前言

ROS Melodic
Ubuntu 18.04

ROS、MAVROS及PX4环境安装参考：https://mbot1.blog.csdn.net/article/details/106041494
这里默认已经安装好ROS、MAVROS及PX4环境

一、安装依赖

sudo apt install ros-melodic-libuvc
sudo apt-get install ros-melodic-navigation* 
sudo apt install ros-melodic-camera-info-manager
sudo apt install ros-melodic-tf2-geometry-msgs
sudo apt install ros-melodic-laser-geometry
sudo apt install ros-melodic-tf2-sensor-msgs
sudo apt install ros-melodic-mavros
sudo apt install ros-melodic-costmap-converter
sudo apt install ros-melodic-interactive-markers
sudo apt install ros-melodic-mbf-costmap-core
sudo apt install ros-melodic-mbf-msgs
sudo apt-get install ros-melodic-librealsense2
sudo apt-get install ros-melodic-serial
sudo apt-get install qt4-default
sudo apt-get install ros-melodic-bfl
sudo apt-get install libsuitesparse-dev
sudo apt-get install ros-melodic-libg2o
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如果编译时报错：

error: ‘find_if’ was not declared in this scope
texture_frame_itr = find_if(frameset.begin(), frameset.end(), [&texture_source_id, &available_formats] (rs2::frame f)

找到报错的源码位置，在find_if前面加上std::即可。

二、源码安装ROS导航包（navigation）

安装依赖：

sudo apt-get install ros-melodic-navigation* 
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sudo apt-get remove ros-melodic-navigation ros-melodic-navigation-experimental
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 rosdep install teb_local_planner
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下载源码并编译
打开链接后，点击页面上的 绿色按钮： Code，然后点击 Download ZIP 下载
下载导航包
https://github.com/ros-planning/navigation/tree/melodic-devel

下载teb_local_planner ROS软件包
下载链接
https://github.com/rst-tu-dortmund/teb_local_planner/tree/melodic-devel
解压后放到~/catkin_ws/src目录下（或者放到自己建立的工作空间的src目录下），然后

cd ~/catkin_ws/
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catkin_make
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编译好后可以

roscd move_base
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测试一下，正常的话路径如下：

~/catkin_ws/src/navigation-melodic-devel/move_base$