带着几个思考问题：
（1）IMU数据的使用，如何融合，Kalman滤波？
（2）图优化的具体实现，闭环检测的策略？
（3）3D激光的接入和闭环策略？
1. 安装Kdevelop工具：
http://blog.csdn.net/p942005405/article/details/75715288
http://blog.csdn.net/wan_exe/article/details/56275108
1 yhexie@ubuntu:~$ sudo apt-get install kdevelop 2 [sudo] password for yhexie: 3 Reading package lists... Done 4 Building dependency tree 5 Reading state information... Done 6 The following additional packages will be installed: 7 breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra 8 icoutils kactivities kapptemplate kate-data katepart kde-runtime 9 kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin 10 kdelibs5-data kdelibs5-plugins kdevelop-data kdevplatform8-libs kdoctools 11 kpackagelauncherqml kpackagetool5 kwayland-data kwayland-integration 12 libattica0.4 libdbusmenu-qt2 libdbusmenu-qt5 libdlrestrictions1 libfam0 13 libgrantlee-core0 libkactivities6 libkatepartinterfaces4 libkcmutils4 14 libkde3support4 libkdeclarative5 libkdecore5 libkdesu5 libkdeui5 15 libkdewebkit5 libkdnssd4 libkemoticons4 libkf5activities5 libkf5archive5 16 libkf5attica5 libkf5auth-data libkf5auth5 libkf5calendarevents5 17 libkf5codecs-data libkf5codecs5 libkf5completion-data libkf5completion5 18 libkf5config-bin libkf5config-data libkf5configcore5 libkf5configgui5 19 libkf5configwidgets-data libkf5configwidgets5 libkf5coreaddons-data 20 libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin libkf5dbusaddons-data 21 libkf5dbusaddons5 libkf5declarative-data libkf5declarative5 22 libkf5globalaccel-bin libkf5globalaccel-data libkf5globalaccel5 23 libkf5globalaccelprivate5 libkf5guiaddons5 libkf5i18n-data libkf5i18n5 24 libkf5iconthemes-bin libkf5iconthemes-data libkf5iconthemes5 libkf5idletime5 25 libkf5itemviews-data libkf5itemviews5 libkf5jobwidgets-data 26 libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5 libkf5notifications-data 27 libkf5notifications5 libkf5package-data libkf5package5 libkf5plasma5 28 libkf5plasmaquick5 libkf5quickaddons5 libkf5service-bin libkf5service-data 29 libkf5service5 libkf5sonnet5-data libkf5sonnetcore5 libkf5sonnetui5 30 libkf5style5 libkf5textwidgets-data libkf5textwidgets5 libkf5waylandclient5 31 libkf5widgetsaddons-data libkf5widgetsaddons5 libkf5windowsystem-data 32 libkf5windowsystem5 libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5 33 libkfile4 libkhtml5 libkio5 libkjsapi4 libkjsembed4 libkmediaplayer4 34 libknewstuff3-4 libknotifyconfig4 libkntlm4 libkparts4 libkpty4 35 libkrosscore4 libktexteditor4 libkxmlrpcclient4 libnl-route-3-200 36 libntrack-qt4-1 libntrack0 libphonon4 libphonon4qt5-4 libplasma3 37 libpolkit-qt-1-1 libpolkit-qt5-1-1 libqca2 libqca2-plugins libqjson0 38 libqt5waylandclient5 libsolid4 libstreamanalyzer0v5 libstreams0v5 39 libsublime8 libthreadweaver4 libvoikko1 libxcb-composite0 libxcb-damage0 40 ntrack-module-libnl-0 oxygen-icon-theme oxygen5-icon-theme phonon 41 phonon-backend-gstreamer phonon-backend-gstreamer-common plasma-framework 42 plasma-scriptengine-javascript qml-module-org-kde-activities 43 qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons 44 qml-module-qtquick-controls qml-module-qtquick-dialogs 45 qml-module-qtquick-layouts qml-module-qtquick-privatewidgets 46 qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data 47 sonnet-plugins 48 Suggested packages: 49 docbook docbook-dsssl docbook-defguide dbtoepub docbook-xsl-doc-html 50 | docbook-xsl-doc-pdf | docbook-xsl-doc-text | docbook-xsl-doc 51 docbook-xsl-saxon fop libsaxon-java libxalan2-java libxslthl-java xalan 52 libterm-readline-gnu-perl | libterm-readline-perl-perl kio-dev djvulibre-bin 53 finger kdevelop-l10n cvs kdevplatform-l10n konsole fam hspell voikko-fi 54 phonon-backend-mplayer phonon-backend-vlc gstreamer1.0-plugins-ugly 55 phonon4qt5-backend-gstreamer perlsgml w3-recs opensp 56 The following NEW packages will be installed: 57 breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra 58 icoutils kactivities kapptemplate kate-data katepart kde-runtime 59 kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin 60 kdelibs5-data kdelibs5-plugins kdevelop kdevelop-data kdevplatform8-libs 61 kdoctools kpackagelauncherqml kpackagetool5 kwayland-data 62 kwayland-integration libattica0.4 libdbusmenu-qt2 libdbusmenu-qt5 63 libdlrestrictions1 libfam0 libgrantlee-core0 libkactivities6 64 libkatepartinterfaces4 libkcmutils4 libkde3support4 libkdeclarative5 65 libkdecore5 libkdesu5 libkdeui5 libkdewebkit5 libkdnssd4 libkemoticons4 66 libkf5activities5 libkf5archive5 libkf5attica5 libkf5auth-data libkf5auth5 67 libkf5calendarevents5 libkf5codecs-data libkf5codecs5 libkf5completion-data 68 libkf5completion5 libkf5config-bin libkf5config-data libkf5configcore5 69 libkf5configgui5 libkf5configwidgets-data libkf5configwidgets5 70 libkf5coreaddons-data libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin 71 libkf5dbusaddons-data libkf5dbusaddons5 libkf5declarative-data 72 libkf5declarative5 libkf5globalaccel-bin libkf5globalaccel-data 73 libkf5globalaccel5 libkf5globalaccelprivate5 libkf5guiaddons5 74 libkf5i18n-data libkf5i18n5 libkf5iconthemes-bin libkf5iconthemes-data 75 libkf5iconthemes5 libkf5idletime5 libkf5itemviews-data libkf5itemviews5 76 libkf5jobwidgets-data libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5 77 libkf5notifications-data libkf5notifications5 libkf5package-data 78 libkf5package5 libkf5plasma5 libkf5plasmaquick5 libkf5quickaddons5 79 libkf5service-bin libkf5service-data libkf5service5 libkf5sonnet5-data 80 libkf5sonnetcore5 libkf5sonnetui5 libkf5style5 libkf5textwidgets-data 81 libkf5textwidgets5 libkf5waylandclient5 libkf5widgetsaddons-data 82 libkf5widgetsaddons5 libkf5windowsystem-data libkf5windowsystem5 83 libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5 libkfile4 libkhtml5 libkio5 84 libkjsapi4 libkjsembed4 libkmediaplayer4 libknewstuff3-4 libknotifyconfig4 85 libkntlm4 libkparts4 libkpty4 libkrosscore4 libktexteditor4 86 libkxmlrpcclient4 libnl-route-3-200 libntrack-qt4-1 libntrack0 libphonon4 87 libphonon4qt5-4 libplasma3 libpolkit-qt-1-1 libpolkit-qt5-1-1 libqca2 88 libqca2-plugins libqjson0 libqt5waylandclient5 libsolid4 89 libstreamanalyzer0v5 libstreams0v5 libsublime8 libthreadweaver4 libvoikko1 90 libxcb-composite0 libxcb-damage0 ntrack-module-libnl-0 oxygen-icon-theme 91 oxygen5-icon-theme phonon phonon-backend-gstreamer 92 phonon-backend-gstreamer-common plasma-framework 93 plasma-scriptengine-javascript qml-module-org-kde-activities 94 qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons 95 qml-module-qtquick-controls qml-module-qtquick-dialogs 96 qml-module-qtquick-layouts qml-module-qtquick-privatewidgets 97 qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data 98 sonnet-plugins 99 0 upgraded, 161 newly installed, 0 to remove and 201 not upgraded. 100 Need to get 82.5 MB of archives. 101 After this operation, 310 MB of additional disk space will be used. 102 Do you want to continue? [Y/n] Y 103 Get:1 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqjson0 amd64 0.8.1-3 [63.7 kB] 104 Get:2 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-layouts amd64 5.5.1-1ubuntu1 [30.1 kB] 105 Get:3 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-window2 amd64 5.5.1-2ubuntu6 [16.4 kB] 106 Get:4 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick2 amd64 5.5.1-2ubuntu6 [35.8 kB] 107 Get:5 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-controls amd64 5.5.1-1ubuntu1 [643 kB] 108 Get:6 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 sgml-data all 2.0.10 [173 kB] 109 Get:7 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xml all 4.5-7.3 [74.4 kB] 110 Get:8 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xsl all 1.79.1+dfsg-1 [1,077 kB] 111 Get:9 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 fonts-dejavu-extra all 2.35-1 [1,749 kB] 112 Get:10 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 fonts-dejavu all 2.35-1 [3,184 B] 113 Get:11 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 icoutils amd64 0.31.0-3 [56.7 kB] 114 Get:12 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5declarative-data all 5.18.0-0ubuntu1 [49.1 kB] 115 Get:13 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5config-data all 5.18.0-0ubuntu1 [70.4 kB] 116 Get:14 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configcore5 amd64 5.18.0-0ubuntu1 [110 kB] 117 Get:15 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5i18n-data all 5.18.0-0ubuntu1 [1,032 kB] 118 Get:16 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5i18n5 amd64 5.18.0-0ubuntu1 [109 kB] 119 Get:17 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes-data all 5.18.0-0ubuntu1 [30.2 kB] 120 Get:18 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configwidgets-data all 5.18.0-0ubuntu1 [189 kB] 121 Get:19 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5auth-data all 5.18.0-0ubuntu2 [24.7 kB] 122 Get:20 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5coreaddons-data all 5.18.0-0ubuntu1.1 [122 kB] 123 Get:21 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libfam0 amd64 2.7.0-17.1 [17.1 kB] 124 Get:22 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5coreaddons5 amd64 5.18.0-0ubuntu1.1 [190 kB] 125 Get:23 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libpolkit-qt5-1-1 amd64 0.112.0-4 [54.0 kB] 126 Get:24 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5auth5 amd64 5.18.0-0ubuntu2 [46.0 kB] 127 Get:25 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5codecs-data all 5.18.0-0ubuntu1 [56.0 kB] 128 Get:26 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5codecs5 amd64 5.18.0-0ubuntu1 [87.7 kB] 129 Get:27 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configgui5 amd64 5.18.0-0ubuntu1 [38.6 kB] 130 Get:28 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5guiaddons5 amd64 5.18.0-0ubuntu1 [37.6 kB] 131 Get:29 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5widgetsaddons-data all 5.18.0-0ubuntu1 [1,252 kB] 132 Get:30 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5widgetsaddons5 amd64 5.18.0-0ubuntu1 [343 kB] 133 Get:31 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configwidgets5 amd64 5.18.0-0ubuntu1 [112 kB] 134 Get:32 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5itemviews-data all 5.18.0-0ubuntu1 [13.9 kB] 135 Get:33 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5itemviews5 amd64 5.18.0-0ubuntu1 [71.3 kB] 136 Get:34 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes5 amd64 5.18.0-0ubuntu1 [76.6 kB] 137 Get:35 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5completion-data all 5.18.0-0ubuntu1 [22.2 kB] 138 Get:36 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5completion5 amd64 5.18.0-0ubuntu1 [69.2 kB] 139 Get:37 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5jobwidgets-data all 5.18.0-0ubuntu1 [52.2 kB] 140 Get:38 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5jobwidgets5 amd64 5.18.0-0ubuntu1 [46.9 kB] 141 Get:39 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons-data all 5.18.0-0ubuntu1 [13.1 kB] 142 Get:40 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons5 amd64 5.18.0-0ubuntu1 [22.5 kB] 143 Get:41 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5windowsystem-data all 5.18.0-0ubuntu1 [10.3 kB] 144 Get:42 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5windowsystem5 amd64 5.18.0-0ubuntu1 [122 kB] 145 Get:43 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5crash5 amd64 5.18.0-0ubuntu1 [12.8 kB] 146 Get:44 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service-data all 5.18.0-0ubuntu1 [61.6 kB] 147 Get:45 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service5 amd64 5.18.0-0ubuntu1 [188 kB] 148 Get:46 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service-bin amd64 5.18.0-0ubuntu1 [24.0 kB] 149 Get:47 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5kiocore5 amd64 5.18.0-0ubuntu1.1 [411 kB] 150 Get:48 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5kiowidgets5 amd64 5.18.0-0ubuntu1.1 [331 kB] 151 Get:49 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5package-data all 5.18.0-0ubuntu1 [59.4 kB] 152 Get:50 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5archive5 amd64 5.18.0-0ubuntu1.1 [75.7 kB] 153 Get:51 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5package5 amd64 5.18.0-0ubuntu1 [51.7 kB] 154 Get:52 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5declarative5 amd64 5.18.0-0ubuntu1 [27.7 kB] 155 Get:53 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-privatewidgets amd64 5.5.1-1ubuntu1 [38.9 kB] 156 Get:54 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-dialogs amd64 5.5.1-1ubuntu1 [89.0 kB] 157 Get:55 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel-data all 5.18.0-0ubuntu1 [31.7 kB] 158 Get:56 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel5 amd64 5.18.0-0ubuntu1 [44.5 kB] 159 Get:57 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-kquickcontrols amd64 5.18.0-0ubuntu1 [25.4 kB] 160 Get:58 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5quickaddons5 amd64 5.18.0-0ubuntu1 [23.4 kB] 161 Get:59 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-kquickcontrolsaddons amd64 5.18.0-0ubuntu1 [59.0 kB] 162 Get:60 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5activities5 amd64 5.18.0-0ubuntu1 [54.2 kB] 163 Get:61 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5calendarevents5 amd64 5.18.0-0ubuntu1 [10.3 kB] 164 Get:62 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5notifications-data all 5.18.0-0ubuntu1 [20.4 kB] 165 Get:63 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libdbusmenu-qt5 amd64 0.9.3+16.04.20160218-0ubuntu1 [66.8 kB] 166 Get:64 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4qt5-4 amd64 4:4.8.3-0ubuntu3 [145 kB] 167 Get:65 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5notifications5 amd64 5.18.0-0ubuntu1 [89.3 kB] 168 Get:66 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui-data all 5.18.0-0ubuntu1 [367 kB] 169 Get:67 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5attica5 amd64 5.18.0-0ubuntu1 [134 kB] 170 Get:68 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5textwidgets-data all 5.18.0-0ubuntu1 [173 kB] 171 Get:69 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnet5-data all 5.18.0-0ubuntu1 [160 kB] 172 Get:70 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnetcore5 amd64 5.18.0-0ubuntu1 [44.9 kB] 173 Get:71 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnetui5 amd64 5.18.0-0ubuntu1 [41.0 kB] 174 Get:72 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5textwidgets5 amd64 5.18.0-0ubuntu1 [75.1 kB] 175 Get:73 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui5 amd64 5.18.0-0ubuntu1 [291 kB] 176 Get:74 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5plasma5 amd64 5.18.0-0ubuntu1.1 [217 kB] 177 Get:75 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5plasmaquick5 amd64 5.18.0-0ubuntu1.1 [94.7 kB] 178 Get:76 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libxcb-composite0 amd64 1.11.1-1ubuntu1 [5,100 B] 179 Get:77 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libxcb-damage0 amd64 1.11.1-1ubuntu1 [4,784 B] 180 Get:78 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 plasma-framework amd64 5.18.0-0ubuntu1.1 [3,377 kB] 181 Get:79 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-activities amd64 5.18.0-0ubuntu1 [72.8 kB] 182 Get:80 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kactivities amd64 5.18.0-0ubuntu1 [215 kB] 183 Get:81 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kapptemplate amd64 4:15.12.3-0ubuntu1 [857 kB] 184 Get:82 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kate-data all 4:4.14.3-0ubuntu4 [1,461 kB] 185 Get:83 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libdlrestrictions1 amd64 0.15.20~ubuntu4 [10.6 kB] 186 Get:84 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdecore5 amd64 4:4.14.16-0ubuntu3.2 [934 kB] 187 Get:85 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libattica0.4 amd64 0.4.2-2 [175 kB] 188 Get:86 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libdbusmenu-qt2 amd64 0.9.3+16.04.20160218-0ubuntu1 [73.3 kB] 189 Get:87 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdeui5 amd64 4:4.14.16-0ubuntu3.2 [1,314 kB] 190 Get:88 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkcmutils4 amd64 4:4.14.16-0ubuntu3.2 [96.5 kB] 191 Get:89 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libsolid4 amd64 4:4.14.16-0ubuntu3.2 [276 kB] 192 Get:90 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libstreams0v5 amd64 0.7.8-2ubuntu1 [80.6 kB] 193 Get:91 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libstreamanalyzer0v5 amd64 0.7.8-2ubuntu1 [274 kB] 194 Get:92 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkio5 amd64 4:4.14.16-0ubuntu3.2 [865 kB] 195 Get:93 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libknewstuff3-4 amd64 4:4.14.16-0ubuntu3.2 [164 kB] 196 Get:94 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkparts4 amd64 4:4.14.16-0ubuntu3.2 [123 kB] 197 Get:95 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libktexteditor4 amd64 4:4.14.16-0ubuntu3.2 [97.1 kB] 198 Get:96 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkatepartinterfaces4 amd64 4:4.14.3-0ubuntu4 [864 kB] 199 Get:97 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 katepart amd64 4:4.14.3-0ubuntu4 [62.6 kB] 200 Get:98 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 breeze-icon-theme amd64 4:5.18.0-0ubuntu1 [2,348 kB] 201 Get:99 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-runtime-data all 4:15.12.3-0ubuntu1 [6,829 kB] 202 Get:100 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5style5 amd64 5.18.0-0ubuntu1 [13.7 kB] 203 Get:101 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-style-breeze amd64 4:5.5.5-0ubuntu1 [185 kB] 204 Get:102 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-style-breeze-qt4 amd64 4:5.5.5-0ubuntu1 [149 kB] 205 Get:103 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkjsapi4 amd64 4:4.14.16-0ubuntu3.2 [266 kB] 206 Get:104 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkjsembed4 amd64 4:4.14.16-0ubuntu3.2 [309 kB] 207 Get:105 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkrosscore4 amd64 4:4.14.16-0ubuntu3.2 [57.1 kB] 208 Get:106 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs-bin amd64 4:4.14.16-0ubuntu3.2 [168 kB] 209 Get:107 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs5-data all 4:4.14.16-0ubuntu3.2 [2,622 kB] 210 Get:108 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdoctools amd64 4:4.14.16-0ubuntu3.2 [176 kB] 211 Get:109 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkpty4 amd64 4:4.14.16-0ubuntu3.2 [32.9 kB] 212 Get:110 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkde3support4 amd64 4:4.14.16-0ubuntu3.2 [314 kB] 213 Get:111 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdewebkit5 amd64 4:4.14.16-0ubuntu3.2 [63.8 kB] 214 Get:112 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkemoticons4 amd64 4:4.14.16-0ubuntu3.2 [42.1 kB] 215 Get:113 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkfile4 amd64 4:4.14.16-0ubuntu3.2 [222 kB] 216 Get:114 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4 amd64 4:4.8.3-0ubuntu3 [151 kB] 217 Get:115 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkhtml5 amd64 4:4.14.16-0ubuntu3.2 [2,032 kB] 218 Get:116 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkntlm4 amd64 4:4.14.16-0ubuntu3.2 [28.7 kB] 219 Get:117 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libpolkit-qt-1-1 amd64 0.112.0-4 [53.2 kB] 220 Get:118 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs5-plugins amd64 4:4.14.16-0ubuntu3.2 [982 kB] 221 Get:119 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 oxygen5-icon-theme all 5.18.0-0ubuntu1 [29.5 MB] 222 Get:120 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 oxygen-icon-theme all 5:5.18.0-0ubuntu1 [2,222 B] 223 Get:121 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdnssd4 amd64 4:4.14.16-0ubuntu3.2 [67.2 kB] 224 Get:122 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqca2 amd64 2.1.1-2ubuntu1 [305 kB] 225 Get:123 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libthreadweaver4 amd64 4:4.14.16-0ubuntu3.2 [46.8 kB] 226 Get:124 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libplasma3 amd64 4:4.14.16-0ubuntu3.2 [928 kB] 227 Get:125 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 plasma-scriptengine-javascript amd64 4:15.12.3-0ubuntu1 [397 kB] 228 Get:126 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkactivities6 amd64 4:4.13.3-0ubuntu6 [34.6 kB] 229 Get:127 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdeclarative5 amd64 4:4.14.16-0ubuntu3.2 [39.2 kB] 230 Get:128 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdesu5 amd64 4:4.14.16-0ubuntu3.2 [52.5 kB] 231 Get:129 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkmediaplayer4 amd64 4:4.14.16-0ubuntu3.2 [29.2 kB] 232 Get:130 http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libknotifyconfig4 amd64 4:4.14.16-0ubuntu3.2 [40.0 kB] 233 Get:131 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkxmlrpcclient4 amd64 4:4.14.10-1ubuntu2 [28.8 kB] 234 Get:132 http://us.archive.ubuntu.com/ubuntu xenial-updates/main amd64 libnl-route-3-200 amd64 3.2.27-1ubuntu0.16.04.1 [124 kB] 235 Get:133 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 ntrack-module-libnl-0 amd64 016-1.3 [17.2 kB] 236 Get:134 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libntrack0 amd64 016-1.3 [7,340 B] 237 Get:135 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libntrack-qt4-1 amd64 016-1.3 [6,904 B] 238 Get:136 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon-backend-gstreamer-common amd64 4:4.8.2-0ubuntu2 [11.0 kB] 239 Get:137 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon-backend-gstreamer amd64 4:4.8.2-0ubuntu2 [109 kB] 240 Get:138 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon amd64 4:4.8.3-0ubuntu3 [8,874 B] 241 Get:139 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-runtime amd64 4:15.12.3-0ubuntu1 [1,899 kB] 242 Get:140 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevelop-data all 4:4.7.3-0ubuntu1 [3,152 kB] 243 Get:141 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libsublime8 amd64 1.7.3-0ubuntu1 [99.3 kB] 244 Get:142 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libgrantlee-core0 amd64 0.5.1-0ubuntu3 [225 kB] 245 Get:143 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevplatform8-libs amd64 1.7.3-0ubuntu1 [2,440 kB] 246 Get:144 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevelop amd64 4:4.7.3-0ubuntu1 [1,485 kB] 247 Get:145 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kpackagelauncherqml amd64 5.18.0-0ubuntu1 [13.4 kB] 248 Get:146 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kpackagetool5 amd64 5.18.0-0ubuntu1 [51.3 kB] 249 Get:147 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kwayland-data all 4:5.5.5-0ubuntu1 [2,716 B] 250 Get:148 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5idletime5 amd64 5.18.0-0ubuntu1 [26.9 kB] 251 Get:149 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5waylandclient5 amd64 4:5.5.5-0ubuntu1 [106 kB] 252 Get:150 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kwayland-integration amd64 4:5.5.5-0ubuntu1 [21.0 kB] 253 Get:151 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5config-bin amd64 5.18.0-0ubuntu1 [31.4 kB] 254 Get:152 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons-bin amd64 5.18.0-0ubuntu1 [7,774 B] 255 Get:153 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccelprivate5 amd64 5.18.0-0ubuntu1 [40.6 kB] 256 Get:154 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel-bin amd64 5.18.0-0ubuntu1 [13.4 kB] 257 Get:155 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes-bin amd64 5.18.0-0ubuntu1 [5,966 B] 258 Get:156 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui-bin amd64 5.18.0-0ubuntu1 [16.9 kB] 259 Get:157 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqca2-plugins amd64 2.1.1-2ubuntu1 [186 kB] 260 Get:158 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqt5waylandclient5 amd64 5.5.1-2build1 [211 kB] 261 Get:159 http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libvoikko1 amd64 4.0.1-3ubuntu1 [90.5 kB] 262 Get:160 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qtwayland5 amd64 5.5.1-2build1 [72.6 kB] 263 Get:161 http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 sonnet-plugins amd64 5.18.0-0ubuntu1 [110 kB] 264 Fetched 82.5 MB in 8min 1s (171 kB/s) 265 Extracting templates from packages: 100% 266 Preconfiguring packages ... 267 Selecting previously unselected package libqjson0:amd64. 268 (Reading database ... 268185 files and directories currently installed.) 269 Preparing to unpack .../libqjson0_0.8.1-3_amd64.deb ... 270 Unpacking libqjson0:amd64 (0.8.1-3) ... 271 Selecting previously unselected package qml-module-qtquick-layouts:amd64. 272 Preparing to unpack .../qml-module-qtquick-layouts_5.5.1-1ubuntu1_amd64.deb ... 273 Unpacking qml-module-qtquick-layouts:amd64 (5.5.1-1ubuntu1) ... 274 Selecting previously unselected package qml-module-qtquick-window2:amd64. 275 Preparing to unpack .../qml-module-qtquick-window2_5.5.1-2ubuntu6_amd64.deb ... 276 Unpacking qml-module-qtquick-window2:amd64 (5.5.1-2ubuntu6) ... 277 Selecting previously unselected package qml-module-qtquick2:amd64. 278 Preparing to unpack .../qml-module-qtquick2_5.5.1-2ubuntu6_amd64.deb ... 279 Unpacking qml-module-qtquick2:amd64 (5.5.1-2ubuntu6) ... 280 Selecting previously unselected package qml-module-qtquick-controls:amd64. 281 Preparing to unpack .../qml-module-qtquick-controls_5.5.1-1ubuntu1_amd64.deb ... 282 Unpacking qml-module-qtquick-controls:amd64 (5.5.1-1ubuntu1) ... 283 Selecting previously unselected package sgml-data. 284 Preparing to unpack .../sgml-data_2.0.10_all.deb ... 285 Unpacking sgml-data (2.0.10) ... 286 Selecting previously unselected package docbook-xml. 287 Preparing to unpack .../docbook-xml_4.5-7.3_all.deb ... 288 Unpacking docbook-xml (4.5-7.3) ... 289 Selecting previously unselected package docbook-xsl. 290 Preparing to unpack .../docbook-xsl_1.79.1+dfsg-1_all.deb ... 291 Unpacking docbook-xsl (1.79.1+dfsg-1) ... 292 Selecting previously unselected package fonts-dejavu-extra. 293 Preparing to unpack .../fonts-dejavu-extra_2.35-1_all.deb ... 294 Unpacking fonts-dejavu-extra (2.35-1) ... 295 Selecting previously unselected package fonts-dejavu. 296 Preparing to unpack .../fonts-dejavu_2.35-1_all.deb ... 297 Unpacking fonts-dejavu (2.35-1) ... 298 Selecting previously unselected package icoutils. 299 Preparing to unpack .../icoutils_0.31.0-3_amd64.deb ... 300 Unpacking icoutils (0.31.0-3) ... 301 Selecting previously unselected package libkf5declarative-data. 302 Preparing to unpack .../libkf5declarative-data_5.18.0-0ubuntu1_all.deb ... 303 Unpacking libkf5declarative-data (5.18.0-0ubuntu1) ... 304 Selecting previously unselected package libkf5config-data. 305 Preparing to unpack .../libkf5config-data_5.18.0-0ubuntu1_all.deb ... 306 Unpacking libkf5config-data (5.18.0-0ubuntu1) ... 307 Selecting previously unselected package libkf5configcore5:amd64. 308 Preparing to unpack .../libkf5configcore5_5.18.0-0ubuntu1_amd64.deb ... 309 Unpacking libkf5configcore5:amd64 (5.18.0-0ubuntu1) ... 310 Selecting previously unselected package libkf5i18n-data. 311 Preparing to unpack .../libkf5i18n-data_5.18.0-0ubuntu1_all.deb ... 312 Unpacking libkf5i18n-data (5.18.0-0ubuntu1) ... 313 Selecting previously unselected package libkf5i18n5:amd64. 314 Preparing to unpack .../libkf5i18n5_5.18.0-0ubuntu1_amd64.deb ... 315 Unpacking libkf5i18n5:amd64 (5.18.0-0ubuntu1) ... 316 Selecting previously unselected package libkf5iconthemes-data. 317 Preparing to unpack .../libkf5iconthemes-data_5.18.0-0ubuntu1_all.deb ... 318 Unpacking libkf5iconthemes-data (5.18.0-0ubuntu1) ... 319 Selecting previously unselected package libkf5configwidgets-data. 320 Preparing to unpack .../libkf5configwidgets-data_5.18.0-0ubuntu1_all.deb ... 321 Unpacking libkf5configwidgets-data (5.18.0-0ubuntu1) ... 322 Selecting previously unselected package libkf5auth-data. 323 Preparing to unpack .../libkf5auth-data_5.18.0-0ubuntu2_all.deb ... 324 Unpacking libkf5auth-data (5.18.0-0ubuntu2) ... 325 Selecting previously unselected package libkf5coreaddons-data. 326 Preparing to unpack .../libkf5coreaddons-data_5.18.0-0ubuntu1.1_all.deb ... 327 Unpacking libkf5coreaddons-data (5.18.0-0ubuntu1.1) ... 328 Selecting previously unselected package libfam0. 329 Preparing to unpack .../libfam0_2.7.0-17.1_amd64.deb ... 330 Unpacking libfam0 (2.7.0-17.1) ... 331 Selecting previously unselected package libkf5coreaddons5:amd64. 332 Preparing to unpack .../libkf5coreaddons5_5.18.0-0ubuntu1.1_amd64.deb ... 333 Unpacking libkf5coreaddons5:amd64 (5.18.0-0ubuntu1.1) ... 334 Selecting previously unselected package libpolkit-qt5-1-1:amd64. 335 Preparing to unpack .../libpolkit-qt5-1-1_0.112.0-4_amd64.deb ... 336 Unpacking libpolkit-qt5-1-1:amd64 (0.112.0-4) ... 337 Selecting previously unselected package libkf5auth5:amd64. 338 Preparing to unpack .../libkf5auth5_5.18.0-0ubuntu2_amd64.deb ... 339 Unpacking libkf5auth5:amd64 (5.18.0-0ubuntu2) ... 340 Selecting previously unselected package libkf5codecs-data. 341 Preparing to unpack .../libkf5codecs-data_5.18.0-0ubuntu1_all.deb ... 342 Unpacking libkf5codecs-data (5.18.0-0ubuntu1) ... 343 Selecting previously unselected package libkf5codecs5:amd64. 344 Preparing to unpack .../libkf5codecs5_5.18.0-0ubuntu1_amd64.deb ... 345 Unpacking libkf5codecs5:amd64 (5.18.0-0ubuntu1) ... 346 Selecting previously unselected package libkf5configgui5:amd64. 347 Preparing to unpack .../libkf5configgui5_5.18.0-0ubuntu1_amd64.deb ... 348 Unpacking libkf5configgui5:amd64 (5.18.0-0ubuntu1) ... 349 Selecting previously unselected package libkf5guiaddons5:amd64. 350 Preparing to unpack .../libkf5guiaddons5_5.18.0-0ubuntu1_amd64.deb ... 351 Unpacking libkf5guiaddons5:amd64 (5.18.0-0ubuntu1) ... 352 Selecting previously unselected package libkf5widgetsaddons-data. 353 Preparing to unpack .../libkf5widgetsaddons-data_5.18.0-0ubuntu1_all.deb ... 354 Unpacking libkf5widgetsaddons-data (5.18.0-0ubuntu1) ... 355 Selecting previously unselected package libkf5widgetsaddons5:amd64. 356 Preparing to unpack .../libkf5widgetsaddons5_5.18.0-0ubuntu1_amd64.deb ... 357 Unpacking libkf5widgetsaddons5:amd64 (5.18.0-0ubuntu1) ... 358 Selecting previously unselected package libkf5configwidgets5:amd64. 359 Preparing to unpack .../libkf5configwidgets5_5.18.0-0ubuntu1_amd64.deb ... 360 Unpacking libkf5configwidgets5:amd64 (5.18.0-0ubuntu1) ... 361 Selecting previously unselected package libkf5itemviews-data. 362 Preparing to unpack .../libkf5itemviews-data_5.18.0-0ubuntu1_all.deb ... 363 Unpacking libkf5itemviews-data (5.18.0-0ubuntu1) ... 364 Selecting previously unselected package libkf5itemviews5:amd64. 365 Preparing to unpack .../libkf5itemviews5_5.18.0-0ubuntu1_amd64.deb ... 366 Unpacking libkf5itemviews5:amd64 (5.18.0-0ubuntu1) ... 367 Selecting previously unselected package libkf5iconthemes5:amd64. 368 Preparing to unpack .../libkf5iconthemes5_5.18.0-0ubuntu1_amd64.deb ... 369 Unpacking libkf5iconthemes5:amd64 (5.18.0-0ubuntu1) ... 370 Selecting previously unselected package libkf5completion-data. 371 Preparing to unpack .../libkf5completion-data_5.18.0-0ubuntu1_all.deb ... 372 Unpacking libkf5completion-data (5.18.0-0ubuntu1) ... 373 Selecting previously unselected package libkf5completion5:amd64. 374 Preparing to unpack .../libkf5completion5_5.18.0-0ubuntu1_amd64.deb ... 375 Unpacking libkf5completion5:amd64 (5.18.0-0ubuntu1) ... 376 Selecting previously unselected package libkf5jobwidgets-data. 377 Preparing to unpack .../libkf5jobwidgets-data_5.18.0-0ubuntu1_all.deb ... 378 Unpacking libkf5jobwidgets-data (5.18.0-0ubuntu1) ... 379 Selecting previously unselected package libkf5jobwidgets5:amd64. 380 Preparing to unpack .../libkf5jobwidgets5_5.18.0-0ubuntu1_amd64.deb ... 381 Unpacking libkf5jobwidgets5:amd64 (5.18.0-0ubuntu1) ... 382 Selecting previously unselected package libkf5dbusaddons-data. 383 Preparing to unpack .../libkf5dbusaddons-data_5.18.0-0ubuntu1_all.deb ... 384 Unpacking libkf5dbusaddons-data (5.18.0-0ubuntu1) ... 385 Selecting previously unselected package libkf5dbusaddons5:amd64. 386 Preparing to unpack .../libkf5dbusaddons5_5.18.0-0ubuntu1_amd64.deb ... 387 Unpacking libkf5dbusaddons5:amd64 (5.18.0-0ubuntu1) ... 388 Selecting previously unselected package libkf5windowsystem-data. 389 Preparing to unpack .../libkf5windowsystem-data_5.18.0-0ubuntu1_all.deb ... 390 Unpacking libkf5windowsystem-data (5.18.0-0ubuntu1) ... 391 Selecting previously unselected package libkf5windowsystem5:amd64. 392 Preparing to unpack .../libkf5windowsystem5_5.18.0-0ubuntu1_amd64.deb ... 393 Unpacking libkf5windowsystem5:amd64 (5.18.0-0ubuntu1) ... 394 Selecting previously unselected package libkf5crash5:amd64. 395 Preparing to unpack .../libkf5crash5_5.18.0-0ubuntu1_amd64.deb ... 396 Unpacking libkf5crash5:amd64 (5.18.0-0ubuntu1) ... 397 Selecting previously unselected package libkf5service-data. 398 Preparing to unpack .../libkf5service-data_5.18.0-0ubuntu1_all.deb ... 399 Unpacking libkf5service-data (5.18.0-0ubuntu1) ... 400 Selecting previously unselected package libkf5service5:amd64. 401 Preparing to unpack .../libkf5service5_5.18.0-0ubuntu1_amd64.deb ... 402 Unpacking libkf5service5:amd64 (5.18.0-0ubuntu1) ... 403 Selecting previously unselected package libkf5service-bin. 404 Preparing to unpack .../libkf5service-bin_5.18.0-0ubuntu1_amd64.deb ... 405 Unpacking libkf5service-bin (5.18.0-0ubuntu1) ... 406 Selecting previously unselected package libkf5kiocore5:amd64. 407 Preparing to unpack .../libkf5kiocore5_5.18.0-0ubuntu1.1_amd64.deb ... 408 Unpacking libkf5kiocore5:amd64 (5.18.0-0ubuntu1.1) ... 409 Selecting previously unselected package libkf5kiowidgets5:amd64. 410 Preparing to unpack .../libkf5kiowidgets5_5.18.0-0ubuntu1.1_amd64.deb ... 411 Unpacking libkf5kiowidgets5:amd64 (5.18.0-0ubuntu1.1) ... 412 Selecting previously unselected package libkf5package-data. 413 Preparing to unpack .../libkf5package-data_5.18.0-0ubuntu1_all.deb ... 414 Unpacking libkf5package-data (5.18.0-0ubuntu1) ... 415 Selecting previously unselected package libkf5archive5:amd64. 416 Preparing to unpack .../libkf5archive5_5.18.0-0ubuntu1.1_amd64.deb ... 417 Unpacking libkf5archive5:amd64 (5.18.0-0ubuntu1.1) ... 418 Selecting previously unselected package libkf5package5:amd64. 419 Preparing to unpack .../libkf5package5_5.18.0-0ubuntu1_amd64.deb ... 420 Unpacking libkf5package5:amd64 (5.18.0-0ubuntu1) ... 421 Selecting previously unselected package libkf5declarative5:amd64. 422 Preparing to unpack .../libkf5declarative5_5.18.0-0ubuntu1_amd64.deb ... 423 Unpacking libkf5declarative5:amd64 (5.18.0-0ubuntu1) ... 424 Selecting previously unselected package qml-module-qtquick-privatewidgets:amd64. 425 Preparing to unpack .../qml-module-qtquick-privatewidgets_5.5.1-1ubuntu1_amd64.deb ... 426 Unpacking qml-module-qtquick-privatewidgets:amd64 (5.5.1-1ubuntu1) ... 427 Selecting previously unselected package qml-module-qtquick-dialogs:amd64. 428 Preparing to unpack .../qml-module-qtquick-dialogs_5.5.1-1ubuntu1_amd64.deb ... 429 Unpacking qml-module-qtquick-dialogs:amd64 (5.5.1-1ubuntu1) ... 430 Selecting previously unselected package libkf5globalaccel-data. 431 Preparing to unpack .../libkf5globalaccel-data_5.18.0-0ubuntu1_all.deb ... 432 Unpacking libkf5globalaccel-data (5.18.0-0ubuntu1) ... 433 Selecting previously unselected package libkf5globalaccel5:amd64. 434 Preparing to unpack .../libkf5globalaccel5_5.18.0-0ubuntu1_amd64.deb ... 435 Unpacking libkf5globalaccel5:amd64 (5.18.0-0ubuntu1) ... 436 Selecting previously unselected package qml-module-org-kde-kquickcontrols:amd64. 437 Preparing to unpack .../qml-module-org-kde-kquickcontrols_5.18.0-0ubuntu1_amd64.deb ... 438 Unpacking qml-module-org-kde-kquickcontrols:amd64 (5.18.0-0ubuntu1) ... 439 Selecting previously unselected package libkf5quickaddons5:amd64. 440 Preparing to unpack .../libkf5quickaddons5_5.18.0-0ubuntu1_amd64.deb ... 441 Unpacking libkf5quickaddons5:amd64 (5.18.0-0ubuntu1) ... 442 Selecting previously unselected package qml-module-org-kde-kquickcontrolsaddons:amd64. 443 Preparing to unpack .../qml-module-org-kde-kquickcontrolsaddons_5.18.0-0ubuntu1_amd64.deb ... 444 Unpacking qml-module-org-kde-kquickcontrolsaddons:amd64 (5.18.0-0ubuntu1) ... 445 Selecting previously unselected package libkf5activities5:amd64. 446 Preparing to unpack .../libkf5activities5_5.18.0-0ubuntu1_amd64.deb ... 447 Unpacking libkf5activities5:amd64 (5.18.0-0ubuntu1) ... 448 Selecting previously unselected package libkf5calendarevents5:amd64. 449 Preparing to unpack .../libkf5calendarevents5_5.18.0-0ubuntu1_amd64.deb ... 450 Unpacking libkf5calendarevents5:amd64 (5.18.0-0ubuntu1) ... 451 Selecting previously unselected package libkf5notifications-data. 452 Preparing to unpack .../libkf5notifications-data_5.18.0-0ubuntu1_all.deb ... 453 Unpacking libkf5notifications-data (5.18.0-0ubuntu1) ... 454 Selecting previously unselected package libdbusmenu-qt5:amd64. 455 Preparing to unpack .../libdbusmenu-qt5_0.9.3+16.04.20160218-0ubuntu1_amd64.deb ... 456 Unpacking libdbusmenu-qt5:amd64 (0.9.3+16.04.20160218-0ubuntu1) ... 457 Selecting previously unselected package libphonon4qt5-4:amd64. 458 Preparing to unpack .../libphonon4qt5-4_4%3a4.8.3-0ubuntu3_amd64.deb ... 459 Unpacking libphonon4qt5-4:amd64 (4:4.8.3-0ubuntu3) ... 460 Selecting previously unselected package libkf5notifications5:amd64. 461 Preparing to unpack .../libkf5notifications5_5.18.0-0ubuntu1_amd64.deb ... 462 Unpacking libkf5notifications5:amd64 (5.18.0-0ubuntu1) ... 463 Selecting previously unselected package libkf5xmlgui-data. 464 Preparing to unpack .../libkf5xmlgui-data_5.18.0-0ubuntu1_all.deb ... 465 Unpacking libkf5xmlgui-data (5.18.0-0ubuntu1) ... 466 Selecting previously unselected package libkf5attica5:amd64. 467 Preparing to unpack .../libkf5attica5_5.18.0-0ubuntu1_amd64.deb ... 468 Unpacking libkf5attica5:amd64 (5.18.0-0ubuntu1) ... 469 Selecting previously unselected package libkf5textwidgets-data. 470 Preparing to unpack .../libkf5textwidgets-data_5.18.0-0ubuntu1_all.deb ... 471 Unpacking libkf5textwidgets-data (5.18.0-0ubuntu1) ... 472 Selecting previously unselected package libkf5sonnet5-data. 473 Preparing to unpack .../libkf5sonnet5-data_5.18.0-0ubuntu1_all.deb ... 474 Unpacking libkf5sonnet5-data (5.18.0-0ubuntu1) ... 475 Selecting previously unselected package libkf5sonnetcore5:amd64. 476 Preparing to unpack .../libkf5sonnetcore5_5.18.0-0ubuntu1_amd64.deb ... 477 Unpacking libkf5sonnetcore5:amd64 (5.18.0-0ubuntu1) ... 478 Selecting previously unselected package libkf5sonnetui5:amd64. 479 Preparing to unpack .../libkf5sonnetui5_5.18.0-0ubuntu1_amd64.deb ... 480 Unpacking libkf5sonnetui5:amd64 (5.18.0-0ubuntu1) ... 481 Selecting previously unselected package libkf5textwidgets5:amd64. 482 Preparing to unpack .../libkf5textwidgets5_5.18.0-0ubuntu1_amd64.deb ... 483 Unpacking libkf5textwidgets5:amd64 (5.18.0-0ubuntu1) ... 484 Selecting previously unselected package libkf5xmlgui5:amd64. 485 Preparing to unpack .../libkf5xmlgui5_5.18.0-0ubuntu1_amd64.deb ... 486 Unpacking libkf5xmlgui5:amd64 (5.18.0-0ubuntu1) ... 487 Selecting previously unselected package libkf5plasma5:amd64. 488 Preparing to unpack .../libkf5plasma5_5.18.0-0ubuntu1.1_amd64.deb ... 489 Unpacking libkf5plasma5:amd64 (5.18.0-0ubuntu1.1) ... 490 Selecting previously unselected package libkf5plasmaquick5:amd64. 491 Preparing to unpack .../libkf5plasmaquick5_5.18.0-0ubuntu1.1_amd64.deb ... 492 Unpacking libkf5plasmaquick5:amd64 (5.18.0-0ubuntu1.1) ... 493 Selecting previously unselected package libxcb-composite0:amd64. 494 Preparing to unpack .../libxcb-composite0_1.11.1-1ubuntu1_amd64.deb ... 495 Unpacking libxcb-composite0:amd64 (1.11.1-1ubuntu1) ... 496 Selecting previously unselected package libxcb-damage0:amd64. 497 Preparing to unpack .../libxcb-damage0_1.11.1-1ubuntu1_amd64.deb ... 498 Unpacking libxcb-damage0:amd64 (1.11.1-1ubuntu1) ... 499 Selecting previously unselected package plasma-framework. 500 Preparing to unpack .../plasma-framework_5.18.0-0ubuntu1.1_amd64.deb ... 501 Unpacking plasma-framework (5.18.0-0ubuntu1.1) ... 502 Selecting previously unselected package qml-module-org-kde-activities:amd64. 503 Preparing to unpack .../qml-module-org-kde-activities_5.18.0-0ubuntu1_amd64.deb ... 504 Unpacking qml-module-org-kde-activities:amd64 (5.18.0-0ubuntu1) ... 505 Selecting previously unselected package kactivities. 506 Preparing to unpack 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(0.4.2-2) ... 523 Selecting previously unselected package libdbusmenu-qt2:amd64. 524 Preparing to unpack .../libdbusmenu-qt2_0.9.3+16.04.20160218-0ubuntu1_amd64.deb ... 525 Unpacking libdbusmenu-qt2:amd64 (0.9.3+16.04.20160218-0ubuntu1) ... 526 Selecting previously unselected package libkdeui5. 527 Preparing to unpack .../libkdeui5_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 528 Unpacking libkdeui5 (4:4.14.16-0ubuntu3.2) ... 529 Selecting previously unselected package libkcmutils4. 530 Preparing to unpack .../libkcmutils4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 531 Unpacking libkcmutils4 (4:4.14.16-0ubuntu3.2) ... 532 Selecting previously unselected package libsolid4. 533 Preparing to unpack .../libsolid4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 534 Unpacking libsolid4 (4:4.14.16-0ubuntu3.2) ... 535 Selecting previously unselected package libstreams0v5. 536 Preparing to unpack .../libstreams0v5_0.7.8-2ubuntu1_amd64.deb ... 537 Unpacking libstreams0v5 (0.7.8-2ubuntu1) ... 538 Selecting previously unselected package libstreamanalyzer0v5. 539 Preparing to unpack .../libstreamanalyzer0v5_0.7.8-2ubuntu1_amd64.deb ... 540 Unpacking libstreamanalyzer0v5 (0.7.8-2ubuntu1) ... 541 Selecting previously unselected package libkio5. 542 Preparing to unpack .../libkio5_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 543 Unpacking libkio5 (4:4.14.16-0ubuntu3.2) ... 544 Selecting previously unselected package libknewstuff3-4. 545 Preparing to unpack .../libknewstuff3-4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 546 Unpacking libknewstuff3-4 (4:4.14.16-0ubuntu3.2) ... 547 Selecting previously unselected package libkparts4. 548 Preparing to unpack .../libkparts4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 549 Unpacking libkparts4 (4:4.14.16-0ubuntu3.2) ... 550 Selecting previously unselected package libktexteditor4. 551 Preparing to unpack .../libktexteditor4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 552 Unpacking libktexteditor4 (4:4.14.16-0ubuntu3.2) ... 553 Selecting previously unselected package libkatepartinterfaces4. 554 Preparing to unpack .../libkatepartinterfaces4_4%3a4.14.3-0ubuntu4_amd64.deb ... 555 Unpacking libkatepartinterfaces4 (4:4.14.3-0ubuntu4) ... 556 Selecting previously unselected package katepart. 557 Preparing to unpack .../katepart_4%3a4.14.3-0ubuntu4_amd64.deb ... 558 Unpacking katepart (4:4.14.3-0ubuntu4) ... 559 Selecting previously unselected package breeze-icon-theme. 560 Preparing to unpack .../breeze-icon-theme_4%3a5.18.0-0ubuntu1_amd64.deb ... 561 Unpacking breeze-icon-theme (4:5.18.0-0ubuntu1) ... 562 Selecting previously unselected package kde-runtime-data. 563 Preparing to unpack .../kde-runtime-data_4%3a15.12.3-0ubuntu1_all.deb ... 564 Unpacking kde-runtime-data (4:15.12.3-0ubuntu1) ... 565 Selecting previously unselected package libkf5style5:amd64. 566 Preparing to unpack .../libkf5style5_5.18.0-0ubuntu1_amd64.deb ... 567 Unpacking libkf5style5:amd64 (5.18.0-0ubuntu1) ... 568 Selecting previously unselected package kde-style-breeze. 569 Preparing to unpack .../kde-style-breeze_4%3a5.5.5-0ubuntu1_amd64.deb ... 570 Unpacking kde-style-breeze (4:5.5.5-0ubuntu1) ... 571 Selecting previously unselected package kde-style-breeze-qt4. 572 Preparing to unpack .../kde-style-breeze-qt4_4%3a5.5.5-0ubuntu1_amd64.deb ... 573 Unpacking kde-style-breeze-qt4 (4:5.5.5-0ubuntu1) ... 574 Selecting previously unselected package libkjsapi4. 575 Preparing to unpack .../libkjsapi4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 576 Unpacking libkjsapi4 (4:4.14.16-0ubuntu3.2) ... 577 Selecting previously unselected package libkjsembed4. 578 Preparing to unpack .../libkjsembed4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 579 Unpacking libkjsembed4 (4:4.14.16-0ubuntu3.2) ... 580 Selecting previously unselected package libkrosscore4. 581 Preparing to unpack .../libkrosscore4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 582 Unpacking libkrosscore4 (4:4.14.16-0ubuntu3.2) ... 583 Selecting previously unselected package kdelibs-bin. 584 Preparing to unpack .../kdelibs-bin_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 585 Unpacking kdelibs-bin (4:4.14.16-0ubuntu3.2) ... 586 Selecting previously unselected package kdelibs5-data. 587 Preparing to unpack .../kdelibs5-data_4%3a4.14.16-0ubuntu3.2_all.deb ... 588 Unpacking kdelibs5-data (4:4.14.16-0ubuntu3.2) ... 589 Selecting previously unselected package kdoctools. 590 Preparing to unpack .../kdoctools_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 591 Unpacking kdoctools (4:4.14.16-0ubuntu3.2) ... 592 Selecting previously unselected package libkpty4. 593 Preparing to unpack .../libkpty4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 594 Unpacking libkpty4 (4:4.14.16-0ubuntu3.2) ... 595 Selecting previously unselected package libkde3support4. 596 Preparing to unpack .../libkde3support4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 597 Unpacking libkde3support4 (4:4.14.16-0ubuntu3.2) ... 598 Selecting previously unselected package libkdewebkit5. 599 Preparing to unpack .../libkdewebkit5_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 600 Unpacking libkdewebkit5 (4:4.14.16-0ubuntu3.2) ... 601 Selecting previously unselected package libkemoticons4. 602 Preparing to unpack .../libkemoticons4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 603 Unpacking libkemoticons4 (4:4.14.16-0ubuntu3.2) ... 604 Selecting previously unselected package libkfile4. 605 Preparing to unpack .../libkfile4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 606 Unpacking libkfile4 (4:4.14.16-0ubuntu3.2) ... 607 Selecting previously unselected package libphonon4:amd64. 608 Preparing to unpack .../libphonon4_4%3a4.8.3-0ubuntu3_amd64.deb ... 609 Unpacking libphonon4:amd64 (4:4.8.3-0ubuntu3) ... 610 Selecting previously unselected package libkhtml5. 611 Preparing to unpack .../libkhtml5_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 612 Unpacking libkhtml5 (4:4.14.16-0ubuntu3.2) ... 613 Selecting previously unselected package libkntlm4. 614 Preparing to unpack .../libkntlm4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 615 Unpacking libkntlm4 (4:4.14.16-0ubuntu3.2) ... 616 Selecting previously unselected package libpolkit-qt-1-1:amd64. 617 Preparing to unpack .../libpolkit-qt-1-1_0.112.0-4_amd64.deb ... 618 Unpacking libpolkit-qt-1-1:amd64 (0.112.0-4) ... 619 Selecting previously unselected package kdelibs5-plugins. 620 Preparing to unpack .../kdelibs5-plugins_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 621 Unpacking kdelibs5-plugins (4:4.14.16-0ubuntu3.2) ... 622 Selecting previously unselected package oxygen5-icon-theme. 623 Preparing to unpack .../oxygen5-icon-theme_5.18.0-0ubuntu1_all.deb ... 624 Unpacking oxygen5-icon-theme (5.18.0-0ubuntu1) ... 625 Selecting previously unselected package oxygen-icon-theme. 626 Preparing to unpack .../oxygen-icon-theme_5%3a5.18.0-0ubuntu1_all.deb ... 627 Unpacking oxygen-icon-theme (5:5.18.0-0ubuntu1) ... 628 Selecting previously unselected package libkdnssd4. 629 Preparing to unpack .../libkdnssd4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 630 Unpacking libkdnssd4 (4:4.14.16-0ubuntu3.2) ... 631 Selecting previously unselected package libqca2:amd64. 632 Preparing to unpack .../libqca2_2.1.1-2ubuntu1_amd64.deb ... 633 Unpacking libqca2:amd64 (2.1.1-2ubuntu1) ... 634 Selecting previously unselected package libthreadweaver4. 635 Preparing to unpack .../libthreadweaver4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 636 Unpacking libthreadweaver4 (4:4.14.16-0ubuntu3.2) ... 637 Selecting previously unselected package libplasma3. 638 Preparing to unpack .../libplasma3_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 639 Unpacking libplasma3 (4:4.14.16-0ubuntu3.2) ... 640 Selecting previously unselected package plasma-scriptengine-javascript. 641 Preparing to unpack .../plasma-scriptengine-javascript_4%3a15.12.3-0ubuntu1_amd64.deb ... 642 Unpacking plasma-scriptengine-javascript (4:15.12.3-0ubuntu1) ... 643 Selecting previously unselected package libkactivities6. 644 Preparing to unpack .../libkactivities6_4%3a4.13.3-0ubuntu6_amd64.deb ... 645 Unpacking libkactivities6 (4:4.13.3-0ubuntu6) ... 646 Selecting previously unselected package libkdeclarative5. 647 Preparing to unpack .../libkdeclarative5_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 648 Unpacking libkdeclarative5 (4:4.14.16-0ubuntu3.2) ... 649 Selecting previously unselected package libkdesu5. 650 Preparing to unpack .../libkdesu5_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 651 Unpacking libkdesu5 (4:4.14.16-0ubuntu3.2) ... 652 Selecting previously unselected package libkmediaplayer4. 653 Preparing to unpack .../libkmediaplayer4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 654 Unpacking libkmediaplayer4 (4:4.14.16-0ubuntu3.2) ... 655 Selecting previously unselected package libknotifyconfig4. 656 Preparing to unpack .../libknotifyconfig4_4%3a4.14.16-0ubuntu3.2_amd64.deb ... 657 Unpacking libknotifyconfig4 (4:4.14.16-0ubuntu3.2) ... 658 Selecting previously unselected package libkxmlrpcclient4. 659 Preparing to unpack .../libkxmlrpcclient4_4%3a4.14.10-1ubuntu2_amd64.deb ... 660 Unpacking libkxmlrpcclient4 (4:4.14.10-1ubuntu2) ... 661 Selecting previously unselected package libnl-route-3-200:amd64. 662 Preparing to unpack .../libnl-route-3-200_3.2.27-1ubuntu0.16.04.1_amd64.deb ... 663 Unpacking libnl-route-3-200:amd64 (3.2.27-1ubuntu0.16.04.1) ... 664 Selecting previously unselected package ntrack-module-libnl-0. 665 Preparing to unpack .../ntrack-module-libnl-0_016-1.3_amd64.deb ... 666 Unpacking ntrack-module-libnl-0 (016-1.3) ... 667 Selecting previously unselected package libntrack0. 668 Preparing to unpack .../libntrack0_016-1.3_amd64.deb ... 669 Unpacking libntrack0 (016-1.3) ... 670 Selecting previously unselected package libntrack-qt4-1. 671 Preparing to unpack .../libntrack-qt4-1_016-1.3_amd64.deb ... 672 Unpacking libntrack-qt4-1 (016-1.3) ... 673 Selecting previously unselected package phonon-backend-gstreamer-common:amd64. 674 Preparing to unpack .../phonon-backend-gstreamer-common_4%3a4.8.2-0ubuntu2_amd64.deb ... 675 Unpacking phonon-backend-gstreamer-common:amd64 (4:4.8.2-0ubuntu2) ... 676 Selecting previously unselected package phonon-backend-gstreamer:amd64. 677 Preparing to unpack .../phonon-backend-gstreamer_4%3a4.8.2-0ubuntu2_amd64.deb ... 678 Unpacking phonon-backend-gstreamer:amd64 (4:4.8.2-0ubuntu2) ... 679 Selecting previously unselected package phonon:amd64. 680 Preparing to unpack .../phonon_4%3a4.8.3-0ubuntu3_amd64.deb ... 681 Unpacking phonon:amd64 (4:4.8.3-0ubuntu3) ... 682 Selecting previously unselected package kde-runtime. 683 Preparing to unpack .../kde-runtime_4%3a15.12.3-0ubuntu1_amd64.deb ... 684 Unpacking kde-runtime (4:15.12.3-0ubuntu1) ... 685 Selecting previously unselected package kdevelop-data. 686 Preparing to unpack .../kdevelop-data_4%3a4.7.3-0ubuntu1_all.deb ... 687 Unpacking kdevelop-data (4:4.7.3-0ubuntu1) ... 688 Selecting previously unselected package libsublime8. 689 Preparing to unpack .../libsublime8_1.7.3-0ubuntu1_amd64.deb ... 690 Unpacking libsublime8 (1.7.3-0ubuntu1) ... 691 Selecting previously unselected package libgrantlee-core0. 692 Preparing to unpack .../libgrantlee-core0_0.5.1-0ubuntu3_amd64.deb ... 693 Unpacking libgrantlee-core0 (0.5.1-0ubuntu3) ... 694 Selecting previously unselected package kdevplatform8-libs. 695 Preparing to unpack .../kdevplatform8-libs_1.7.3-0ubuntu1_amd64.deb ... 696 Unpacking kdevplatform8-libs (1.7.3-0ubuntu1) ... 697 Selecting previously unselected package kdevelop. 698 Preparing to unpack .../kdevelop_4%3a4.7.3-0ubuntu1_amd64.deb ... 699 Unpacking kdevelop (4:4.7.3-0ubuntu1) ... 700 Selecting previously unselected package kpackagelauncherqml. 701 Preparing to unpack .../kpackagelauncherqml_5.18.0-0ubuntu1_amd64.deb ... 702 Unpacking kpackagelauncherqml (5.18.0-0ubuntu1) ... 703 Selecting previously unselected package kpackagetool5. 704 Preparing to unpack .../kpackagetool5_5.18.0-0ubuntu1_amd64.deb ... 705 Unpacking kpackagetool5 (5.18.0-0ubuntu1) ... 706 Selecting previously unselected package kwayland-data. 707 Preparing to unpack .../kwayland-data_4%3a5.5.5-0ubuntu1_all.deb ... 708 Unpacking kwayland-data (4:5.5.5-0ubuntu1) ... 709 Selecting previously unselected package libkf5idletime5:amd64. 710 Preparing to unpack .../libkf5idletime5_5.18.0-0ubuntu1_amd64.deb ... 711 Unpacking libkf5idletime5:amd64 (5.18.0-0ubuntu1) ... 712 Selecting previously unselected package libkf5waylandclient5:amd64. 713 Preparing to unpack .../libkf5waylandclient5_4%3a5.5.5-0ubuntu1_amd64.deb ... 714 Unpacking libkf5waylandclient5:amd64 (4:5.5.5-0ubuntu1) ... 715 Selecting previously unselected package kwayland-integration:amd64. 716 Preparing to unpack .../kwayland-integration_4%3a5.5.5-0ubuntu1_amd64.deb ... 717 Unpacking kwayland-integration:amd64 (4:5.5.5-0ubuntu1) ... 718 Selecting previously unselected package libkf5config-bin. 719 Preparing to unpack .../libkf5config-bin_5.18.0-0ubuntu1_amd64.deb ... 720 Unpacking libkf5config-bin (5.18.0-0ubuntu1) ... 721 Selecting previously unselected package libkf5dbusaddons-bin. 722 Preparing to unpack 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2. Cartographer_ROS不同节点的入口main()函数
这里作一点更正，首先Cartographer_ROS是一个Package，包含多个node，所以程序入口main函数有很多个。比如还有offline_node_main.cc，通过查看不同的launch文件可以看看究竟有多少个node。
这里只是对其中的一个demo_packback_2d.launch中的节点进行了说明。
(1) 主程序入口(node_main.cc)
1 int main(int argc, char** argv) { 2 google::InitGoogleLogging(argv[0]); 3 google::ParseCommandLineFlags(&argc, &argv, true); 4 5 CHECK(!FLAGS_configuration_directory.empty()) 6 << "-configuration_directory is missing."; 7 CHECK(!FLAGS_configuration_basename.empty()) 8 << "-configuration_basename is missing."; 9 10 ::ros::init(argc, argv, "cartographer_node"); 11 ::ros::start(); 12 13 cartographer_ros::ScopedRosLogSink ros_log_sink; 14 cartographer_ros::Run(); 15 ::ros::shutdown(); 16 }
(2) cartographer_ros::Run()是全局函数。
注意该方法中的::ros::spin();进入ROS系统内部循环，消息的请求响应，各种处理开始。
1 void cartographer_ros::Run() { 2 constexpr double kTfBufferCacheTimeInSeconds = 1e6; 3 tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)}; 4 tf2_ros::TransformListener tf(tf_buffer); 5 NodeOptions node_options; 6 TrajectoryOptions trajectory_options; 7 std::tie(node_options, trajectory_options) =LoadOptions(FLAGS_configuration_directory,LAGS_configuration_basename); 8 9 Node node(node_options, &tf_buffer); 10 if (!FLAGS_map_filename.empty()) 11 { 12 node.LoadMap(FLAGS_map_filename); 13 } 14 15 if (FLAGS_start_trajectory_with_default_topics) 16 { 17 node.StartTrajectoryWithDefaultTopics(trajectory_options); 18 } 19 20 ::ros::spin(); 21 22 node.FinishAllTrajectories(); 23 node.RunFinalOptimization(); 24 25 if (!FLAGS_save_map_filename.empty()) 26 { 27 node.SerializeState(FLAGS_save_map_filename); 28 } 29 }
(3)cartographer_ros::Run()方法中定义了Node node(node_options, &tf_buffer);
在cartographer_ros::Run()第15行-18行，执行了node.StartTrajectoryWithDefaultTopics(trajectory_options)方法。
1 Node::Node(const NodeOptions& node_options, tf2_ros::Buffer* const tf_buffer) 2 : node_options_(node_options), 3 map_builder_bridge_(node_options_, tf_buffer) { 4 carto::common::MutexLocker lock(&mutex_); 5 submap_list_publisher_ = 6 node_handle_.advertise<::cartographer_ros_msgs::SubmapList>( 7 kSubmapListTopic, kLatestOnlyPublisherQueueSize); 8 trajectory_node_list_publisher_ = 9 node_handle_.advertise<::visualization_msgs::MarkerArray>( 10 kTrajectoryNodeListTopic, kLatestOnlyPublisherQueueSize); 11 constraint_list_publisher_ = 12 node_handle_.advertise<::visualization_msgs::MarkerArray>( 13 kConstraintListTopic, kLatestOnlyPublisherQueueSize); 14 service_servers_.push_back(node_handle_.advertiseService( 15 kSubmapQueryServiceName, &Node::HandleSubmapQuery, this)); 16 service_servers_.push_back(node_handle_.advertiseService( 17 kStartTrajectoryServiceName, &Node::HandleStartTrajectory, this)); 18 service_servers_.push_back(node_handle_.advertiseService( 19 kFinishTrajectoryServiceName, &Node::HandleFinishTrajectory, this)); 20 service_servers_.push_back(node_handle_.advertiseService( 21 kWriteStateServiceName, &Node::HandleWriteState, this)); 22 23 scan_matched_point_cloud_publisher_ = 24 node_handle_.advertise<sensor_msgs::PointCloud2>( 25 kScanMatchedPointCloudTopic, kLatestOnlyPublisherQueueSize); 26 27 wall_timers_.push_back(node_handle_.createWallTimer( 28 ::ros::WallDuration(node_options_.submap_publish_period_sec), 29 &Node::PublishSubmapList, this)); 30 wall_timers_.push_back(node_handle_.createWallTimer( 31 ::ros::WallDuration(node_options_.pose_publish_period_sec), 32 &Node::PublishTrajectoryStates, this)); 33 wall_timers_.push_back(node_handle_.createWallTimer( 34 ::ros::WallDuration(node_options_.trajectory_publish_period_sec), 35 &Node::PublishTrajectoryNodeList, this)); 36 wall_timers_.push_back(node_handle_.createWallTimer( 37 ::ros::WallDuration(kConstraintPublishPeriodSec), 38 &Node::PublishConstraintList, this)); 39 }
if (FLAGS_start_trajectory_with_default_topics)
{
node.StartTrajectoryWithDefaultTopics(trajectory_options);
}
Node::StartTrajectoryWithDefaultTopics函数如下：
void Node::StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options)
{
carto::common::MutexLocker lock(&mutex_);
CHECK(ValidateTrajectoryOptions(options));
AddTrajectory(options, DefaultSensorTopics());//注意
}
DefaultSensorTopics()函数如下：
cartographer_ros_msgs::SensorTopics DefaultSensorTopics()
{
cartographer_ros_msgs::SensorTopics topics;
topics.laser_scan_topic = kLaserScanTopic;
topics.multi_echo_laser_scan_topic = kMultiEchoLaserScanTopic;
topics.point_cloud2_topic = kPointCloud2Topic;
topics.imu_topic = kImuTopic;
topics.odometry_topic = kOdometryTopic;
return topics;
}
(3.1)查看Node::AddTrajectory的代码，特别注意map_builder_bridge_.AddTrajectory(x,x)，需要重点阅读。
int Node::AddTrajectory(const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics)
{
const std::unordered_set<std::string> expected_sensor_ids = ComputeExpectedTopics(options, topics);
const int trajectory_id = map_builder_bridge_.AddTrajectory(expected_sensor_ids, options); //增加Trajectory
AddExtrapolator(trajectory_id, options);
AddSensorSamplers(trajectory_id, options);
LaunchSubscribers(options, topics, trajectory_id);//消息订阅，重要
is_active_trajectory_[trajectory_id] = true;
subscribed_topics_.insert(expected_sensor_ids.begin(), expected_sensor_ids.end());
return trajectory_id;
}
其中的expected_sensor_ids 得到的是期望订阅主题的字符串列表。这里的AddExtrapolator方法暂且不表。
1 std::unordered_set<std::string> Node::ComputeExpectedTopics( const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics) 2 { 3 std::unordered_set<std::string> expected_topics; 4 // Subscribe to all laser scan, multi echo laser scan, and point cloud topics. 5 for (const std::string& topic : ComputeRepeatedTopicNames( 6 topics.laser_scan_topic, options.num_laser_scans)) 7 { 8 expected_topics.insert(topic); 9 } 10 for (const std::string& topic : 11 ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic, 12 options.num_multi_echo_laser_scans)) 13 { 14 expected_topics.insert(topic); 15 } 16 for (const std::string& topic : ComputeRepeatedTopicNames( 17 topics.point_cloud2_topic, options.num_point_clouds)) 18 { 19 expected_topics.insert(topic); 20 } 21 // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is 22 // required. 23 if (node_options_.map_builder_options.use_trajectory_builder_3d() || 24 (node_options_.map_builder_options.use_trajectory_builder_2d() && 25 options.trajectory_builder_options.trajectory_builder_2d_options() 26 .use_imu_data())) 27 { 28 expected_topics.insert(topics.imu_topic); 29 } 30 // Odometry is optional. 31 if (options.use_odometry) 32 { 33 expected_topics.insert(topics.odometry_topic); 34 } 35 return expected_topics; 36 }
(3.2) 消息订阅
1 void Node::LaunchSubscribers(const TrajectoryOptions& options, 2 const cartographer_ros_msgs::SensorTopics& topics, 3 const int trajectory_id) { 4 for (const std::string& topic : ComputeRepeatedTopicNames( 5 topics.laser_scan_topic, options.num_laser_scans)) { 6 subscribers_[trajectory_id].push_back( 7 {SubscribeWithHandler<sensor_msgs::LaserScan>( 8 &Node::HandleLaserScanMessage, trajectory_id, topic, &node_handle_, 9 this), 10 topic}); 11 } 12 for (const std::string& topic : 13 ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic, 14 options.num_multi_echo_laser_scans)) { 15 subscribers_[trajectory_id].push_back( 16 {SubscribeWithHandler<sensor_msgs::MultiEchoLaserScan>( 17 &Node::HandleMultiEchoLaserScanMessage, trajectory_id, topic, 18 &node_handle_, this), 19 topic}); 20 } 21 for (const std::string& topic : ComputeRepeatedTopicNames( 22 topics.point_cloud2_topic, options.num_point_clouds)) { 23 subscribers_[trajectory_id].push_back( 24 {SubscribeWithHandler<sensor_msgs::PointCloud2>( 25 &Node::HandlePointCloud2Message, trajectory_id, topic, 26 &node_handle_, this), 27 topic}); 28 } 29 30 // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is 31 // required. 32 if (node_options_.map_builder_options.use_trajectory_builder_3d() || 33 (node_options_.map_builder_options.use_trajectory_builder_2d() && 34 options.trajectory_builder_options.trajectory_builder_2d_options() 35 .use_imu_data())) { 36 std::string topic = topics.imu_topic; 37 subscribers_[trajectory_id].push_back( 38 {SubscribeWithHandler<sensor_msgs::Imu>(&Node::HandleImuMessage, 39 trajectory_id, topic, 40 &node_handle_, this), 41 topic}); 42 } 43 44 if (options.use_odometry) { 45 std::string topic = topics.odometry_topic; 46 subscribers_[trajectory_id].push_back( 47 {SubscribeWithHandler<nav_msgs::Odometry>(&Node::HandleOdometryMessage, 48 trajectory_id, topic, 49 &node_handle_, this), 50 topic}); 51 } 52 }
(4) 回到步骤(2)，进行系统循环，订阅主题的消息处理开始。
阅读的代码是2017年12月27日GitHub下载的代码。
Cartographer中图优化存在2个部分：局部优化和全局优化
定义：扫描、子图