虚拟机linux与ros连接问题，启用包问题

首先从git上下载所需要的功能包到你的工作空间，我们还是以catkin_ws工作空间为例

cd ~/catkin_ws/src/
git clone https://gitee.com/bingda-robot/base_control.git
git clone https://gitee.com/bingda-robot/lidar.git
git clone https://gitee.com/bingda-robot/robot_vision.git
git clone https://gitee.com/bingda-robot/robot_navigation.git
git clone https://gitee.com/bingda-robot/robot_simulation.git

拉取完成后编译工作空间
cd ~/catkin_ws/
catkin_make


然后来解决功能包依赖
如果你的rosdep可以正常使用，那么可以通过rosdep来检查依赖的包是否都满足
cd ~/catkin_ws/
rosdep check --from-path src
如果执行结果为“All system dependencies have been satisfied”，则所有依赖项目已经满足，无需安装
否则，再执行下面指令安装依赖包
rosdep install --from-path src -y


如果你的rosdep无法正常工作，那么你可以通过安装我们所提供的依赖清单来手动安装
sudo apt-get update
sudo apt-get install ros-$ROS_DISTRO-teleop-twist-keyboard ros-$ROS_DISTRO-amcl ros-$ROS_DISTRO-move-base ros-$ROS_DISTRO-slam-gmapping ros-$ROS_DISTRO-slam-karto ros-$ROS_DISTRO-cartographer ros-$ROS_DISTRO-cartographer-ros ros-$ROS_DISTRO-dwa-local-planner ros-$ROS_DISTRO-teb-local-planner ros-$ROS_DISTRO-uvc-camera ros-$ROS_DISTRO-map-server ros-$ROS_DISTRO-hector-slam* ros-$ROS_DISTRO-global-planner ros-$ROS_DISTRO-navfn -y

RLException: ERROR: unable to contact ROS master at [http://192.168.X.XXX:11311/]
The traceback for the exception was written to the log file

使用：export ROS_MASTER_URI=http://192.168.X.XXX(ros的ip地址):11311/
使得再次连接小车（前提是要打开master,即roscore）

ROS_HOSTNAME / ROS_IP is set to only allow local connections, 
so a requested connection to '192.168.X.XXX' is being rejected.

修改ROS_HOSTNAME 和ROS_IP 为linux的IP
export ROS_HOSTNAME=192.168.X.XXX        //linux的IP
export ROS_IP=192.168.X.XXX        //linux的IP
(win用的是set ROS_HOSTNAME)

[slam_rviz.launch] is neither a launch file in package [robot_navigation] nor 
is [robot_navigation] a launch file name

cd ~/catkin_ws
source devel/setup.bash
再运行包即可
（注意：可能还会出现2.2的问题）