下载后进行catkin_make会报错3个错误

一、安装过程

1. Create a catkin workspace:

mkdir -p ~/carla-ros-bridge/catkin_ws/src

2. Clone the ROS Bridge repository and submodules:

cd ~/carla-ros-bridge
git clone --recurse-submodules https://github.com/carla-simulator/ros-bridge.git catkin_ws/src/ros-bridge

5. Set up the ROS environment according to the ROS version you have installed:

source /opt/ros/noetic/setup.bash

6. Install the required ros-dependencies:

cd catkin_ws
wget http://fishros.com/install -O fishros && . fishros

安装rosdepc，然后运行：

rosdep update
rosdep install --from-paths src --ignore-src -r

7.创建虚拟环境

conda create -n carla python=3.7

8.安装pip依赖

pip install carla
pip install transforms3d
pip install pyyaml 
pip install numpy
pip install opencv-python
pip install pygame

二、报错及其解决方法

1.错误1：python库 empy 库找不到

方法1：在conda环境中安装empy：conda install -c conda-forge empy
参考链接

方法2：这是编译时终端处于anaconda的虚拟环境base中，缺少相关依赖，所以编译的时候，需要指定一下python路径。

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

或者，也可以conda deactivate直接退出后直接编译，效果和上面命令一致。
参考链接

2. 错误2：ackermann_msgs找不到

这个是因为缺少这个包，使用下面的命令进行安装：

sudo apt-get install ros-noetic-ackermann-msgs 20.04
sudo apt-get install ros-melodic-ackermann-msgs 18.04

3. 错误3：derived-object找不到

这个是因为缺少这个包，使用下面的命令进行安装：
在该网站下载ros-noetic-derived-object-msgs_3.3.0-1buster.20220926.181427_amd64.deb

并进行安装：

  sudo dpkg -i ros-noetic-derived-object-msgs_3.3.0-1buster.20220926.181427_amd64.deb

参考链接：ubuntu20.04 carla仿真环境及ros-bridge搭建

4.错误4：CMake Error at grid_map/grid_map_octomap/CMakeLists.txt:13 (find_package):

查询文心一言之后提示，通过安装解决。

sudo apt-get install liboctomap-dev

CMake Error at grid_map/grid_map_octomap/CMakeLists.txt:13 (find_package):
  By not providing "Findoctomap.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "octomap", but
  CMake did not find one.

  Could not find a package configuration file provided by "octomap" with any
  of the following names:

    octomapConfig.cmake
    octomap-config.cmake

  Add the installation prefix of "octomap" to CMAKE_PREFIX_PATH or set
  "octomap_DIR" to a directory containing one of the above files.  If
  "octomap" provides a separate development package or SDK, be sure it has
  been installed.


-- Configuring incomplete, errors occurred!

5.错误5：Could not find the required component ‘derived_object_msgs’.:

通过运行以下指令：

sudo apt-get install ros-melodic-derived-object-msgs

-- Could NOT find derived_object_msgs (missing: derived_object_msgs_DIR)
-- Could not find the required component 'derived_object_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "derived_object_msgs" with any of the following names:

    derived_object_msgsConfig.cmake
    derived_object_msgs-config.cmake

  Add the installation prefix of "derived_object_msgs" to CMAKE_PREFIX_PATH
  or set "derived_object_msgs_DIR" to a directory containing one of the above
  files.  If "derived_object_msgs" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  ros-bridge/carla_ros_bridge/CMakeLists.txt:9 (find_package)


-- Configuring incomplete, errors occurred!
See also "/media/gk/data3_8/lbw/CARLA_ONLINE/carla-ros-bridge/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/media/gk/data3_8/lbw/CARLA_ONLINE/carla-ros-bridge/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed



## 运行时错误1： CARLA python module version 0.9.12 required. Found: 0.9.14
这是由于python中的carla安装版本不对。需要重新安装：

```clike
pip install carla==0.9.12

6.错误6 Could not find a package configuration file provided by “costmap_2d” with any of the following names:

解决方法：

sudo apt-get install ros-melodic-costmap-2d

7.错误7：ould not find a package configuration file provided by “TBB”

CMake Error at grid_map/grid_map_filters/CMakeLists.txt:35 (find_package):
  By not providing "FindTBB.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "TBB", but
  CMake did not find one.

  Could not find a package configuration file provided by "TBB" (requested
  version 2020.1) with any of the following names:

    TBBConfig.cmake
    tbb-config.cmake

  Add the installation prefix of "TBB" to CMAKE_PREFIX_PATH or set "TBB_DIR"
  to a directory containing one of the above files.  If "TBB" provides a
  separate development package or SDK, be sure it has been installed.

运行时错误2：ImportError: /usr/lib/x86_64-linux-gnu/libp11-kit.so.0: undefined symbol: ffi_type_pointer, version LIBFFI_BASE_7.0

这个错误是由于python3.8版本问题导致的。解决方法是由这个链接提供的。

首先cd到conda的carla环境的lib文件夹下：

cd /home/"$USER"/anaconda3/envs/carla/lib

然后备份一下libffi.so.7文件

mv libffi.so.7 libffi.so.7.bak

然后重新建立链接：

sudo ln -s /lib/x86_64-linux-gnu/libffi.so.7.1.0 libffi.so.7
sudo ldconfig

再次运行程序，相关问题就解决了。

运行时错误3：ModuleNotFoundError: No module named ‘transforms3d’

此时可能是在编译carla-ros-bridge时，没有使用现在的python环境。解决方法就是使得carla-ros-bridge的编译环境和运行环境保持一致。

可以在运行环境下重新编译carla-ros-bridge。重新编译前需要删除build 和devel文件夹。