编译ROS1工程需要配置的环境

1. 需要安装必要的依赖包

$ sudo apt install -y ros-noetic-costmap-2d
$ sudo apt install -y ros-noetic-ackermann-msgs
$ sudo apt install -y ros-noetic-grid-map-ros
$ sudo apt install -y ros-noetic-ompl
$ sudo apt-get install libgsl-dev
$ sudo apt install -y libceres-dev
$ sudo apt install -y ros-noetic-navigation
$ sudo apt install -y ros-noetic-map-server
$ sudo apt install -y ros-noetic-costmap-converter
$ sudo apt install -y ros-noetic-mbf-costmap-core
$ sudo apt install -y ros-noetic-mbf-msgs
$ sudo apt install -y ros-noetic-libg2o
$ sudo apt install -y ros-noetic-tf2-sensor-msgs
$ sudo apt-get install coinor-libipopt-dev

$ sudo apt install ros-melodic-ompl
$ sudo ln -s /opt/ros/melodic/include/ompl-1.4/ompl /opt/ros/melodic/include/ompl

2. 安装corbo库，静态库

# 下载地址
$ git clone -b master https://github.com/rst-tu-dortmund/control_box_rst.git

$ cd control_box_rst/
$ mkdir build
$ cd build/
$ cmake ..
$ make -j12
$