项目需要串口通讯，github上搜到一个串口库serial，克隆下来编译发现需要用到cmake的catkin模块进行编译，catkin的预编译安装目前只支持ubuntu系统。centos下需要用源码进行编译安装，由于网络资料不全，折腾了很久，记录如下：
1.安装支持环境
1.1 epel扩展源
yum install epel-release -y
1.2 gcc编译器
yum -y install gcc gcc-c++ kernel-devel
1.3 安装openssl
# 1.下载openssl wget https://www.openssl.org/source/openssl-1.1.1a.tar.gz tar -zxvf openssl-1.1.1a.tar.gz cd openssl-1.1.1a # 2.编译安装 ./config --prefix=/usr/local/openssl no-zlib #不需要zlib make make install # 3.备份原配置 mv /usr/bin/openssl /usr/bin/openssl.bak mv /usr/include/openssl/ /usr/include/openssl.bak mv /usr/local/lib64/libssl.so /usr/local/lib64/libssl.so.bak # 4.新版配置 ln -s /usr/local/openssl/include/openssl /usr/include/openssl ln -s /usr/local/openssl/lib/libssl.so.1.1 /usr/local/lib64/libssl.so ln -s /usr/local/openssl/bin/openssl /usr/bin/openssl # 5.修改系统配置 ## 写入openssl库文件的搜索路径 echo "/usr/local/openssl/lib" >> /etc/ld.so.conf ## 使修改后的/etc/ld.so.conf生效 ldconfig -v
1.4 安装libffi-devel
yum install libffi-devel -y
1.5 安装python3.7
wget https://www.python.org/ftp/python/3.7.12/Python-3.7.12.tgz tar -zxvf Python-3.7.12.tgz mkdir build && cd build ../configure --prefix=/usr/local/Python3712 --enable-optimizations --with-openssl=/usr/bin/openssl make && make install
ln -s /usr/local/Python3712/bin/python3.7 /usr/bin/python3
ln -s /usr/local/Python3712/bin/pip3.7 /usr/bin/pip
ln -s /usr/local/Python3712/bin/pip3.7 /usr/bin/pip3
1.5 cmake
wget https://github.com/Kitware/CMake/archive/refs/tags/v3.18.0-rc4.tar.gz tar -zxvf v3.18.0-rc4.tar.gz cd CMake-3.18.0-rc4 ./configure --prefix=/usr/local/cmake318 gmake -j2 gmake install ln -s /usr/local/cmake318/bin/cmake /usr/bin/cmake
1.6 安装gtest
yum install gtest-devel
2.安装python依赖包
2.1 安装catkin_pkg
pip install -U catkin_pkg
2.2 安装empty
pip install -U empty
2.3 安装nose
pip install -U nose
3.修改python3 为默认
mv /usr/bin/python /usr/bin/python2.bak ln -s /usr/local/Python3712/bin/python3.7 /usr/bin/python
3.1 修改yum默认python版本号
vim /usr/bin/yum 将第一行文本由#!/usr/bin/python 修改为 #!/usr/bin/python2 vim /usr/libexec/urlgrabber-ext-down 将第一行文本由#!/usr/bin/python 修改为 #!/usr/bin/python2
4.安装catkin
git clone https://github.com/ros/catkin.git
cmake .
make
make install
#如果cmake提示找不到catkin，执行源码中的脚本
python setup.py build
python setup.py install
5.安装结束