问题描述：

编译Kuavo乐聚机器人的仿真环境的时候出现如下error

原因解释：

robot_localization 编译失败的原因是 缺少依赖包 geographic_msgs

-- Could NOT find geographic_msgs (missing: geographic_msgs_DIR) -- Could not find the required component 'geographic_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/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "geographic_msgs" with any of the following names:

解决方案：

安装ros-noetic-geographic-msgs模块

sudo apt update
sudo apt install ros-noetic-geographic-msgs

如果出现如下error：

Err:2 http://mirrors.ustc.edu.cn/ros/ubuntu focal/main amd64 ros-noetic-geographic-msgs amd64 0.5.6-1focal.20250410.234117
  404  Not Found [IP: 2001:da8:d800:95::110 80]
E: Failed to fetch http://mirrors.ustc.edu.cn/ros/ubuntu/pool/main/r/ros-noetic-uuid-msgs/ros-noetic-uuid-msgs_1.0.6-1focal.20250410.234006_amd64.deb  404  Not Found [IP: 2001:da8:d800:95::110 80]
E: Failed to fetch http://mirrors.ustc.edu.cn/ros/ubuntu/pool/main/r/ros-noetic-geographic-msgs/ros-noetic-geographic-msgs_0.5.6-1focal.20250410.234117_amd64.deb  404  Not Found [IP: 2001:da8:d800:95::110 80]
E: Unable to fetch some archives, maybe run apt-get update or try with --fix-missing?

则按照以下步骤执行：

1.删除或注释掉除官方源以外的所有镜像站

sudo nano /etc/apt/sources.list.d/ros-noetic.list

• 注释掉：

# deb http://mirrors.ustc.edu.cn/ros/ubuntu focal main
# deb http://snapshots.ros.org/noetic/2024-10-31/ubuntu focal main

• 保留官方源：

deb http://packages.ros.org/ros/ubuntu focal main

2.更新并重新添加官方 GPG key

sudo apt-key del F42ED6FBAB17C654
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key F42ED6FBAB17C654

3.更新 apt 索引

sudo apt update

4.安装依赖包

sudo apt install ros-noetic-geographic-msgs