launch/0.4.8-0.tar.gz
version: rqt_launch-release-release-kinetic-rqt_launch-0.4.8-0
- tar:
local-name: rqt_logger_level
uri: https://github.com/ros-gbp/rqt_logger_level-release/archive/release/kinetic/rqt_logger_level/0.4.8-0.tar.gz
version: rqt_logger_level-release-release-kinetic-rqt_logger_level-0.4.8-0
- tar:
local-name: rqt_moveit
uri: https://github.com/ros-gbp/rqt_moveit-release/archive/release/kinetic/rqt_moveit/0.5.7-0.tar.gz
version: rqt_moveit-release-release-kinetic-rqt_moveit-0.5.7-0
- tar:
local-name: rqt_msg
uri: https://github.com/ros-gbp/rqt_msg-release/archive/release/kinetic/rqt_msg/0.4.8-0.tar.gz
version: rqt_msg-release-release-kinetic-rqt_msg-0.4.8-0
- tar:
local-name: rqt_nav_view
uri: https://github.com/ros-gbp/rqt_nav_view-release/archive/release/kinetic/rqt_nav_view/0.5.7-0.tar.gz
version: rqt_nav_view-release-release-kinetic-rqt_nav_view-0.5.7-0
- tar:
local-name: rqt_plot
uri: https://github.com/ros-gbp/rqt_plot-release/archive/release/kinetic/rqt_plot/0.4.8-0.tar.gz
version: rqt_plot-release-release-kinetic-rqt_plot-0.4.8-0
- tar:
local-name: rqt_pose_view
uri: https://github.com/ros-gbp/rqt_pose_view-release/archive/release/kinetic/rqt_pose_view/0.5.8-0.tar.gz
version: rqt_pose_view-release-release-kinetic-rqt_pose_view-0.5.8-0
- tar:
local-name: rqt_publisher
uri: https://github.com/ros-gbp/rqt_publisher-release/archive/release/kinetic/rqt_publisher/0.4.8-0.tar.gz
version: rqt_publisher-release-release-kinetic-rqt_publisher-0.4.8-0
- tar:
local-name: rqt_py_console
uri: https://github.com/ros-gbp/rqt_py_console-release/archive/release/kinetic/rqt_py_console/0.4.8-0.tar.gz
version: rqt_py_console-release-release-kinetic-rqt_py_console-0.4.8-0
- tar:
local-name: rqt_reconfigure
uri: https://github.com/ros-gbp/rqt_reconfigure-release/archive/release/kinetic/rqt_reconfigure/0.4.10-0.tar.gz
version: rqt_reconfigure-release-release-kinetic-rqt_reconfigure-0.4.10-0
- tar:
local-name: rqt_robot_dashboard
uri: https://github.com/ros-gbp/rqt_robot_dashboard-release/archive/release/kinetic/rqt_robot_dashboard/0.5.7-0.tar.gz
version: rqt_robot_dashboard-release-release-kinetic-rqt_robot_dashboard-0.5.7-0
- tar:
local-name: rqt_robot_monitor
uri: https://github.com/ros-gbp/rqt_robot_monitor-release/archive/release/kinetic/rqt_robot_monitor/0.5.8-1.tar.gz
version: rqt_robot_monitor-release-release-kinetic-rqt_robot_monitor-0.5.8-1
- tar:
local-name: rqt_robot_plugins
uri: https://github.com/ros-gbp/rqt_robot_plugins-release/archive/release/kinetic/rqt_robot_plugins/0.5.7-0.tar.gz
version: rqt_robot_plugins-release-release-kinetic-rqt_robot_plugins-0.5.7-0
- tar:
local-name: rqt_robot_steering
uri: https://github.com/ros-gbp/rqt_robot_steering-release/archive/release/kinetic/rqt_robot_steering/0.5.9-0.tar.gz
version: rqt_robot_steering-release-release-kinetic-rqt_robot_steering-0.5.9-0
- tar:
local-name: rqt_runtime_monitor
uri: https://github.com/ros-gbp/rqt_runtime_monitor-release/archive/release/kinetic/rqt_runtime_monitor/0.5.7-0.tar.gz
version: rqt_runtime_monitor-release-release-kinetic-rqt_runtime_monitor-0.5.7-0
- tar:
local-name: rqt_rviz
uri: https://github.com/ros-gbp/rqt_rviz-release/archive/release/kinetic/rqt_rviz/0.5.10-0.tar.gz
version: rqt_rviz-release-release-kinetic-rqt_rviz-0.5.10-0
- tar:
local-name: rqt_service_caller
uri: https://github.com/ros-gbp/rqt_service_caller-release/archive/release/kinetic/rqt_service_caller/0.4.8-0.tar.gz
version: rqt_service_caller-release-release-kinetic-rqt_service_caller-0.4.8-0
- tar:
local-name: rqt_shell
uri: https://github.com/ros-gbp/rqt_shell-release/archive/release/kinetic/rqt_shell/0.4.9-0.tar.gz
version: rqt_shell-release-release-kinetic-rqt_shell-0.4.9-0
- tar:
local-name: rqt_srv
uri: https://github.com/ros-gbp/rqt_srv-release/archive/release/kinetic/rqt_srv/0.4.8-0.tar.gz
version: rqt_srv-release-release-kinetic-rqt_srv-0.4.8-0
- tar:
local-name: rqt_tf_tree
uri: https://github.com/ros-gbp/rqt_tf_tree-release/archive/release/kinetic/rqt_tf_tree/0.6.0-0.tar.gz
version: rqt_tf_tree-release-release-kinetic-rqt_tf_tree-0.6.0-0
- tar:
local-name: rqt_top
uri: https://github.com/ros-gbp/rqt_top-release/archive/release/kinetic/rqt_top/0.4.8-0.tar.gz
version: rqt_top-release-release-kinetic-rqt_top-0.4.8-0
- tar:
local-name: rqt_topic
uri: https://github.com/ros-gbp/rqt_topic-release/archive/release/kinetic/rqt_topic/0.4.10-0.tar.gz
version: rqt_topic-release-release-kinetic-rqt_topic-0.4.10-0
- tar:
local-name: rqt_web
uri: https://github.com/ros-gbp/rqt_web-release/archive/release/kinetic/rqt_web/0.4.8-0.tar.gz
version: rqt_web-release-release-kinetic-rqt_web-0.4.8-0
- tar:
local-name: rviz
uri: https://github.com/ros-gbp/rviz-release/archive/release/kinetic/rviz/1.12.17-0.tar.gz
version: rviz-release-release-kinetic-rviz-1.12.17-0
- tar:
local-name: stage
uri: https://github.com/ros-gbp/stage-release/archive/release/kinetic/stage/4.1.1-1.tar.gz
version: stage-release-release-kinetic-stage-4.1.1-1
- tar:
local-name: stage_ros
uri: https://github.com/ros-gbp/stage_ros-release/archive/release/kinetic/stage_ros/1.7.5-0.tar.gz
version: stage_ros-release-release-kinetic-stage_ros-1.7.5-0
- tar:
local-name: std_msgs
uri: https://github.com/ros-gbp/std_msgs-release/archive/release/kinetic/std_msgs/0.5.11-0.tar.gz
version: std_msgs-release-release-kinetic-std_msgs-0.5.11-0
- tar:
local-name: urdf/urdf
uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf/1.12.12-0.tar.gz
version: urdf-release-release-kinetic-urdf-1.12.12-0
- tar:
local-name: urdf/urdf_parser_plugin
uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf_parser_plugin/1.12.12-0.tar.gz
version: urdf-release-release-kinetic-urdf_parser_plugin-1.12.12-0
- tar:
local-name: urdf_tutorial/urdf_tutorial
uri: https://github.com/ros-gbp/urdf_tutorial-release/archive/release/kinetic/urdf_tutorial/0.3.0-1.tar.gz
version: urdf_tutorial-release-release-kinetic-urdf_tutorial-0.3.0-1
- tar:
local-name: vision_opencv/cv_bridge
uri: https://github.com/ros-gbp/vision_opencv-release/archive/release/kinetic/cv_bridge/1.12.8-0.tar.gz
version: vision_opencv-release-release-kinetic-cv_bridge-1.12.8-0
- tar:
local-name: vision_opencv/image_geometry
uri: https://github.com/ros-gbp/vision_opencv-release/archive/release/kinetic/image_geometry/1.12.8-0.tar.gz
version: vision_opencv-release-release-kinetic-image_geometry-1.12.8-0
- tar:
local-name: vision_opencv/vision_opencv
uri: https://github.com/ros-gbp/vision_opencv-release/archive/release/kinetic/vision_opencv/1.12.8-0.tar.gz
version: vision_opencv-release-release-kinetic-vision_opencv-1.12.8-0
- tar:
local-name: visualization_tutorials/interactive_marker_tutorials
uri: https://github.com/ros-gbp/visualization_tutorials-release/archive/release/kinetic/interactive_marker_tutorials/0.10.3-0.tar.gz
version: visualization_tutorials-release-release-kinetic-interactive_marker_tutorials-0.10.3-0
- tar:
local-name: visualization_tutorials/librviz_tutorial
uri: https://github.com/ros-gbp/visualization_tutorials-release/archive/release/kinetic/librviz_tutorial/0.10.3-0.tar.gz
version: visualization_tutorials-release-release-kinetic-librviz_tutorial-0.10.3-0
- tar:
local-name: visualization_tutorials/rviz_plugin_tutorials
uri: https://github.com/ros-gbp/visualization_tutorials-release/archive/release/kinetic/rviz_plugin_tutorials/0.10.3-0.tar.gz
version: visualization_tutorials-release-release-kinetic-rviz_plugin_tutorials-0.10.3-0
- tar:
local-name: visualization_tutorials/rviz_python_tutorial
uri: https://github.com/ros-gbp/visualization_tutorials-release/archive/release/kinetic/rviz_python_tutorial/0.10.3-0.tar.gz
version: visualization_tutorials-release-release-kinetic-rviz_python_tutorial-0.10.3-0
- tar:
local-name: visualization_tutorials/visualization_marker_tutorials
uri: https://github.com/ros-gbp/visualization_tutorials-release/archive/release/kinetic/visualization_marker_tutorials/0.10.3-0.tar.gz
version: visualization_tutorials-release-release-kinetic-visualization_marker_tutorials-0.10.3-0
- tar:
local-name: visualization_tutorials/visualization_tutorials
uri: https://github.com/ros-gbp/visualization_tutorials-release/archive/release/kinetic/visualization_tutorials/0.10.3-0.tar.gz
version: visualization_tutorials-release-release-kinetic-visualization_tutorials-0.10.3-0
- tar:
local-name: webkit_dependency
uri: https://github.com/ros-gbp/webkit_dependency-release/archive/release/kinetic/webkit_dependency/1.1.0-0.tar.gz
version: webkit_dependency-release-release-kinetic-webkit_dependency-1.1.0-0
- tar:
local-name: xacro
uri: https://github.com/ros-gbp/xacro-release/archive/release/kinetic/xacro/1.11.3-0.tar.gz
version: xacro-release-release-kinetic-xacro-1.11.3-0

wstool init -j8 src melodic-desktop-full.rosinstall 的作用相当于是下载源代码

开始执行这一句之后src文件夹下就出现了上马rosinstall文件里描述的各个包的源码，

这些源码要下很长时间，估计如果不想要所有的包，上面的desktop_full可以控制生成的

rosinstall的内容，不要full，只要一部分的包。

这些包里头最基础的两个包应该就是 ros 、 ros_comm 、 ros_comm_msgs 等

这几个包了

wstool update -j 8 -t src 可以从断点处继续下载这些包。

src文件夹下各个包的组织形式看起来已经是package的样子了。

源码下载我下了很久也没下完，跳过，试着运行下一步。

rosdep install --from-paths src --ignore-src --rosdistro melodic -y

运行这一句的时候会报错，当然要报错了，因为我有些包都没下完。报错信息大概

如下：

scj@scjComputer:~/myROS/workspace$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
nodelet_tutorial_math: No definition of [std_msgs] for OS [debian]
depth_image_proc: No definition of [image_geometry] for OS [debian]
gazebo_msgs: No definition of [std_msgs] for OS [debian]
compressed_image_transport: No definition of [cv_bridge] for OS [debian]
orocos_kdl: No definition of [eigen] for OS version []
eigen_conversions: No definition of [std_msgs] for OS [debian]
ros_comm: No definition of [roslisp] for OS [debian]
rosbag: No definition of [boost] for OS version []
kdl_parser: No definition of [urdf] for OS [debian]
gazebo_ros: No definition of [std_msgs] for OS [debian] 略

看了报错信息，看了下src文件夹下已经下载的包，应该是相符的。

后面的catkin安装，又碰到了一些找错了python版本，找不到一些包，安装目录

的设置等问题，都是常见问题。

报没有empy 设置可执行文件路路径为：

/home/scj/anaconda3/lib/python3.6/site-packages/em.py

报找不到caktin_pkg，可我明明已经装了，那就找到导入了catkin_pkg的地方，

插入下面两句：

import sys

sys.path.append("/home/scj/anaconda3/lib/python3.6/site-packages")

我的catkin_pkg就是装在这个地方

zsh的问题没搞定，直接source sh了，然后还有报错 error: option --install-layout not recognized :

https://github.com/ros/catkin/issues/863

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~ traversing 160 packages in topological order:
~~ - catkin
~~ - genmsg
~~ - gencpp
~~ - geneus
~~ - genlisp
~~ - gennodejs
~~ - genpy
~~ - bond_core
~~ - cmake_modules
~~ - class_loader
~~ - common_msgs
~~ - common_tutorials
~~ - desktop
~~ - desktop_full
~~ - diagnostics
~~ - eigen_stl_containers
~~ - executive_smach
~~ - gazebo_dev
~~ - gazebo_ros_pkgs
~~ - geometry
~~ - geometry_tutorials
~~ - gl_dependency
~~ - image_common
~~ - image_pipeline
~~ - image_transport_plugins
~~ - laser_pipeline
~~ - media_export
~~ - message_generation
~~ - actionlib_msgs
~~ - bond
~~ - diagnostic_msgs
~~ - geometry_msgs
~~ - message_runtime
~~ - mk
~~ - nav_msgs
~~ - nodelet_core
~~ - octomap (plain cmake)
~~ - orocos_kdl (plain cmake)
~~ - eigen_conversions
~~ - kdl_conversions
~~ - perception
~~ - perception_pcl
~~ - python_orocos_kdl (plain cmake)
~~ - qt_dotgraph
~~ - qt_gui
~~ - qt_gui_py_common
~~ - qwt_dependency
~~ - random_numbers
~~ - robot
~~ - robot_model
~~ - ros
~~ - ros_base
~~ - ros_comm
~~ - ros_core
~~ - rosbash
~~ - rosboost_cfg
~~ - rosbuild
~~ - python_qt_binding
~~ - rosclean
~~ - roscreate
~~ - rosgraph
~~ - rosgraph_msgs
~~ - roslang
~~ - roslaunch
~~ - rosmake
~~ - roslib
~~ - rosmaster
~~ - rosmsg
~~ - rosparam
~~ - rospy
~~ - rosservice
~~ - rosunit
~~ - angles
~~ - rosconsole
~~ - collada_parser
~~ - pluginlib
~~ - qt_gui_cpp
~~ - resource_retriever
~~ - roslz4
~~ - rosbag_storage
~~ - rostest
~~ - shape_msgs
~~ - simulators
~~ - smach
~~ - smach_msgs
~~ - smclib
~~ - std_srvs
~~ - tf2_msgs
~~ - tf2
~~ - tf2_eigen
~~ - trajectory_msgs
~~ - control_msgs
~~ - visualization_msgs
~~ - geometric_shapes
~~ - collada_urdf
~~ - viz
~~ - xmlrpcpp
~~ - roscpp
~~ - bondcpp
~~ - bondpy
~~ - nodelet
~~ - nodelet_tutorial_math
~~ - pluginlib_tutorials
~~ - rosout
~~ - camera_calibration
~~ - diagnostic_aggregator
~~ - diagnostic_updater
~~ - diagnostic_common_diagnostics
~~ - dynamic_reconfigure
~~ - filters
~~ - joint_state_publisher
~~ - kdl_parser
~~ - message_filters
~~ - rosnode
~~ - rostopic
~~ - roswtf
~~ - self_test
~~ - smach_ros
~~ - tf2_py
~~ - topic_tools
~~ - rosbag
~~ - actionlib
~~ - actionlib_tutorials
~~ - diagnostic_analysis
~~ - nodelet_topic_tools
~~ - sensor_msgs
~~ - camera_calibration_parsers
~~ - gazebo_msgs
~~ - image_transport
~~ - camera_info_manager
~~ - compressed_depth_image_transport
~~ - compressed_image_transport
~~ - image_proc
~~ - image_publisher
~~ - map_msgs
~~ - pcl_msgs
~~ - pcl_conversions
~~ - polled_camera
~~ - stereo_msgs
~~ - image_view
~~ - stereo_image_proc
~~ - tf2_ros
~~ - depth_image_proc
~~ - tf
~~ - gazebo_plugins
~~ - gazebo_ros
~~ - interactive_markers
~~ - laser_geometry
~~ - laser_assembler
~~ - laser_filters
~~ - pcl_ros
~~ - tf2_geometry_msgs
~~ - image_rotate
~~ - tf2_kdl
~~ - robot_state_publisher
~~ - tf_conversions
~~ - theora_image_transport
~~ - turtle_actionlib
~~ - turtle_tf
~~ - turtle_tf2