首先我根据创客教程走了一遍：（1)https://www.ncnynl.com/archives/201903/2883.html
(2）https://www.ncnynl.com/archives/201903/2884.html
编译时报错！
第一个错是缺失urdf（-- Could NOT find urdf (missing: urdf_DIR)）：
解决方法：先卸载：sudo apt-get remove ros-melodic-*
再重新按照官方教程安装：http://wiki.ros.org/melodic/Installation/Ubuntu
第二个错：Could not find a package configuration file provided by “ecl_threads” with any of the following names:
解决方法：sudo apt-get install ros-melodic-ecl-threads
第三个错：Could not find a package configuration file provided by ‘ecl_geometry’
解决方法：sudo apt-get install ros-melodic-ecl-geometry
第四个错：Could not find a package configuration file provided by “kobuki_dock_drive”
解决方法：sudo apt-get install ros-melodic-kobuki-dock-drive
第五个错：No package ‘orocos-bfl’ found
解决方法：sudo apt-get install ros-melodic-bfl
第六个错：Could not find a package configuration file provided by “kobuki_driver”
解决方法：sudo apt-get install ros-melodic-kobuki-driver
第七个错： Could not find a package configuration file provided by “ecl_streams” with any of the following names:
解决方法：sudo apt-get install ros-melodic-ecl-streams
第八个错：/home/wwh/turtlebot_ws/src/kobuki_keyop/src/keyop_core.cpp: In member function ‘void keyop_core::KeyOpCore::remoteKeyInputReceived(const KeyboardInput&)’:
/home/wwh/turtlebot_ws/src/kobuki_keyop/src/keyop_core.cpp:274:28: error: ‘const KeyboardInput {aka const struct kobuki_msgs::KeyboardInput_
processKeyboardInput(key.pressed_key);
^~~~~~~~~~~
pressedKey
/home/wwh/turtlebot_ws/src/kobuki_keyop/src/keyop_core.cpp: In member function ‘void keyop_core::KeyOpCore::processKeyboardInput(char)’:
/home/wwh/turtlebot_ws/src/kobuki_keyop/src/keyop_core.cpp:293:38: error: ‘KEYCODE_LEFT’ is not a member of ‘kobuki_msgs::KeyboardInput {aka kobuki_msgs::KeyboardInput_
case kobuki_msgs::KeyboardInput::KEYCODE_LEFT:
^~~~~~~~~~~~
/home/wwh/turtlebot_ws/src/kobuki_keyop/src/keyop_core.cpp:298:38: error: ‘KEYCODE_RIGHT’ is not a member of ‘kobuki_msgs::KeyboardInput {aka kobuki_msgs::KeyboardInput_
case kobuki_msgs::KeyboardInput::KEYCODE_RIGHT:
^~~~~~~~~~~~~
/home/wwh/turtlebot_ws/src/kobuki_keyop/src/keyop_core.cpp:303:38: error: ‘KEYCODE_UP’ is not a member of ‘kobuki_msgs::KeyboardInput {aka kobuki_msgs::KeyboardInput_
case kobuki_msgs::KeyboardInput::KEYCODE_UP:
^~~~~~~~~~
/home/wwh/turtlebot_ws/src/kobuki_keyop/src/keyop_core.cpp:308:38: error: ‘KEYCODE_DOWN’ is not a member of ‘kobuki_msgs::KeyboardInput {aka kobuki_msgs::KeyboardInput_
case kobuki_msgs::KeyboardInput::KEYCODE_DOWN:
^~~~~~~~~~~~
/home/wwh/turtlebot_ws/src/kobuki_keyop/src/keyop_core.cpp:313:38: error: ‘KEYCODE_SPACE’ is not a member of ‘kobuki_msgs::KeyboardInput {aka kobuki_msgs::KeyboardInput_
case kobuki_msgs::KeyboardInput::KEYCODE_SPACE:
^~~~~~~~~~~~~
kobuki_keyop/src/CMakeFiles/keyop.dir/build.make:62: recipe for target ‘kobuki_keyop/src/CMakeFiles/keyop.dir/keyop_core.cpp.o’ failed
解决方法：下载资源：https://download.csdn.net/download/qq_34521859/12509740