环境

Ubuntu 14.04 + ROS indigo

今天编译一个slam建图工具，提示“catkin: command not found”。

我比较奇怪的是，我是按照官方教程安装的ROS，按理说应该catkin应该也被安装进去了。至少我在终端输入catkin_然后TAB键后还是会有一些命令：

但是唯独catkin命令不存在。

解决方案1

sudo apt-get install python-catkin-tools

如果还不能解决，尝试下面方案。

解决方案2：

git clone https://github.com/ros/catkin.git

cd catkin

git branch indigo-devel

mkdir build

cd build

cmake ..

make -j8 && make install

cd ..

python2 setup.py install

python3 setup.py install

这里最后一步可能会报错，提示信息大概是Python命令错误，只需要修改/build/catkin_generated/python_distutils_install.sh即可，把

    CATKIN_BINARY_DIR="/home/files/catkin/build" \
    "/home/conda/bin/python" \
    "/home/files/catkin/setup.py" \

改为：

    CATKIN_BINARY_DIR="/home/files/catkin/build" \
    "/usr/bin/python" \
    "/home/files/catkin/setup.py" \

即使用原生Python而非Conda Python。

最后安装一些依赖就可以了：

sudo apt install autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev libgtest-dev libreadline-dev libssh2-1-dev pylint clang-format-3.8 python-autopep8 python-catkin-tools python-pip python-git python-setuptools python-termcolor python-wstool --yes

然后终端输入catkin --help，就会有如下提示：

usage: catkin [-h] [-a] [--test-colors] [--version]
              [--force-color | --no-color]
              [build | clean | config | create | env | init | list | locate | profile]
              ...

catkin command

optional arguments:
  -h, --help            show this help message and exit
  -a, --list-aliases    Lists the current verb aliases and then quits, all
                        other arguments are ignored
  --test-colors         Prints a color test pattern to the screen and then
                        quits, all other arguments are ignored
  --version             Prints the catkin_tools version.
  --force-color         Forces catkin to output in color, even when the
                        terminal does not appear to support it.
  --no-color            Forces catkin to not use color in the output,
                        regardless of the detect terminal type.

catkin command:
  Call `catkin VERB -h` for help on each verb listed below:
  
    build	Builds a catkin workspace.
    clean	Deletes various products of the build verb.
    config	Configures a catkin workspace's context.
    create	Creates catkin workspace resources like packages.
    env	        Run an arbitrary command in a modified environment.
    init	Initializes a given folder as a catkin workspace.
    list	Lists catkin packages in the workspace or other arbitray folders.
    locate	Get the paths to various locations in a workspace.
    profile	Manage config profiles for a catkin workspace.

  [build | clean | config | create | env | init | list | locate | profile]