一键安装脚本sh

首先是初始化的ros安装的一些库；
install.sh:

execute_command() {if [ "$1" = "1" ]; thenwget http://fishros.com/install -O fishros && bash fishroselif [ "$1" = "2" ]; then#gnome-terminal --title="nvidia-smi" -- bash -c "sudo ubuntu-drivers devices; exec bash"sudo ubuntu-drivers autoinstallelif [ "$1" = "3" ]; thensudo apt install -y ros-noetic-navigationsudo apt install -y  ros-noetic-joysudo apt install -y  ros-noetic-gazebo-ros-controlsudo apt install -y  ros-noetic-joint-state-controllersudo apt install -y  ros-noetic-position-controllerssudo apt install -y  ros-noetic-effort-controllerssudo apt install -y  ros-noetic-cv-bridgesudo apt install -y  ros-noetic-controller-managersudo apt install -y  ros-noetic-hector-mappingsudo apt install -y  ros-noetic-gmapping
sudo apt install -y ros-noetic-plotjuggler
sudo apt install -y ros-noetic-plotjuggler-ros
sudo apt install -y libdw-dev
sudo apt install -y ros-noetic-osqp-vendorsudo apt install -y  ros-noetic-joint-state-controllersudo apt install -y  ros-noetic-velocity-controllerssudo apt install -y  ros-noetic-position-controllerssudo apt install -y  ros-noetic-gmappingsudo apt install -y  ros-noetic-map-serversudo apt install -y  ros-noetic-amclsudo apt install -y  ros-noetic-move-basesudo apt install -y  ros-noetic-nav-coresudo apt install -y  ros-noetic-costmap-*sudo apt install -y  ros-noetic-teb-local-plannersudo apt install -y  ros-noetic-global-planner# add cyun 9.25sudo apt-get install -y ros-noetic-joint-state-publisher-guisudo apt install -y ros-noetic-controller-managersudo apt install -y ros-noetic-gazebo-ros-controlsudo apt-get install -y ros-noetic-effort-controllerssudo apt install -y ros-noetic-driver-basesudo apt install -y ros-noetic-ackermann-msgssudo apt install -y ros-noetic-rtabmap-rossudo apt-get install -y ros-noetic-ros-controllerssudo apt install -y ros-noetic-joint-state-controllersudo apt install -y ros-noetic-velocity-controllerssudo apt install -y ros-noetic-position-controllerssudo apt install -y ros-noetic-gmappingsudo apt install -y ros-noetic-map-serversudo apt install -y ros-noetic-amclsudo apt install -y ros-noetic-move-basesudo apt install -y ros-noetic-nav-coresudo apt install -y ros-noetic-costmap-*sudo apt-get install -y ros-noetic-costmap-*sudo apt install -y ros-noetic-teb-local-plannersudo apt install -y ros-noetic-global-plannersudo apt-get install -y ros-noetic-usb-camsudo apt-get install -y ros-noetic-cartographer-rossudo apt-get install -y ros-noetic-driver-basesudo apt-get install -y ros-noetic-ackermann-msgssudo apt install -y ros-noetic-navigation
sudo apt install -y  ros-noetic-joy
sudo apt install -y  ros-noetic-gazebo-ros-control
sudo apt install -y  ros-noetic-joint-state-controller
sudo apt install -y  ros-noetic-position-controllers
sudo apt install -y  ros-noetic-effort-controllers
sudo apt install -y  ros-noetic-cv-bridge
sudo apt install -y  ros-noetic-controller-manager
sudo apt install -y  ros-noetic-hector-mapping
sudo apt install -y  ros-noetic-gmappingsudo apt install -y  ros-noetic-joint-state-controller
sudo apt install -y  ros-noetic-velocity-controllers
sudo apt install -y  ros-noetic-position-controllers
sudo apt install -y  ros-noetic-gmapping
sudo apt install -y  ros-noetic-map-server
sudo apt install -y  ros-noetic-amcl
sudo apt install -y  ros-noetic-move-base
sudo apt install -y  ros-noetic-nav-core
sudo apt install -y  ros-noetic-costmap-*sudo apt install -y  ros-noetic-teb-local-planner
sudo apt install -y  ros-noetic-global-planner
# add cyun 9.25
sudo apt-get install -y ros-noetic-joint-state-publisher-gui
sudo apt install -y ros-noetic-controller-manager
sudo apt install -y ros-noetic-gazebo-ros-control
sudo apt-get install -y ros-noetic-effort-controllerssudo apt install -y ros-noetic-driver-base
sudo apt install -y ros-noetic-ackermann-msgs
sudo apt install -y ros-noetic-rtabmap-ros
sudo apt-get install -y ros-noetic-ros-controllers
sudo apt install -y ros-noetic-joint-state-controller
sudo apt install -y ros-noetic-velocity-controllers
sudo apt install -y ros-noetic-position-controllers
sudo apt install -y ros-noetic-gmapping
sudo apt install -y ros-noetic-map-server
sudo apt install -y ros-noetic-amcl
sudo apt install -y ros-noetic-move-base
sudo apt install -y ros-noetic-nav-core
sudo apt install -y ros-noetic-costmap-*sudo apt-get install -y ros-noetic-costmap-*
sudo apt install -y ros-noetic-teb-local-planner
sudo apt install -y ros-noetic-global-plannersudo apt-get install -y ros-noetic-usb-cam
sudo apt-get install -y ros-noetic-cartographer-ros
sudo apt-get install -y ros-noetic-driver-base
sudo apt-get install -y ros-noetic-ackermann-msgs# add cyun sudo apt install -y gitelseecho '输入无效，退出脚本'exit 1fi
}read -p '请输入数字（1-执行 wget，2-驱动,3-安装）：' input
execute_command $input

python环境下的库：
install_python.sh：

pip install can cantools

cartographer建图的安装：

#!/bin/bash
# cyun 一键安装cartographer源码环境
# 2024.3.6
# 需要git可用（科学上网）# 1. 安装依赖
sudo apt-get update
sudo apt-get install -y \cmake \g++ \git \google-mock \libboost-all-dev \libcairo2-dev \libeigen3-dev \libgflags-dev \libgoogle-glog-dev \liblua5.2-dev \libprotobuf-dev \libsuitesparse-dev \libwebp-dev \ninja-build \protobuf-compiler \sphinx-commoncd ~/Documents
if [ ! -d "ceres-solver" ]; thengit clone https://github.com/ceres-solver/ceres-solver.git
fi
echo "ceres Document Ready" 
cd ceres-solver
git checkout 1.14.x
mkdir -p build
cd build
if [ ! -f "Makefile" ]; thencmake ..
fi
make -j8
sudo make installcd ~/Documents
if [ ! -d "protobuf" ]; thengit clone https://ghproxy.com/https://github.com/google/protobuf.git
fi
echo "protobuf Document Ready" 
cd protobuf
git checkout v3.6.1
mkdir -p build
cd build
if [ ! -f "Makefile" ]; thencmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DCMAKE_BUILD_TYPE=Release -Dprotobuf_BUILD_TESTS=OFF ../cmake
fi
make -j8
sudo make installcd ~/Documents
if [ ! -d "cartographer" ]; thengit clone https://gitee.com/BlueWhaleRobot/cartographer.git
fi
cd cartographer
mkdir -p build
cd build
if [ ! -f "Makefile" ]; thencmake ..
fi
make -j
sudo make installcd ~/forklift_ws/src
if [ ! -d "cartographer_ros" ]; thengit clone https://git.bwbot.org/publish/cartographer_ros
fi
cd ..
catkin_makecd ~/forklift_ws/src
if [ ! -d "Hybrid_A_Star" ]; thengit clone https://github.com/zm0612/Hybrid_A_Star
fi
cd ..
catkin_makecd ~/forklift_ws/src
if [ ! -d "pointcloud_to_laserscan" ]; thengit clone https://github.com/BluewhaleRobot/pointcloud_to_laserscan.git
fi
cd ..
catkin_makeecho "脚本执行完毕"
echo "2D:"
echo "wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/cartographer_paper_deutsches_museum.bag"
echo "测试命令：source ros 环境；roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:='/home/cyun/Downloads/cartographer_paper_deutsches_museum.bag'"echo "3D:"
echo "wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/backpack_3d/with_intensities/b3-2016-04-05-14-14-00.bag"
echo "roslaunch cartographer_ros demo_backpack_3d.launch bag_filename:=${HOME}/Downloads/b3-2016-04-05-14-14-00.bag"

python程序的注释内容：

#!/usr/bin/env python3
#coding=utf-8
# **************** panda_ws实现采棉功能 ****************
'''describe = "This is the description."
input_data = "Input data example."
output_data = "Output data example."
author = "cyun"
time = "2024.3.15"

cc程序的注释内容：

// *************** panda\_ws实现采棉功能 \***************
/*describe = "This is the description."
input_data = "Input data example."
output_data = "Output data example."
time = "2023-12-15"
*/

sudo不再需要输入密码：