[ROS]激光驱动安装

参考资料：

https://blog.csdn.net/hongliang2009/article/details/73302986

https://blog.csdn.net/bohaijun_123/article/details/69660713

https://blog.csdn.net/Changer_sun/article/details/79211981

https://blog.csdn.net/owldestiny/article/details/7951679

ROS使用Xsens传感器 https://blog.csdn.net/qq_31356389/article/details/79216765

1. SICK LMS111驱动安装：

carto@cartoPC:~$ mkdir laser_ws
carto@cartoPC:~$ cd ./laser_ws
carto@cartoPC:~/laser_ws$ git clone https://github.com/clearpathrobotics/LMS1xx.git
正克隆到 'LMS1xx'...
remote: Counting objects: 337, done.
remote: Total 337 (delta 0), reused 0 (delta 0), pack-reused 337
接收对象中: 100% (337/337), 244.37 KiB | 313.00 KiB/s, 完成.
处理 delta 中: 100% (155/155), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws$ catkin_make
Base path: /home/carto/laser_ws
The specified source space "/home/carto/laser_ws/src" does not exist
carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ cd LMS1xx
carto@cartoPC:~/laser_ws/src/LMS1xx$ catkin_make
Base path: /home/carto/laser_ws/src/LMS1xx
The specified base path "/home/carto/laser_ws/src/LMS1xx" contains a package but "catkin_make" must be invoked in the root of workspace
carto@cartoPC:~/laser_ws/src/LMS1xx$ cd ../../
carto@cartoPC:~/laser_ws$ catkin_make
Base path: /home/carto/laser_ws
Source space: /home/carto/laser_ws/src
Build space: /home/carto/laser_ws/build
Devel space: /home/carto/laser_ws/devel
Install space: /home/carto/laser_ws/install
Creating symlink "/home/carto/laser_ws/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/carto/laser_ws/src -DCATKIN_DEVEL_PREFIX=/home/carto/laser_ws/devel -DCMAKE_INSTALL_PREFIX=/home/carto/laser_ws/install -G Unix Makefiles" in "/home/carto/laser_ws/build"
####
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - lms1xx
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'lms1xx'
-- ==> add_subdirectory(LMS1xx)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/build
####
#### Running command: "make -j12 -l12" in "/home/carto/laser_ws/build"
####
Scanning dependencies of target LMS1xx
[ 25%] Building CXX object LMS1xx/CMakeFiles/LMS1xx.dir/src/LMS1xx.cpp.o
[ 50%] Linking CXX shared library /home/carto/laser_ws/devel/lib/libLMS1xx.so
[ 50%] Built target LMS1xx
Scanning dependencies of target LMS1xx_node
[ 75%] Building CXX object LMS1xx/CMakeFiles/LMS1xx_node.dir/src/LMS1xx_node.cpp.o
[100%] Linking CXX executable /home/carto/laser_ws/devel/lib/lms1xx/LMS1xx_node
[100%] Built target LMS1xx_node

 2.安装北洋的驱动过程中报错，genmsg依赖出现问题的解决方法：

1）从https://github.com/ros/genmsg下载genmsg
2）安装步骤
①编译：cd genmsg
       mkdir build
       cd build
       cmake ..
       make
②安装：sudo make install

3. UTM30-lx驱动安装过程如下：

carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ mkdir hokuyo
carto@cartoPC:~/laser_ws/src$ cd hokuyo
carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-drivers/driver_common.git
正克隆到 'driver_common'...
remote: Counting objects: 1807, done.
remote: Total 1807 (delta 0), reused 0 (delta 0), pack-reused 1807
接收对象中: 100% (1807/1807), 331.49 KiB | 335.00 KiB/s, 完成.
处理 delta 中: 100% (797/797), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src/hokuyo$ cd driver_common/driver_base
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$  cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- driver_base: 3 messages, 0 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ make
Scanning dependencies of target _driver_base_generate_messages_check_deps_SensorLevels
[  0%] Built target _driver_base_generate_messages_check_deps_SensorLevels
Scanning dependencies of target std_msgs_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_lisp
Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigValue
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigValue
Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigString
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigString
Scanning dependencies of target driver_base_generate_messages_lisp
[  5%] Generating Lisp code from driver_base/ConfigValue.msg
[ 11%] Generating Lisp code from driver_base/ConfigString.msg
[ 17%] Generating Lisp code from driver_base/SensorLevels.msg
[ 17%] Built target driver_base_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_nodejs
[ 17%] Built target std_msgs_generate_messages_nodejs
Scanning dependencies of target driver_base_generate_messages_nodejs
[ 23%] Generating Javascript code from driver_base/ConfigValue.msg
[ 29%] Generating Javascript code from driver_base/ConfigString.msg
[ 35%] Generating Javascript code from driver_base/SensorLevels.msg
[ 35%] Built target driver_base_generate_messages_nodejs
Scanning dependencies of target std_msgs_generate_messages_py
[ 35%] Built target std_msgs_generate_messages_py
Scanning dependencies of target driver_base_generate_messages_py
[ 41%] Generating Python from MSG driver_base/ConfigValue
[ 47%] Generating Python from MSG driver_base/ConfigString
[ 52%] Generating Python from MSG driver_base/SensorLevels
[ 58%] Generating Python msg __init__.py for driver_base
[ 58%] Built target driver_base_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_eus
[ 58%] Built target std_msgs_generate_messages_eus
Scanning dependencies of target driver_base_generate_messages_eus
[ 64%] Generating EusLisp code from driver_base/ConfigValue.msg
[ 70%] Generating EusLisp code from driver_base/ConfigString.msg
[ 76%] Generating EusLisp code from driver_base/SensorLevels.msg
[ 82%] Generating EusLisp manifest code for driver_base
[ 82%] Built target driver_base_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_cpp
[ 82%] Built target std_msgs_generate_messages_cpp
Scanning dependencies of target driver_base_generate_messages_cpp
[ 88%] Generating C++ code from driver_base/ConfigValue.msg
[ 94%] Generating C++ code from driver_base/ConfigString.msg
[100%] Generating C++ code from driver_base/SensorLevels.msg
[100%] Built target driver_base_generate_messages_cpp
Scanning dependencies of target driver_base_generate_messages
[100%] Built target driver_base_generate_messages
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ sudo make install
[sudo] carto 的密码： 
Traceback (most recent call last):
  File "/opt/ros/kinetic/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py", line 41, in <module>
    from genmsg import EXT_MSG, EXT_SRV, MsgContext
ImportError: No module named genmsg
CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels.dir/build.make:57: recipe for target 'CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels' failed
make[2]: *** [CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels] Error 1
CMakeFiles/Makefile2:728: recipe for target 'CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels.dir/all' failed
make[1]: *** [CMakeFiles/_driver_base_generate_messages_check_deps_SensorLevels.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cd ./
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cd /
carto@cartoPC:/$ cd ~/laser_ws
carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ git clone  https://github.com/ros/genmsg.git 
正克隆到 'genmsg'...
remote: Counting objects: 1755, done.
remote: Total 1755 (delta 0), reused 0 (delta 0), pack-reused 1755
接收对象中: 100% (1755/1755), 371.61 KiB | 312.00 KiB/s, 完成.
处理 delta 中: 100% (937/937), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src$ cd genmsg
carto@cartoPC:~/laser_ws/src/genmsg$ mkdir build
carto@cartoPC:~/laser_ws/src/genmsg$ cd build
carto@cartoPC:~/laser_ws/src/genmsg/build$  cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/genmsg/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/genmsg/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/genmsg/build
carto@cartoPC:~/laser_ws/src/genmsg/build$ make
carto@cartoPC:~/laser_ws/src/genmsg/build$ sudo make install
[sudo] carto 的密码： 
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/genmsg.pc
-- Installing: /usr/local/share/genmsg/cmake/genmsg-extras.cmake
-- Installing: /usr/local/share/genmsg/cmake/genmsgConfig.cmake
-- Installing: /usr/local/share/genmsg/cmake/genmsgConfig-version.cmake
-- Installing: /usr/local/share/genmsg/package.xml
-- Installing: /usr/local/share/genmsg/cmake/pkg-genmsg.cmake.em
-- Installing: /usr/local/share/genmsg/cmake/pkg-genmsg.context.in
-- Installing: /usr/local/share/genmsg/cmake/pkg-msg-extras.cmake.in
-- Installing: /usr/local/share/genmsg/cmake/pkg-msg-paths.cmake.develspace.in
-- Installing: /usr/local/share/genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+ cd /home/carto/laser_ws/src/genmsg
+ mkdir -p /usr/local/lib/python2.7/dist-packages
+ /usr/bin/env PYTHONPATH=/usr/local/lib/python2.7/dist-packages:/home/carto/laser_ws/src/genmsg/build/lib/python2.7/dist-packages: CATKIN_BINARY_DIR=/home/carto/laser_ws/src/genmsg/build /usr/bin/python /home/carto/laser_ws/src/genmsg/setup.py build --build-base /home/carto/laser_ws/src/genmsg/build install --install-layout=deb --prefix=/usr/local --install-scripts=/usr/local/bin
running build
running build_py
creating /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7
creating /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/__init__.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/command_line.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/msg_loader.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/deps.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/names.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/gentools.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/srvs.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/template_tools.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/base.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/msgs.py -> /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg
running install
running install_lib
creating /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/__init__.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/command_line.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/msg_loader.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/deps.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/names.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/gentools.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/srvs.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/template_tools.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/base.py -> /usr/local/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/src/genmsg/build/lib.linux-x86_64-2.7/genmsg/msgs.py -> /usr/local/lib/python2.7/dist-packages/genmsg
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/__init__.py to __init__.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/command_line.py to command_line.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/msg_loader.py to msg_loader.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/deps.py to deps.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/names.py to names.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/gentools.py to gentools.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/srvs.py to srvs.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/template_tools.py to template_tools.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/base.py to base.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/genmsg/msgs.py to msgs.pyc
running install_egg_info
Writing /usr/local/lib/python2.7/dist-packages/genmsg-0.5.11.egg-info
-- Installing: /usr/local/lib/genmsg/genmsg_check_deps.py
carto@cartoPC:~/laser_ws/src/genmsg/build$ cd driver_common/driver_base
bash: cd: driver_common/driver_base: 没有那个文件或目录
carto@cartoPC:~/laser_ws/src/genmsg/build$ cd ../../
carto@cartoPC:~/laser_ws/src$ cd hokuyo/driver_common/driver_base
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cmake ..
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- driver_base: 3 messages, 0 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ make
[  0%] Built target _driver_base_generate_messages_check_deps_SensorLevels
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigValue
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigString
[  0%] Built target driver_base_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target driver_base_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target driver_base_generate_messages_py
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target driver_base_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target driver_base_generate_messages_cpp
[  0%] Built target driver_base_generate_messages
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ sudo make istall
make: *** No rule to make target 'istall'。 停止。
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ sudo make install
[  0%] Built target _driver_base_generate_messages_check_deps_SensorLevels
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigValue
[  0%] Built target _driver_base_generate_messages_check_deps_ConfigString
[ 17%] Built target driver_base_generate_messages_lisp
[ 17%] Built target std_msgs_generate_messages_nodejs
[ 35%] Built target driver_base_generate_messages_nodejs
[ 35%] Built target std_msgs_generate_messages_py
[ 58%] Built target driver_base_generate_messages_py
[ 58%] Built target std_msgs_generate_messages_eus
[ 82%] Built target driver_base_generate_messages_eus
[ 82%] Built target std_msgs_generate_messages_cpp
[100%] Built target driver_base_generate_messages_cpp
[100%] Built target driver_base_generate_messages
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/share/driver_base/msg/ConfigString.msg
-- Installing: /usr/local/share/driver_base/msg/ConfigValue.msg
-- Installing: /usr/local/share/driver_base/msg/SensorLevels.msg
-- Installing: /usr/local/share/driver_base/cmake/driver_base-msg-paths.cmake
-- Installing: /usr/local/include/driver_base
-- Installing: /usr/local/include/driver_base/ConfigString.h
-- Installing: /usr/local/include/driver_base/ConfigValue.h
-- Installing: /usr/local/include/driver_base/SensorLevels.h
-- Installing: /usr/local/share/roseus/ros/driver_base
-- Installing: /usr/local/share/roseus/ros/driver_base/msg
-- Installing: /usr/local/share/roseus/ros/driver_base/msg/ConfigString.l
-- Installing: /usr/local/share/roseus/ros/driver_base/msg/SensorLevels.l
-- Installing: /usr/local/share/roseus/ros/driver_base/msg/ConfigValue.l
-- Installing: /usr/local/share/roseus/ros/driver_base/manifest.l
-- Installing: /usr/local/share/common-lisp/ros/driver_base
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package_SensorLevels.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/ConfigString.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/ConfigValue.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/SensorLevels.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package_ConfigString.lisp
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/driver_base-msg.asd
-- Installing: /usr/local/share/common-lisp/ros/driver_base/msg/_package_ConfigValue.lisp
-- Installing: /usr/local/share/gennodejs/ros/driver_base
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/ConfigString.js
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/ConfigValue.js
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/_index.js
-- Installing: /usr/local/share/gennodejs/ros/driver_base/msg/SensorLevels.js
-- Installing: /usr/local/share/gennodejs/ros/driver_base/_index.js
Listing /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/__init__.py ...
Listing /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.py ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.py ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.py ...
Compiling /home/carto/laser_ws/src/hokuyo/driver_common/driver_base/build/devel/lib/python2.7/dist-packages/driver_base/msg/__init__.py ...
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/__init__.py
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/__init__.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/__init__.py
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/__init__.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.py
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.py
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.pyc
-- Installing: /usr/local/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.py
-- Installing: /usr/local/lib/pkgconfig/driver_base.pc
-- Installing: /usr/local/share/driver_base/cmake/driver_base-msg-extras.cmake
-- Installing: /usr/local/share/driver_base/cmake/driver_baseConfig.cmake
-- Installing: /usr/local/share/driver_base/cmake/driver_baseConfig-version.cmake
-- Installing: /usr/local/share/driver_base/package.xml
-- Up-to-date: /usr/local/include/driver_base
-- Installing: /usr/local/include/driver_base/driver_node.h
-- Installing: /usr/local/include/driver_base/driver.h
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_base/build$ cd ../../
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common$ cd driver_common
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/driver_common/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/driver_common/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/driver_common/build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ make
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ sudo make install
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/share/driver_common/package.xml
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/driver_common/build$ cd ../../carto@cartoPC:~/laser_ws/src/hokuyo/driver_common$ cd timestamp_tools
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ cmake ...
CMake Error: The source directory "/home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build/..." does not exist.
Specify --help for usage, or press the help button on the CMake GUI.
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Boost version: 1.58.0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/driver_common/timestamp_tools/build
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ make
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ sudo make install
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/timestamp_tools.pc
-- Installing: /usr/local/share/timestamp_tools/cmake/timestamp_toolsConfig.cmake
-- Installing: /usr/local/share/timestamp_tools/cmake/timestamp_toolsConfig-version.cmake
-- Installing: /usr/local/share/timestamp_tools/package.xml
-- Installing: /usr/local/include/timestamp_tools
-- Installing: /usr/local/include/timestamp_tools/trigger_matcher.h
-- Installing: /usr/local/include/timestamp_tools/periodic_timestamp_min_filter.h
carto@cartoPC:~/laser_ws/src/hokuyo/driver_common/timestamp_tools/build$ cd ~/laser_ws
carto@cartoPC:~/laser_ws$ cd src/hokuyo
carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-perception/laser_proc.git
正克隆到 'laser_proc'...
remote: Counting objects: 93, done.
remote: Total 93 (delta 0), reused 0 (delta 0), pack-reused 92
展开对象中: 100% (93/93), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-drivers/urg_c.git
正克隆到 'urg_c'...
remote: Counting objects: 2352, done.
remote: Total 2352 (delta 0), reused 0 (delta 0), pack-reused 2352
接收对象中: 100% (2352/2352), 2.03 MiB | 556.00 KiB/s, 完成.
处理 delta 中: 100% (1473/1473), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src/hokuyo$ git clone https://github.com/ros-drivers/hokuyo_node.git
正克隆到 'hokuyo_node'...
remote: Counting objects: 452, done.
remote: Total 452 (delta 0), reused 0 (delta 0), pack-reused 452
接收对象中: 100% (452/452), 84.30 KiB | 0 bytes/s, 完成.
处理 delta 中: 100% (229/229), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src/hokuyo$ cd hokuyo_node
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ rosdep install --from-paths ~/laser_ws/src --ignore-src
#All required rosdeps installed successfully
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ catkin_make -DCATKIN_WHITELIST_PACKAGES="hokuyo_node"
Base path: /home/carto/laser_ws/src/hokuyo/hokuyo_node/build
The specified source space "/home/carto/laser_ws/src/hokuyo/hokuyo_node/build/src" does not exist
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ cd ~/laser_ws
carto@cartoPC:~/laser_ws$ catkin_make install
Base path: /home/carto/laser_ws
Source space: /home/carto/laser_ws/src
Build space: /home/carto/laser_ws/build
Devel space: /home/carto/laser_ws/devel
Install space: /home/carto/laser_ws/install
####
#### Running command: "cmake /home/carto/laser_ws/src -DCATKIN_DEVEL_PREFIX=/home/carto/laser_ws/devel -DCMAKE_INSTALL_PREFIX=/home/carto/laser_ws/install -G Unix Makefiles" in "/home/carto/laser_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 8 packages in topological order:
-- ~~  - genmsg
-- ~~  - driver_common (metapackage)
-- ~~  - urg_c
-- ~~  - timestamp_tools
-- ~~  - driver_base
-- ~~  - hokuyo_node
-- ~~  - laser_proc
-- ~~  - lms1xx
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'genmsg'
-- ==> add_subdirectory(genmsg)
-- +++ processing catkin metapackage: 'driver_common'
-- ==> add_subdirectory(hokuyo/driver_common/driver_common)
-- +++ processing catkin package: 'urg_c'
-- ==> add_subdirectory(hokuyo/urg_c)
-- +++ processing catkin package: 'timestamp_tools'
-- ==> add_subdirectory(hokuyo/driver_common/timestamp_tools)
-- Boost version: 1.58.0
-- +++ processing catkin package: 'driver_base'
-- ==> add_subdirectory(hokuyo/driver_common/driver_base)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- driver_base: 3 messages, 0 services
-- +++ processing catkin package: 'hokuyo_node'
-- ==> add_subdirectory(hokuyo/hokuyo_node)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   thread
--   chrono
--   date_time
--   atomic
-- +++ processing catkin package: 'laser_proc'
-- ==> add_subdirectory(hokuyo/laser_proc)
-- +++ processing catkin package: 'lms1xx'
-- ==> add_subdirectory(LMS1xx)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/build
####
#### Running command: "make install -j12 -l12" in "/home/carto/laser_ws/build"
####
Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigValue
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_nodejs
Scanning dependencies of target _driver_base_generate_messages_check_deps_SensorLevels
Scanning dependencies of target std_msgs_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_lisp
Scanning dependencies of target liburg_c
Scanning dependencies of target _driver_base_generate_messages_check_deps_ConfigString
Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target hokuyo_node_gencfg
Scanning dependencies of target libhokuyo
Scanning dependencies of target laser_proc_library
[  0%] Built target std_msgs_generate_messages_nodejs
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_eus
[  1%] Built target std_msgs_generate_messages_lisp
[  1%] Generating dynamic reconfigure files from cfg/Hokuyo.cfg: /home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py
[  2%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_sensor.c.o
[  5%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/libhokuyo.dir/src/hokuyo.cpp.o
[  5%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_proc_library.dir/src/LaserProc.cpp.o
[  6%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_connection.c.o
[  7%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_debug.c.o
[  9%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_ring_buffer.c.o
[ 10%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_utils.c.o
[ 13%] Built target LMS1xx
[ 13%] Built target _driver_base_generate_messages_check_deps_SensorLevels
[ 13%] Built target _driver_base_generate_messages_check_deps_ConfigString
[ 14%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_serial.c.o
[ 14%] Built target _driver_base_generate_messages_check_deps_ConfigValue
[ 15%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_serial_utils.c.o
[ 17%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_tcpclient.c.o
[ 18%] Building C object hokuyo/urg_c/CMakeFiles/liburg_c.dir/current/src/urg_time.c.o
Scanning dependencies of target driver_base_generate_messages_py
Scanning dependencies of target driver_base_generate_messages_eus
[ 19%] Generating EusLisp code from driver_base/ConfigValue.msg
Traceback (most recent call last):
  File "/home/carto/laser_ws/src/hokuyo/hokuyo_node/cfg/Hokuyo.cfg", line 39, in <module>
[ 22%] Built target LMS1xx_node
    from driver_base.msg import SensorLevels
ImportError: No module named msg
[ 23%] Generating Python from MSG driver_base/ConfigValue
[ 25%] Generating EusLisp code from driver_base/ConfigString.msg
hokuyo/hokuyo_node/CMakeFiles/hokuyo_node_gencfg.dir/build.make:63: recipe for target '/home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h' failed
make[2]: *** [/home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h] Error 1
CMakeFiles/Makefile2:2702: recipe for target 'hokuyo/hokuyo_node/CMakeFiles/hokuyo_node_gencfg.dir/all' failed
make[1]: *** [hokuyo/hokuyo_node/CMakeFiles/hokuyo_node_gencfg.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 26%] Generating EusLisp code from driver_base/SensorLevels.msg
[ 27%] Generating EusLisp manifest code for driver_base
[ 28%] Generating Python from MSG driver_base/ConfigString
Scanning dependencies of target driver_base_generate_messages_nodejs
[ 30%] Generating Python from MSG driver_base/SensorLevels
[ 31%] Generating Javascript code from driver_base/ConfigValue.msg
[ 32%] Generating Javascript code from driver_base/ConfigString.msg
[ 34%] Linking C shared library /home/carto/laser_ws/devel/lib/libliburg_c.so
[ 35%] Generating Javascript code from driver_base/SensorLevels.msg
[ 35%] Built target liburg_c
[ 35%] Built target driver_base_generate_messages_nodejs
[ 36%] Generating Python msg __init__.py for driver_base
[ 36%] Built target driver_base_generate_messages_py
[ 36%] Built target driver_base_generate_messages_eus
[ 38%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_proc_library.so
[ 38%] Built target laser_proc_library
[ 39%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblibhokuyo.so
[ 39%] Built target libhokuyo
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make install -j12 -l12" failed
carto@cartoPC:~/laser_ws$ cd src/hokuyo/laser_proc
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc$ mkdir build
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/hokuyo/laser_proc/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/hokuyo/laser_proc/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/hokuyo/laser_proc/build
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ make
Scanning dependencies of target laser_proc_library
[  8%] Building CXX object CMakeFiles/laser_proc_library.dir/src/LaserProc.cpp.o
[ 16%] Linking CXX shared library devel/lib/liblaser_proc_library.so
[ 16%] Built target laser_proc_library
Scanning dependencies of target laser_publisher
[ 25%] Building CXX object CMakeFiles/laser_publisher.dir/src/LaserPublisher.cpp.o
[ 33%] Linking CXX shared library devel/lib/liblaser_publisher.so
[ 33%] Built target laser_publisher
Scanning dependencies of target laser_transport
[ 41%] Building CXX object CMakeFiles/laser_transport.dir/src/LaserTransport.cpp.o
[ 50%] Linking CXX shared library devel/lib/liblaser_transport.so
[ 50%] Built target laser_transport
Scanning dependencies of target laser_proc_ROS
[ 58%] Building CXX object CMakeFiles/laser_proc_ROS.dir/src/LaserProcROS.cpp.o
[ 66%] Linking CXX shared library devel/lib/liblaser_proc_ROS.so
[ 66%] Built target laser_proc_ROS
Scanning dependencies of target LaserProcNodelet
[ 75%] Building CXX object CMakeFiles/LaserProcNodelet.dir/src/LaserProcNodelet.cpp.o
[ 83%] Linking CXX shared library devel/lib/libLaserProcNodelet.so
[ 83%] Built target LaserProcNodelet
Scanning dependencies of target laser_proc
[ 91%] Building CXX object CMakeFiles/laser_proc.dir/src/laser_proc.cpp.o
[100%] Linking CXX executable devel/lib/laser_proc/laser_proc
[100%] Built target laser_proc
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ sudo make install
[sudo] carto 的密码： 
[ 16%] Built target laser_proc_library
[ 33%] Built target laser_publisher
[ 50%] Built target laser_transport
[ 66%] Built target laser_proc_ROS
[ 83%] Built target LaserProcNodelet
[100%] Built target laser_proc
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/laser_proc.pc
-- Installing: /usr/local/share/laser_proc/cmake/laser_procConfig.cmake
-- Installing: /usr/local/share/laser_proc/cmake/laser_procConfig-version.cmake
-- Installing: /usr/local/share/laser_proc/package.xml
-- Installing: /usr/local/lib/liblaser_proc_library.so
-- Set runtime path of "/usr/local/lib/liblaser_proc_library.so" to ""
-- Installing: /usr/local/lib/liblaser_publisher.so
-- Set runtime path of "/usr/local/lib/liblaser_publisher.so" to ""
-- Installing: /usr/local/lib/liblaser_transport.so
-- Set runtime path of "/usr/local/lib/liblaser_transport.so" to ""
-- Installing: /usr/local/lib/liblaser_proc_ROS.so
-- Set runtime path of "/usr/local/lib/liblaser_proc_ROS.so" to ""
-- Installing: /usr/local/lib/libLaserProcNodelet.so
-- Set runtime path of "/usr/local/lib/libLaserProcNodelet.so" to ""
-- Installing: /usr/local/lib/laser_proc/laser_proc
-- Set runtime path of "/usr/local/lib/laser_proc/laser_proc" to ""
-- Installing: /usr/local/include/laser_proc
-- Installing: /usr/local/include/laser_proc/LaserProcROS.h
-- Installing: /usr/local/include/laser_proc/LaserProc.h
-- Installing: /usr/local/include/laser_proc/LaserPublisher.h
-- Installing: /usr/local/include/laser_proc/LaserTransport.h
-- Installing: /usr/local/share/laser_proc/nodelets.xml
carto@cartoPC:~/laser_ws/src/hokuyo/laser_proc/build$ cd ../../
carto@cartoPC:~/laser_ws/src/hokuyo$ cd hokuyo_node
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node$ cd build
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ rosdep isntall --from-paths ~/laser_ws/src --ignore-src
Usage: rosdep [options] <command> <args>

Commands:

rosdep check <stacks-and-packages>...
  check if the dependencies of package(s) have been met.

rosdep install <stacks-and-packages>...
  generate a bash script and then execute it.

rosdep db
  generate the dependency database and print it to the console.

rosdep init
  initialize rosdep sources in /etc/ros/rosdep.  May require sudo.

rosdep keys <stacks-and-packages>...
  list the rosdep keys that the packages depend on.

rosdep resolve <rosdeps>
  resolve <rosdeps> to system dependencies

rosdep update
  update the local rosdep database based on the rosdep sources.

rosdep what-needs <rosdeps>...
  print a list of packages that declare a rosdep on (at least
  one of) <rosdeps>

rosdep where-defined <rosdeps>...
  print a list of yaml files that declare a rosdep on (at least
  one of) <rosdeps>

rosdep fix-permissions
  Recursively change the permissions of the user's ros home directory.
  May require sudo.  Can be useful to fix permissions after calling
  "rosdep update" with sudo accidentally.


rosdep: error: Unsupported command isntall.
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ rosdep install --from-paths ~/laser_ws/src --ignore-src
#All required rosdeps installed successfully
carto@cartoPC:~/laser_ws/src/hokuyo/hokuyo_node/build$ cd ~/laser_ws
carto@cartoPC:~/laser_ws$ catkin_make install
Base path: /home/carto/laser_ws
Source space: /home/carto/laser_ws/src
Build space: /home/carto/laser_ws/build
Devel space: /home/carto/laser_ws/devel
Install space: /home/carto/laser_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/carto/laser_ws/build"
####
####
#### Running command: "make install -j12 -l12" in "/home/carto/laser_ws/build"
####
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_nodejs
[ 13%] Built target liburg_c
[ 13%] Built target std_msgs_generate_messages_cpp
[ 14%] Generating dynamic reconfigure files from cfg/Hokuyo.cfg: /home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py
[ 14%] Built target std_msgs_generate_messages_lisp
[ 14%] Built target std_msgs_generate_messages_py
[ 17%] Built target libhokuyo
[ 19%] Built target laser_proc_library
Scanning dependencies of target open_urg_sensor
Scanning dependencies of target getFirmwareVersion
Scanning dependencies of target laser_publisher
[ 21%] Building C object hokuyo/urg_c/CMakeFiles/open_urg_sensor.dir/current/samples/open_urg_sensor.c.o
Scanning dependencies of target getID
[ 23%] Built target LMS1xx
[ 25%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/getFirmwareVersion.dir/src/getFirmwareVersion.cpp.o
[ 25%] Built target _driver_base_generate_messages_check_deps_SensorLevels
[ 26%] Built target _driver_base_generate_messages_check_deps_ConfigString
[ 26%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/getID.dir/src/getID.cpp.o
[ 27%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_publisher.dir/src/LaserPublisher.cpp.o
[ 27%] Built target _driver_base_generate_messages_check_deps_ConfigValue
Scanning dependencies of target driver_base_generate_messages_lisp
Scanning dependencies of target driver_base_generate_messages_cpp
[ 30%] Built target LMS1xx_node
[ 31%] Generating Lisp code from driver_base/ConfigValue.msg
[ 32%] Generating Lisp code from driver_base/ConfigString.msg
[ 34%] Generating C++ code from driver_base/ConfigValue.msg
[ 39%] Built target driver_base_generate_messages_py
[ 40%] Linking C shared library /home/carto/laser_ws/devel/lib/libopen_urg_sensor.so
[ 44%] Built target driver_base_generate_messages_nodejs
[ 50%] Built target driver_base_generate_messages_eus
[ 51%] Generating Lisp code from driver_base/SensorLevels.msg
[ 52%] Generating C++ code from driver_base/ConfigString.msg
[ 53%] Generating C++ code from driver_base/SensorLevels.msg
[ 53%] Built target open_urg_sensor
[ 53%] Built target driver_base_generate_messages_lisp
Scanning dependencies of target sensor_parameter
Scanning dependencies of target sync_time_stamp
Scanning dependencies of target calculate_xy
Scanning dependencies of target angle_convert_test
Scanning dependencies of target get_distance
[ 56%] Building C object hokuyo/urg_c/CMakeFiles/calculate_xy.dir/current/samples/calculate_xy.c.o
[ 56%] Building C object hokuyo/urg_c/CMakeFiles/sync_time_stamp.dir/current/samples/sync_time_stamp.c.o
[ 59%] Building C object hokuyo/urg_c/CMakeFiles/sensor_parameter.dir/current/samples/sensor_parameter.c.o
[ 59%] Building C object hokuyo/urg_c/CMakeFiles/angle_convert_test.dir/current/samples/angle_convert_test.c.o
[ 60%] Building C object hokuyo/urg_c/CMakeFiles/get_distance.dir/current/samples/get_distance.c.o
/home/carto/laser_ws/src/hokuyo/urg_c/current/samples/calculate_xy.c: In function ‘main’:
/home/carto/laser_ws/src/hokuyo/urg_c/current/samples/calculate_xy.c:43:51: warning: passing argument 4 of ‘urg_get_distance’ makes pointer from integer without a cast [-Wint-conversion]
     n = urg_get_distance(&urg, data, &time_stamp, system_time_stamp);
                                                   ^
In file included from /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/calculate_xy.c:12:0:
/home/carto/laser_ws/src/hokuyo/urg_c/current/include/urg_c/urg_sensor.h:298:16: note: expected ‘long long unsigned int *’ but argument is of type ‘long long unsigned int’
     extern int urg_get_distance(urg_t *urg, long data[], long *time_stamp, unsigned long long *system_time_stamp);
                ^
/home/carto/laser_ws/src/hokuyo/urg_c/current/samples/get_distance.c: In function ‘main’:
Generating reconfiguration files for Hokuyo in hokuyo_node
/home/carto/laser_ws/src/hokuyo/urg_c/current/samples/get_distance.c:89:55: warning: passing argument 4 of ‘urg_get_distance’ makes pointer from integer without a cast [-Wint-conversion]
         n = urg_get_distance(&urg, data, &time_stamp, system_time_stamp);
                                                       ^
In file included from /home/carto/laser_ws/src/hokuyo/urg_c/current/samples/get_distance.c:11:0:
/home/carto/laser_ws/src/hokuyo/urg_c/current/include/urg_c/urg_sensor.h:298:16: note: expected ‘long long unsigned int *’ but argument is of type ‘long long unsigned int’
     extern int urg_get_distance(urg_t *urg, long data[], long *time_stamp, unsigned long long *system_time_stamp);
                ^
Wrote header file in /home/carto/laser_ws/devel/include/hokuyo_node/HokuyoConfig.h
[ 63%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/sensor_parameter
[ 63%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/sync_time_stamp
[ 64%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/angle_convert_test
[ 65%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/calculate_xy
[ 67%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_distance
Scanning dependencies of target get_distance_intensity
[ 67%] Built target hokuyo_node_gencfg
Scanning dependencies of target get_multiecho
[ 68%] Building C object hokuyo/urg_c/CMakeFiles/get_distance_intensity.dir/current/samples/get_distance_intensity.c.o
[ 68%] Built target sync_time_stamp
[ 68%] Built target driver_base_generate_messages_cpp
[ 68%] Built target sensor_parameter
[ 68%] Built target angle_convert_test
[ 68%] Built target calculate_xy
Scanning dependencies of target find_port
[ 68%] Built target get_distance
Scanning dependencies of target get_multiecho_intensity
Scanning dependencies of target timeout_test
[ 69%] Building C object hokuyo/urg_c/CMakeFiles/get_multiecho.dir/current/samples/get_multiecho.c.o
Scanning dependencies of target reboot_test
Scanning dependencies of target hokuyo_node
Scanning dependencies of target driver_base_generate_messages
[ 72%] Building C object hokuyo/urg_c/CMakeFiles/get_multiecho_intensity.dir/current/samples/get_multiecho_intensity.c.o
[ 72%] Building C object hokuyo/urg_c/CMakeFiles/timeout_test.dir/current/samples/timeout_test.c.o
[ 73%] Building C object hokuyo/urg_c/CMakeFiles/find_port.dir/current/samples/find_port.c.o
[ 75%] Building C object hokuyo/urg_c/CMakeFiles/reboot_test.dir/current/samples/reboot_test.c.o
[ 75%] Built target driver_base_generate_messages
[ 76%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_distance_intensity
[ 77%] Building CXX object hokuyo/hokuyo_node/CMakeFiles/hokuyo_node.dir/src/hokuyo_node.cpp.o
[ 78%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/timeout_test
[ 80%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_multiecho
[ 81%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/find_port
[ 82%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/get_multiecho_intensity
[ 84%] Linking C executable /home/carto/laser_ws/devel/lib/urg_c/reboot_test
[ 84%] Built target get_distance_intensity
[ 84%] Built target timeout_test
[ 84%] Built target find_port
[ 84%] Built target get_multiecho
[ 84%] Built target get_multiecho_intensity
[ 84%] Built target reboot_test
[ 85%] Linking CXX executable /home/carto/laser_ws/devel/lib/hokuyo_node/getFirmwareVersion
[ 86%] Linking CXX executable /home/carto/laser_ws/devel/lib/hokuyo_node/getID
[ 86%] Built target getFirmwareVersion
[ 86%] Built target getID
[ 88%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_publisher.so
[ 88%] Built target laser_publisher
Scanning dependencies of target laser_transport
[ 89%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_transport.dir/src/LaserTransport.cpp.o
[ 90%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_transport.so
[ 90%] Built target laser_transport
Scanning dependencies of target laser_proc_ROS
[ 92%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_proc_ROS.dir/src/LaserProcROS.cpp.o
[ 93%] Linking CXX executable /home/carto/laser_ws/devel/lib/hokuyo_node/hokuyo_node
[ 94%] Linking CXX shared library /home/carto/laser_ws/devel/lib/liblaser_proc_ROS.so
[ 94%] Built target laser_proc_ROS
Scanning dependencies of target LaserProcNodelet
Scanning dependencies of target laser_proc
[ 96%] Building CXX object hokuyo/laser_proc/CMakeFiles/LaserProcNodelet.dir/src/LaserProcNodelet.cpp.o
[ 97%] Building CXX object hokuyo/laser_proc/CMakeFiles/laser_proc.dir/src/laser_proc.cpp.o
[ 97%] Built target hokuyo_node
[ 98%] Linking CXX executable /home/carto/laser_ws/devel/lib/laser_proc/laser_proc
[100%] Linking CXX shared library /home/carto/laser_ws/devel/lib/libLaserProcNodelet.so
[100%] Built target laser_proc
[100%] Built target LaserProcNodelet
Install the project...
-- Install configuration: ""
-- Installing: /home/carto/laser_ws/install/_setup_util.py
-- Installing: /home/carto/laser_ws/install/env.sh
-- Installing: /home/carto/laser_ws/install/setup.bash
-- Installing: /home/carto/laser_ws/install/setup.sh
-- Installing: /home/carto/laser_ws/install/setup.zsh
-- Installing: /home/carto/laser_ws/install/.rosinstall
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/genmsg.pc
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/genmsg-extras.cmake
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/genmsgConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/genmsgConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/genmsg/package.xml
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-genmsg.cmake.em
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-genmsg.context.in
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-msg-extras.cmake.in
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-msg-paths.cmake.develspace.in
-- Installing: /home/carto/laser_ws/install/share/genmsg/cmake/pkg-msg-paths.cmake.installspace.in
+ cd /home/carto/laser_ws/src/genmsg
+ mkdir -p /home/carto/laser_ws/install/lib/python2.7/dist-packages
+ /usr/bin/env PYTHONPATH=/home/carto/laser_ws/install/lib/python2.7/dist-packages:/home/carto/laser_ws/build/lib/python2.7/dist-packages:/opt/ros/kinetic/lib/python2.7/dist-packages CATKIN_BINARY_DIR=/home/carto/laser_ws/build /usr/bin/python /home/carto/laser_ws/src/genmsg/setup.py build --build-base /home/carto/laser_ws/build/genmsg install --install-layout=deb --prefix=/home/carto/laser_ws/install --install-scripts=/home/carto/laser_ws/install/bin
running build
running build_py
creating /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7
creating /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/__init__.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/command_line.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/msg_loader.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/deps.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/names.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/gentools.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/srvs.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/template_tools.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/base.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
copying src/genmsg/msgs.py -> /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg
running install
running install_lib
creating /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/__init__.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/command_line.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/msg_loader.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/deps.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/names.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/gentools.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/srvs.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/template_tools.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/base.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
copying /home/carto/laser_ws/build/genmsg/lib.linux-x86_64-2.7/genmsg/msgs.py -> /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/__init__.py to __init__.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/command_line.py to command_line.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/msg_loader.py to msg_loader.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/deps.py to deps.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/names.py to names.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/gentools.py to gentools.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/srvs.py to srvs.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/template_tools.py to template_tools.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/base.py to base.pyc
byte-compiling /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg/msgs.py to msgs.pyc
running install_egg_info
Writing /home/carto/laser_ws/install/lib/python2.7/dist-packages/genmsg-0.5.11.egg-info
-- Installing: /home/carto/laser_ws/install/lib/genmsg/genmsg_check_deps.py
-- Installing: /home/carto/laser_ws/install/share/driver_common/package.xml
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/urg_c.pc
-- Installing: /home/carto/laser_ws/install/share/urg_c/cmake/urg_cConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/urg_c/cmake/urg_cConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/urg_c/package.xml
-- Installing: /home/carto/laser_ws/install/lib/libliburg_c.so
-- Installing: /home/carto/laser_ws/install/lib/libopen_urg_sensor.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/libopen_urg_sensor.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/angle_convert_test
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/angle_convert_test" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/calculate_xy
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/calculate_xy" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/find_port
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/find_port" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/get_distance
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_distance" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/get_distance_intensity
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_distance_intensity" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/get_multiecho
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_multiecho" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/get_multiecho_intensity
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/get_multiecho_intensity" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/reboot_test
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/reboot_test" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/sensor_parameter
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/sensor_parameter" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/sync_time_stamp
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/sync_time_stamp" to ""
-- Installing: /home/carto/laser_ws/install/lib/urg_c/timeout_test
-- Set runtime path of "/home/carto/laser_ws/install/lib/urg_c/timeout_test" to ""
-- Installing: /home/carto/laser_ws/install/include/urg_c
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_debug.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_serial_utils.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_sensor.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_connection.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_tcpclient.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_detect_os.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_serial.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_errno.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_utils.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_time.h
-- Installing: /home/carto/laser_ws/install/include/urg_c/urg_ring_buffer.h
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/timestamp_tools.pc
-- Installing: /home/carto/laser_ws/install/share/timestamp_tools/cmake/timestamp_toolsConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/timestamp_tools/cmake/timestamp_toolsConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/timestamp_tools/package.xml
-- Installing: /home/carto/laser_ws/install/include/timestamp_tools
-- Installing: /home/carto/laser_ws/install/include/timestamp_tools/trigger_matcher.h
-- Installing: /home/carto/laser_ws/install/include/timestamp_tools/periodic_timestamp_min_filter.h
-- Installing: /home/carto/laser_ws/install/share/driver_base/msg/ConfigString.msg
-- Installing: /home/carto/laser_ws/install/share/driver_base/msg/ConfigValue.msg
-- Installing: /home/carto/laser_ws/install/share/driver_base/msg/SensorLevels.msg
-- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_base-msg-paths.cmake
-- Installing: /home/carto/laser_ws/install/include/driver_base
-- Installing: /home/carto/laser_ws/install/include/driver_base/ConfigString.h
-- Installing: /home/carto/laser_ws/install/include/driver_base/ConfigValue.h
-- Installing: /home/carto/laser_ws/install/include/driver_base/SensorLevels.h
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg/ConfigString.l
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg/SensorLevels.l
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/msg/ConfigValue.l
-- Installing: /home/carto/laser_ws/install/share/roseus/ros/driver_base/manifest.l
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package_SensorLevels.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/ConfigString.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/ConfigValue.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/SensorLevels.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package_ConfigString.lisp
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/driver_base-msg.asd
-- Installing: /home/carto/laser_ws/install/share/common-lisp/ros/driver_base/msg/_package_ConfigValue.lisp
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/ConfigString.js
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/ConfigValue.js
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/_index.js
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/msg/SensorLevels.js
-- Installing: /home/carto/laser_ws/install/share/gennodejs/ros/driver_base/_index.js
Listing /home/carto/laser_ws/devel/lib/python2.7/dist-packages/driver_base ...
Listing /home/carto/laser_ws/devel/lib/python2.7/dist-packages/driver_base/msg ...
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/__init__.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/__init__.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/__init__.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/__init__.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_SensorLevels.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigValue.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/driver_base/msg/_ConfigString.py
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/driver_base.pc
-- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_base-msg-extras.cmake
-- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_baseConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/driver_base/cmake/driver_baseConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/driver_base/package.xml
-- Up-to-date: /home/carto/laser_ws/install/include/driver_base
-- Installing: /home/carto/laser_ws/install/include/driver_base/driver_node.h
-- Installing: /home/carto/laser_ws/install/include/driver_base/driver.h
-- Installing: /home/carto/laser_ws/install/include/hokuyo_node/HokuyoConfig.h
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/__init__.py
Listing /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg ...
Compiling /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py ...
Compiling /home/carto/laser_ws/devel/lib/python2.7/dist-packages/hokuyo_node/cfg/__init__.py ...
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/__init__.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.py
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/__init__.pyc
-- Installing: /home/carto/laser_ws/install/lib/python2.7/dist-packages/hokuyo_node/cfg/HokuyoConfig.pyc
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/hokuyo_node.pc
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/cmake/hokuyo_nodeConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/cmake/hokuyo_nodeConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/package.xml
-- Installing: /home/carto/laser_ws/install/lib/liblibhokuyo.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblibhokuyo.so" to ""
-- Up-to-date: /home/carto/laser_ws/install/include/hokuyo_node
-- Installing: /home/carto/laser_ws/install/include/hokuyo_node/hokuyo.h
-- Installing: /home/carto/laser_ws/install/lib/hokuyo_node/hokuyo_node
-- Set runtime path of "/home/carto/laser_ws/install/lib/hokuyo_node/hokuyo_node" to ""
-- Installing: /home/carto/laser_ws/install/lib/hokuyo_node/getID
-- Set runtime path of "/home/carto/laser_ws/install/lib/hokuyo_node/getID" to ""
-- Installing: /home/carto/laser_ws/install/lib/hokuyo_node/getFirmwareVersion
-- Set runtime path of "/home/carto/laser_ws/install/lib/hokuyo_node/getFirmwareVersion" to ""
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/TODO
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/unplug_test.launch
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/COPYING.lib
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/hokuyo_test.launch
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/hokuyo_test.vcg
-- Installing: /home/carto/laser_ws/install/share/hokuyo_node/hokuyo_test_intensity.launch
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/laser_proc.pc
-- Installing: /home/carto/laser_ws/install/share/laser_proc/cmake/laser_procConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/laser_proc/cmake/laser_procConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/laser_proc/package.xml
-- Installing: /home/carto/laser_ws/install/lib/liblaser_proc_library.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_proc_library.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/liblaser_publisher.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_publisher.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/liblaser_transport.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_transport.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/liblaser_proc_ROS.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/liblaser_proc_ROS.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/libLaserProcNodelet.so
-- Set runtime path of "/home/carto/laser_ws/install/lib/libLaserProcNodelet.so" to ""
-- Installing: /home/carto/laser_ws/install/lib/laser_proc/laser_proc
-- Set runtime path of "/home/carto/laser_ws/install/lib/laser_proc/laser_proc" to ""
-- Installing: /home/carto/laser_ws/install/include/laser_proc
-- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserProcROS.h
-- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserProc.h
-- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserPublisher.h
-- Installing: /home/carto/laser_ws/install/include/laser_proc/LaserTransport.h
-- Installing: /home/carto/laser_ws/install/share/laser_proc/nodelets.xml
-- Installing: /home/carto/laser_ws/install/lib/pkgconfig/lms1xx.pc
-- Installing: /home/carto/laser_ws/install/share/lms1xx/cmake/lms1xxConfig.cmake
-- Installing: /home/carto/laser_ws/install/share/lms1xx/cmake/lms1xxConfig-version.cmake
-- Installing: /home/carto/laser_ws/install/share/lms1xx/package.xml
-- Installing: /home/carto/laser_ws/install/lib/libLMS1xx.so
-- Installing: /home/carto/laser_ws/install/lib/lms1xx/LMS1xx_node
-- Set runtime path of "/home/carto/laser_ws/install/lib/lms1xx/LMS1xx_node" to ""
-- Installing: /home/carto/laser_ws/install/share/lms1xx/meshes
-- Installing: /home/carto/laser_ws/install/share/lms1xx/meshes/sick-lms1xx.dae
-- Installing: /home/carto/laser_ws/install/share/lms1xx/meshes/sick-lms1xx.stl
-- Installing: /home/carto/laser_ws/install/share/lms1xx/launch
-- Installing: /home/carto/laser_ws/install/share/lms1xx/launch/LMS1xx.launch
-- Installing: /home/carto/laser_ws/install/share/lms1xx/urdf
-- Installing: /home/carto/laser_ws/install/share/lms1xx/urdf/sick_lms1xx.urdf.xacro
-- Installing: /home/carto/laser_ws/install/lib/lms1xx/find_sick
-- Installing: /home/carto/laser_ws/install/lib/lms1xx/set_sick_ip

 配置过程：

carto@cartoPC:~$ ls -l /dev/ttyACM0
crw-rw---- 1 root dialout 166, 0 7月  31 09:00 /dev/ttyACM0
carto@cartoPC:~$ sudo chmod a+rw /dev/ttyACM0
[sudo] carto 的密码： 

注意这里是ttyACM0，区别与ttyUSB0。

测试过程如下

carto@cartoPC:~/laser_ws$ roslaunch hokuyo_node hokuyo_test.launch
... logging to /home/carto/.ros/log/770997bc-946b-11e8-b5cd-505bc2bbfd81/roslaunch-cartoPC-10296.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cartoPC:33469/

SUMMARY
========

PARAMETERS
 * /hokuyo/calibrate_time: False
 * /hokuyo/intensity: False
 * /hokuyo/port: /dev/ttyACM0
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    hokuyo (hokuyo_node/hokuyo_node)

auto-starting new master
process[master]: started with pid [10306]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 770997bc-946b-11e8-b5cd-505bc2bbfd81
process[rosout-1]: started with pid [10319]
started core service [/rosout]
process[hokuyo-2]: started with pid [10326]
[ INFO] [1533004992.190478541]: Connected to device with ID: H1625686
[ INFO] [1533004992.293404655]: Streaming data.

4. XSENS MTi-30驱动安装

carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ git clone https://github.com/ethz-asl/ethzasl_xsens_driver
正克隆到 'ethzasl_xsens_driver'...
remote: Counting objects: 778, done.
remote: Compressing objects: 100% (4/4), done.
remote: Total 778 (delta 0), reused 1 (delta 0), pack-reused 774
接收对象中: 100% (778/778), 231.99 KiB | 430.00 KiB/s, 完成.
处理 delta 中: 100% (480/480), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src$ cd ethzasl_xsens_driver
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ mkdir build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ cd build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/ethzasl_xsens_driver/build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ make
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ sudo make install
[sudo] carto 的密码： 
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/xsens_driver.pc
-- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig.cmake
-- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig-version.cmake
-- Installing: /usr/local/share/xsens_driver/package.xml
-- Installing: /usr/local/lib/xsens_driver/mtnode.py
-- Installing: /usr/local/lib/xsens_driver/mtdef.py
-- Installing: /usr/local/lib/xsens_driver/mtdevice.py
-- Installing: /usr/local/share/xsens_driver/launch
-- Installing: /usr/local/share/xsens_driver/launch/xsens_driver.launch
carto@cartoPC:~/laser_ws$ cd src
carto@cartoPC:~/laser_ws/src$ git clone https://github.com/ethz-asl/ethzasl_xsens_driver
正克隆到 'ethzasl_xsens_driver'...
remote: Counting objects: 778, done.
remote: Compressing objects: 100% (4/4), done.
remote: Total 778 (delta 0), reused 1 (delta 0), pack-reused 774
接收对象中: 100% (778/778), 231.99 KiB | 430.00 KiB/s, 完成.
处理 delta 中: 100% (480/480), 完成.
检查连接... 完成。
carto@cartoPC:~/laser_ws/src$ cd ethzasl_xsens_driver
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ mkdir build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver$ cd build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/carto/laser_ws/src/ethzasl_xsens_driver/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.11
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring done
-- Generating done
-- Build files have been written to: /home/carto/laser_ws/src/ethzasl_xsens_driver/build
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ make
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ sudo make install
[sudo] carto 的密码： 
Install the project...
-- Install configuration: ""
-- Installing: /usr/local/_setup_util.py
-- Installing: /usr/local/env.sh
-- Installing: /usr/local/setup.bash
-- Installing: /usr/local/setup.sh
-- Installing: /usr/local/setup.zsh
-- Installing: /usr/local/.rosinstall
-- Installing: /usr/local/lib/pkgconfig/xsens_driver.pc
-- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig.cmake
-- Installing: /usr/local/share/xsens_driver/cmake/xsens_driverConfig-version.cmake
-- Installing: /usr/local/share/xsens_driver/package.xml
-- Installing: /usr/local/lib/xsens_driver/mtnode.py
-- Installing: /usr/local/lib/xsens_driver/mtdef.py
-- Installing: /usr/local/lib/xsens_driver/mtdevice.py
-- Installing: /usr/local/share/xsens_driver/launch
-- Installing: /usr/local/share/xsens_driver/launch/xsens_driver.launch
carto@cartoPC:~/laser_ws/src/ethzasl_xsens_driver/build$ 

测试LMS111：

　　rosrun lms1xx LMS1xx_node _host:=192.168.0.1

真烦，LMS111的驱动老是崩溃，不知道神码原因，读取的数据很不稳定，不知道是不是电压采用12V的原因，数据是采用路由器转发的，难道这个有问题？总之是搞不定了！