ROS – 默默的点滴曾道人吉数

CMake如何编译CUDA(.cu)源文件

现在的项目，如果需要用到计算加速，Nvidia的CUDA往往是首选。那么如何在CMake中编译写好的CUDA源代码，可以参考如下。

首先使用FIND_PACKAGE找到已经安装的CUDA，此时需要配置的环境变量等，应该已经自动配置完成了

SET(CUDA_VERSION 8.0)
FIND_PACKAGE(CUDA ${CUDA_VERSION} REQUIRED)
STRING (TOLOWER ${CMAKE_SYSTEM_NAME} LOWER_SYSTEM_NAME)
SET(CUDA_TARGET_INCLUDE  ${CUDA_TOOLKIT_ROOT_DIR}-${CUDA_VERSION}/targets/${CMAKE_HOST_SYSTEM_PROCESSOR}-${LOWER_SYSTEM_NAME}/include)

SET(CUDA_VERSION 8.0)

FIND_PACKAGE(CUDA ${CUDA_VERSION} REQUIRED)

STRING (TOLOWER ${CMAKE_SYSTEM_NAME} LOWER_SYSTEM_NAME)

SET(CUDA_TARGET_INCLUDE??${CUDA_TOOLKIT_ROOT_DIR}-${CUDA_VERSION}/targets/${CMAKE_HOST_SYSTEM_PROCESSOR}-${LOWER_SYSTEM_NAME}/include)

接下来，使用CUDA_ADD_LIBRARY取代原来的ADD_LIBRARY，如下：

CUDA_ADD_LIBRARY(mylib SHARED
    file1.cpp
    file2.cu
    file3.cpp
    OPTIONS -arch sm_20
)

TARGET_LINK_LIBRARIES(mylib ${CUDA_LIBRARIES})

CUDA_ADD_LIBRARY(mylib SHARED

????file1.cpp

????file2.cu

????file3.cpp

????OPTIONS -arch sm_20

)

TARGET_LINK_LIBRARIES(mylib ${CUDA_LIBRARIES})

如果是可执行程序，请使用CUDA_ADD_EXECUTABLE取代ADD_EXECUTABLE。

参考链接

CMake: how to add cuda to existing project

Ubuntu 14.04.5源代码编译ROS Indigo并建立自己的DEB安装源

正常情况下我们使用已经编译好的ROS安装包来安装配置默认的ROS环境，就可以比较好的完成工作了。具体参考Ubuntu14.04安装和配置ROS Indigo。

但是在某些情况下，比如，我们需要替换或更新里面的某些默认安装包的版本（比如OpenCV）。

这种情况下，我们就只能重新从源代码开始编译，或者构建自己的安装源了。

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

$ sudo apt-get update
$ sudo apt-get upgrade
$ sudo apt-get dist-upgrade

$ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential

$ sudo rosdep init

$ rosdep update

$ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws

$ export ROS_VER_NAME=indigo
$ export OS_VER_NAME=trusty

#如果是全部重新编译，则删除整个src目录再进行操作
$ rosinstall_generator desktop_full --rosdistro $ROS_VER_NAME --deps --wet-only --tar > $ROS_VER_NAME-desktop-full-wet.rosinstall

$ wstool init -j8 src $ROS_VER_NAME-desktop-full-wet.rosinstall

$ rosdep install --from-paths src --ignore-src --rosdistro $ROS_VER_NAME -y

$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

#如果想一步到位，安装到最终目录，请执行如下命令，主要是 --install-space /opt/ros/$ROS_VER_NAME
# sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/$ROS_VER_NAME

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

$ sudo apt-get update

$ sudo apt-get upgrade

$ sudo apt-get dist-upgrade

$ sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential

$ sudo rosdep init

$ rosdep update

$ mkdir ~/ros_catkin_ws

$ cd ~/ros_catkin_ws

$ export ROS_VER_NAME=indigo

$ export OS_VER_NAME=trusty

#如果是全部重新编译，则删除整个src目录再进行操作

$ rosinstall_generator desktop_full --rosdistro $ROS_VER_NAME --deps --wet-only --tar > $ROS_VER_NAME-desktop-full-wet.rosinstall

$ wstool init -j8 src $ROS_VER_NAME-desktop-full-wet.rosinstall

$ rosdep install --from-paths src --ignore-src --rosdistro $ROS_VER_NAME -y

$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

#如果想一步到位，安装到最终目录，请执行如下命令，主要是 --install-space /opt/ros/$ROS_VER_NAME

# sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/$ROS_VER_NAME

上面的操作是生成完整的文件，然后再拷贝到需要安装的最终目录（--install-space /opt/ros/$ROS_VER_NAME指定），但是并没有生成DEB格式的安装包。

如果我们需要建立自己的安装源，那么参照上面的操作，并且正常编译完成后，使用下面的步骤编译安装包：

$ export ROS_VER_NAME=indigo 
$ export OS_VER_NAME=trusty

#如果要生成deb安装包,需要按照顺序操作
$ sudo apt-get install python-bloom

#编译并安装基础核心模块
#-----------------------catkin-------------------------------
$ cd ~/ros_catkin_ws/src/catkin/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

#需要安装，后续的模块编译依赖前面编译的模块
$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-catkin*.deb

#部分Python模块依赖我们刚刚编译的模块，把路径加入，否在后续模块编译会报错
$ export PYTHONPATH=$PYTHONPATH:/opt/ros/indigo/lib/python2.7/dist-packages

#-----------------------genmsg-------------------------------
$ cd ~/ros_catkin_ws/src/genmsg/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME 

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-genmsg*.deb


#-----------------------genpy-------------------------------
$ cd ~/ros_catkin_ws/src/genpy/ 

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME 

$ fakeroot debian/rules binary 

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-genpy*.deb


#-----------------------gencpp------------------------------- 
$ cd ~/ros_catkin_ws/src/gencpp/ 

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME 

$ fakeroot debian/rules binary 

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-gencpp*.deb


#-----------------------genlisp------------------------------- 
$ cd ~/ros_catkin_ws/src/genlisp/ 

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME 

$ fakeroot debian/rules binary 

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-genlisp*.deb


#-----------------------message_generation------------------------------- 
$ cd ~/ros_catkin_ws/src/message_generation/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-message-generation*.deb

#-----------------------message_runtime------------------------------- 
$ cd ~/ros_catkin_ws/src/message_runtime/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-message-runtime*.deb

........................................................................

#-----------------------std_msgs------------------------------- 
$ cd ~/ros_catkin_ws/src/std_msgs/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-std-msgs*.deb

$ export ROS_VER_NAME=indigo

$ export OS_VER_NAME=trusty

#如果要生成deb安装包,需要按照顺序操作

$ sudo apt-get install python-bloom

#编译并安装基础核心模块

#-----------------------catkin-------------------------------

$ cd ~/ros_catkin_ws/src/catkin/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

#需要安装，后续的模块编译依赖前面编译的模块

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-catkin*.deb

#部分Python模块依赖我们刚刚编译的模块，把路径加入，否在后续模块编译会报错

$ export PYTHONPATH=$PYTHONPATH:/opt/ros/indigo/lib/python2.7/dist-packages

#-----------------------genmsg-------------------------------

$ cd ~/ros_catkin_ws/src/genmsg/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-genmsg*.deb

#-----------------------genpy-------------------------------

$ cd ~/ros_catkin_ws/src/genpy/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-genpy*.deb

#-----------------------gencpp-------------------------------

$ cd ~/ros_catkin_ws/src/gencpp/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-gencpp*.deb

#-----------------------genlisp-------------------------------

$ cd ~/ros_catkin_ws/src/genlisp/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-genlisp*.deb

#-----------------------message_generation-------------------------------

$ cd ~/ros_catkin_ws/src/message_generation/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-message-generation*.deb

#-----------------------message_runtime-------------------------------

$ cd ~/ros_catkin_ws/src/message_runtime/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-message-runtime*.deb

........................................................................

#-----------------------std_msgs-------------------------------

$ cd ~/ros_catkin_ws/src/std_msgs/

$ bloom-generate rosdebian --os-name ubuntu --os-version $OS_VER_NAME --ros-distro $ROS_VER_NAME

$ fakeroot debian/rules binary

$ sudo dpkg -i ~/ros_catkin_ws/src/ros-$ROS_VER_NAME-std-msgs*.deb

至于如何建立自己的源，请参考：建立自己的apt-get源。

对于替换OpenCV重新编译的情况，参考Ubuntu 14.04.5编译安装OpenCV-2.4.13.5,然后执行sudo apt-get remove libopencv-dev&&sudo apt-get autoremove && rm -rf ~/ros_catkin_ws/install_isolated 删除已经安装好的OpenCV以及临时文件，然后重新编译ROS源代码。最后可以从~/ros_catkin_ws/install_isolated/share/cv_bridge/cmake/cv_bridgeConfig.cmake中看到已经链接刚刚编译安装的OpenCV版本了。

参考链接

Ubuntu14.04安装和配置ROS Indigo

安装ROS

配置Ubuntu的软件源

配置Ubuntu要求允许接受restricted、universe和multiverse的软件源,可以根据下面的链接配置:
https://help.ubuntu.com/community/Repositories/Ubuntu

配置成如下图所示即可，一般情况下，这些配置都是默认的。

添加软件源到sources.list

设置软件源的代码如下：

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

1	$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

一旦添加了正确的软件源，操作系统就知道去哪里下载程序，并根据命令自动安装软件。

设置密钥

$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

1	$ wget http://packages.ros.org/ros.key -O - \| sudo apt-key add -

安装

首先确认你的Debian的软件包索引是最新的。Debian计划是一个致力于创建一个自由操作系统的合作组织。我们所创建的这个操作系统名为 Debian。Debian系统目前采用Linux内核或者FreeBSD内核。

$ sudo apt-get update

1	$ sudo apt-get update

在ROS中有许多不同的函数库和工具，建议是完全安装，也可以根据自己的要求分别安装。完全安装时的工具包括ROS、rqt、可视化环境rviz、通用机器人库robot-generic libraries、2D（如stage）和3D（如Gazebo）仿真环境2D/3D simulators、导航功能包集navigation and 2D/3D（移动、定位、地图绘制、机械臂控制）、感知库perception（如视觉、激光雷达、RGB-D摄像头等）。

$ sudo apt-get install ros-indigo-desktop-full

1	$ sudo apt-get install ros-indigo-desktop-full

初始化rosdep

rosdep不仅能够使你更方便的安装一些系统依赖程序包，而且ROS的一些主要部件的运行也需要rosdep。

$ sudo rosdep init
$ rosdep update

1 2	$ sudo rosdep init $ rosdep update

安装rosinstall

rosinstall命令是一个使用的非常频繁的命令，使用这个命令可以轻松的下载许多ROS软件包。

$ sudo apt-get install python-rosinstall

1	$ sudo apt-get install python-rosinstall

设置环境

添加ROS的环境变量，这样，当你打开你新的shell时，你的bash会话中会自动添加环境变量。

$ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
# 使环境变量设置立即生效
$ source ~/.bashrc

$ echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

# 使环境变量设置立即生效

$ source ~/.bashrc

配置你的ROS环境

注意：当你用像apt这样的软件包安装管理器安装ROS，那么这些软件包用户是没有权利的去编辑的，当创建一个ROS package和处理一个ROS package时，你应该始终选择一个你有权限工作的目录作为工作目录。

管理你的环境

在安装ROS的时候，你会看到提示：source（命令）几个setup.*sh文件，或者甚至添加sourcing到你的shell启动脚本中。这是必须的，因为ROS依赖于结合使用shell环境的概念上。这使得开发依赖不同版本的ROS或者不同系列的package更加容易。

如果你在寻找或者使用你的ROS package上有问题，请确定的你的ROS环境变量设置好了，检查是否有ROS_ROOT和ROS_PACKAGE_PATH这些环境变量。

$ export | grep ROS

1	$ export \| grep ROS

如果没有，你需要source一些setup.*sh文件。

环境设置文件是为你产生的，但是可以来自不同的地方：

使用package管理器安装的ROS package提供setup.*sh文件；
rosbuild workspace使用像rosws这样的工具提供setup.*sh文件；
setup.*sh文件在编译和安装catkin package时作为副产品创建。

注意：rosbuild和catkin是两种组织和编译ROS代码的方式，前者简单易用，后者更加复杂但是提供更多灵活性尤其是对那些需要去集成外部代码或者想发布自己软件的人。

如果你在Ubuntu 14.04上使用apt工具安装ROS，那么你会在'/opt/ros/indigo/'目录中有setup.*sh文件，你可以这样source它们：

$ source /opt/ros/indigo/setup.bash

1	$ source /opt/ros/indigo/setup.bash

你每次打开新的shell都需要运行这个命令，如果你把source /opt/ros/indigo/setup.bash添加进.bashrc文件就不必要每次打开一个新的shell都运行这条命令才能使用ROS的命令了。

创建ROS工作环境

对于ROS Groovy和之后的版本可以参考以下方式建立catkin工作环境。在shell中运行：

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace

$ mkdir -p ~/catkin_ws/src

$ cd ~/catkin_ws/src

$ catkin_init_workspace

可以看到在src文件夹中可以看到一个CMakeLists.txt的链接文件，即使这个工作空间是空的（在src中没有package），任然可以建立一个工作空间。

$ cd ~/catkin_ws/
$ catkin_make

1 2	$ cd ~/catkin_ws/ $ catkin_make

catkin_make命令可以非常方便的建立一个catkin工作空间，在你的当前目录中可以看到有build和devel两个文件夹，在devel文件夹中可以看到许多个setup.*sh文件。启用这些文件都会覆盖你现在的环境变量，想了解更多，可以查看文档catkin。在继续下一步之前先启动你的新的setup.*sh 文件。

$ source devel/setup.bash

1	$ source devel/setup.bash

为了确认你的环境变量是否被setup脚本覆盖了，可以运行一下命令确认你的当前目录是否在环境变量中：

$ echo $ROS_PACKAGE_PATH

1	$ echo $ROS_PACKAGE_PATH

输出：

/home/youruser/catkin_ws/src:/opt/ros/indigo/share:
/opt/ros/indigo/stacks

1 2	/home/youruser/catkin_ws/src:/opt/ros/indigo/share: /opt/ros/indigo/stacks

至此，你的环境已经建立好了，可以继续学习ROS文件系统了！

参考链接

Ubuntu14.04安装和配置ROS Indigo

ROS Kinetic切换OpenCV到2.X版本

注意，本文章只针对简单的应用，不涉及到复杂的严重依赖OpenCV模块的项目。如果依赖复杂，可能会导致OpenCV 2.X与OpenCV 3.X的运行时库同时被加载，导致运行时候崩溃。

最近在使用ROS开发项目，代码从Indigo(Ubuntu 14.04)升级到Kinetic（Ubuntu 16.04）。

发现OpenCV升级到了opencv-3.2.0-dev版本,但是实际使用中发现代码在opencv-2.4.9版本上能正确运行，但是升级到opencv-3.2.0-dev版本之后，就不能正常工作了。

为了查找问题，需要降级一下OpenCV版本。

网上查找了一下，找到如下解决方法：

$ sudo apt-get install libcv-dev

$ sudo apt-get install libopencv-dev

$ sudo apt-get install libopencv-contrib-dev

$ sudo apt-get install libopencv-gpu-dev

$ sudo gedit /opt/ros/kinetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

$ sudo apt-get install libcv-dev

$ sudo apt-get install libopencv-dev

$ sudo apt-get install libopencv-contrib-dev

$ sudo apt-get install libopencv-gpu-dev

$ sudo gedit /opt/ros/kinetic/share/cv_bridge/cmake/cv_bridgeConfig.cmake

然后修改如下的内容(修改之前请注意先备份）

第94-96行：
    if(NOT "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev " STREQUAL " ")
      set(cv_bridge_INCLUDE_DIRS "")
      set(_include_dirs "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev")

#112行：
set(libraries "cv_bridge;/opt/ros/kinetic/lib/libopencv_calib3d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_core3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_features2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_flann3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_highgui3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgcodecs3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ml3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_objdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_photo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_shape3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stitching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_superres3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_video3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videoio3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videostab3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_viz3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_aruco3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bgsegm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bioinspired3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ccalib3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_cvv3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_datasets3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_dpm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_face3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_fuzzy3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_hdf3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_line_descriptor3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_optflow3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_phase_unwrapping3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_plot3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_reg3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_rgbd3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_saliency3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stereo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_structured_light3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_surface_matching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_text3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xfeatures2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ximgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xobjdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xphoto3.so.3.2.0")

第94-96行：

????if(NOT "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev " STREQUAL " ")

??????set(cv_bridge_INCLUDE_DIRS "")

??????set(_include_dirs "include;/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv;/opt/ros/kinetic/include/opencv-3.1.0-dev")

#112行：

set(libraries 曾道人吉数"cv_bridge;/opt/ros/kinetic/lib/libopencv_calib3d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_core3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_features2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_flann3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_highgui3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgcodecs3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_imgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ml3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_objdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_photo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_shape3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stitching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_superres3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_video3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videoio3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_videostab3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_viz3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_aruco3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bgsegm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_bioinspired3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ccalib3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_cvv3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_datasets3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_dpm3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_face3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_fuzzy3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_hdf3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_line_descriptor3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_optflow3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_phase_unwrapping3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_plot3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_reg3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_rgbd3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_saliency3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_stereo3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_structured_light3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_surface_matching3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_text3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xfeatures2d3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_ximgproc3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xobjdetect3.so.3.2.0;/opt/ros/kinetic/lib/libopencv_xphoto3.so.3.2.0")

指向系统自带的opencv-2.4.9版本

#94-96行：
if(NOT "include;/usr/include/opencv;/usr/include " STREQUAL " ")
  set(cv_bridge_INCLUDE_DIRS "")
  set(_include_dirs "include;/usr/include/opencv;/usr/include")

#112行：
set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so;/usr/lib/x86_64-linux-gnu/libopencv_contrib.so;/usr/lib/x86_64-linux-gnu/libopencv_core.so;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so;/usr/lib/x86_64-linux-gnu/libopencv_flann.so;/usr/lib/x86_64-linux-gnu/libopencv_gpu.so;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so;/usr/lib/x86_64-linux-gnu/libopencv_legacy.so;/usr/lib/x86_64-linux-gnu/libopencv_ml.so;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so;/usr/lib/x86_64-linux-gnu/libopencv_ocl.so;/usr/lib/x86_64-linux-gnu/libopencv_photo.so;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so;/usr/lib/x86_64-linux-gnu/libopencv_superres.so;/usr/lib/x86_64-linux-gnu/libopencv_ts.so;/usr/lib/x86_64-linux-gnu/libopencv_video.so;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so")

#94-96行：

if(NOT "include;/usr/include/opencv;/usr/include " STREQUAL " ")

??set(cv_bridge_INCLUDE_DIRS "")

??set(_include_dirs "include;/usr/include/opencv;/usr/include")

#112行：

set(libraries "cv_bridge;/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so;/usr/lib/x86_64-linux-gnu/libopencv_contrib.so;/usr/lib/x86_64-linux-gnu/libopencv_core.so;/usr/lib/x86_64-linux-gnu/libopencv_features2d.so;/usr/lib/x86_64-linux-gnu/libopencv_flann.so;/usr/lib/x86_64-linux-gnu/libopencv_gpu.so;/usr/lib/x86_64-linux-gnu/libopencv_highgui.so;/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so;/usr/lib/x86_64-linux-gnu/libopencv_legacy.so;/usr/lib/x86_64-linux-gnu/libopencv_ml.so;/usr/lib/x86_64-linux-gnu/libopencv_objdetect.so;/usr/lib/x86_64-linux-gnu/libopencv_ocl.so;/usr/lib/x86_64-linux-gnu/libopencv_photo.so;/usr/lib/x86_64-linux-gnu/libopencv_stitching.so;/usr/lib/x86_64-linux-gnu/libopencv_superres.so;/usr/lib/x86_64-linux-gnu/libopencv_ts.so;/usr/lib/x86_64-linux-gnu/libopencv_video.so;/usr/lib/x86_64-linux-gnu/libopencv_videostab.so")

修改完成后，必要的情况下,请在删除~/workspace/ros/catkin/目录下的build，devel目录之后，重新编译。

参考链接

NVIDIA TX2 (Ubuntu 16.04)上安装ROS

首先编辑安装源

$ sudo vim /etc/apt/sources.list

1	$ sudo vim /etc/apt/sources.list

找到如下内容

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

## Uncomment the following two lines to add software from the 'universe'
## repository.
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to

# newer versions of the distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

## Major bug fix updates produced after the final release of the

## distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

## Uncomment the following two lines to add software from the 'universe'

## repository.

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu

## team. Also, please note that software in universe WILL NOT receive any

## review or updates from the Ubuntu security team.

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

## N.B. software from this repository may not have been tested as

## extensively as that contained in the main release, although it includes

## newer versions of some applications which may provide useful features.

## Also, please note that software in backports WILL NOT receive any review

## or updates from the Ubuntu security team.

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe

# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse

# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse

开启universe源，修改为：

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

## Uncomment the following two lines to add software from the 'universe'
## repository.
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe
deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-backports main restricted

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security main restricted
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security universe
# deb http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-security multiverse

# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to

# newer versions of the distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial main restricted

## Major bug fix updates produced after the final release of the

## distribution.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates main restricted

## Uncomment the following two lines to add software from the 'universe'

## repository.

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu

## team. Also, please note that software in universe WILL NOT receive any

## review or updates from the Ubuntu security team.

deb http://ports.ubuntu.com/ubuntu-ports/ xenial universe

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial universe

deb http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe

deb-src http://ports.ubuntu.com/ubuntu-ports/ xenial-updates universe