ubuntu 下开源安装

常用开源库安装：

0、安装g++：

sudo apt-get install g++

1、首先不可或缺的就是编译器与基本的函式库:

sudo apt-get install build-essential

2、安装 pcl库

sudo apt-get install libpcl-dev pcl-tools    

3、安装OpenGL Utilities

sudo apt-get install libglu1-mesa-dev

4、安装OpenGL Utility Toolkit

sudo apt-get install libglut-dev

5、opencv安装

sudo apt-get install libopencv-dev python-opencv

6、cgal安装

CGAL源代码：https://github.com/CGAL/cgal

CGAL文档：https://www.cgal.org/documentation.html

大多数Linux发行版默认仓库都提供了CGAL库；Ubuntu安装CGAL：

sudo apt-get install libcgal-dev  # CGAL库

sudo apt-get install libcgal-demo # CGAL例子

解压demo：

$ mkdir $HOME/cgal    

$ cd $HOME/cgal

$ tar xzf /usr/share/doc/libcgal-demo/examples.tar.gz

$ tar xzf /usr/share/doc/libcgal-demo/demo.tar.gz

编译demo：

sudo apt install cmake build-essential

$ cd demo

$ cmake .

$ make

cmake的输出列出了各个例子缺少的依赖包：

$ sudo apt-get install qt5-default libcgal11v5 libcgal-qt5-11 libcgal-qt5-dev libcgal-ipelets

$ sudo apt-get install libgmp-dev libmpfr-dev

$ sudo apt-get install geomview

7、ros安装

1）、添加ROS源
http:/packages.ros.org/ros/ubuntu xenial main   (自己搜一下怎么添加)
sudo apt-get update     更新源。
2）、Setup your sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
3）、Set up your keys-
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
4）、Installation
sudo apt-get update

sudo apt-get install build-essential
sudo apt-get install ros-kinetic-desktop-full
5）、Initialize rosdep
sudo rosdep init
sudo rosdep fix-permissions
rosdep update
6）、Environment setup
It's convenient if the ROS environment variables are automatically added to your bash session every time a new shell is launched:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
If you have more than one ROS distribution installed, ~/.bashrc must only source the setup.bash for the version you are currently using.
If you just want to change the environment of your current shell, instead of the above you can type:
source /opt/ros/kinetic/setup.bash
If you use zsh instead of bash you need to run the following commands to set up your shell:
echo "source /opt/ros/kinetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc
7）、Dependencies for building packages
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
8）、运行小乌龟测试
新建一个终端，输入$ roscore
新建一个终端，输入$ rosrun turtlesim turtlesim_node
新建一个终端，输入$ rosrun turtlesim turtle_telelop_key
移动上下左右键， 第三个终端放在最上层 ， 看到小乌龟移动了。

8、激光Slam：

git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
git clone https://github.com/robopeak/rplidar_ros

$ sudo apt-get install ros-kinetic-robot-localization