ROS 下navigation/robot_pose_ekf编译报错

想要使用navigation下的robot_pose_ekf做IMU与视觉的融合于是找到了这个包：https://github.com/ros-planning/navigation/tree/indigo-devel

但是编译报错：

– package ‘orocos-bfl’ not found

CMake Error at /usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:283 (message):

A required package was not found

Call Stack (most recent call first):

/usr/share/cmake-2.8/Modules/FindPkgConfig.cmake:337 (_pkg_check_modules_internal)

robot_pose_ekf/CMakeLists.txt:6 (pkg_check_modules)

原因：系统缺少bfl包。

解决方法：安装bfl包：

sudo apt-get install ros-indigo-bfl

再编译，成功解决！