在下载导航相关的源代码库后出现编译问题，需要安装下列包:
- sudo apt-get install ros-indigo-navigation
Setting up libcppunit-1.13-0:amd64 (1.13.1-2ubuntu1) ...
Setting up libsdl-image1.2:amd64 (1.2.12-5+deb9u1build0.14.04.1) ...
Setting up libasound2-dev:amd64 (1.0.27.2-3ubuntu7) ...
Setting up libavahi-common-dev (0.6.31-4ubuntu1.3) ...
Setting up libdbus-1-dev:amd64 (1.6.18-0ubuntu4.5) ...
Setting up libavahi-client-dev (0.6.31-4ubuntu1.3) ...
Setting up libslang2-dev:amd64 (2.2.4-15ubuntu1) ...
Setting up libcaca-dev (0.99.beta18-1ubuntu5.1) ...
Setting up libcppunit-dev (1.13.1-2ubuntu1) ...
Setting up libpulse-dev:amd64 (1:4.0-0ubuntu11.1) ...
Setting up libsdl1.2-dev (1.2.15-8ubuntu1.1) ...
Setting up libwebp-dev:amd64 (0.4.0-4) ...
Setting up libsdl-image1.2-dev:amd64 (1.2.12-5+deb9u1build0.14.04.1) ...
Setting up ros-indigo-amcl (1.12.16-0trusty-20190604-140105-0800) ...
Setting up ros-indigo-voxel-grid (1.12.16-0trusty-20190604-111431-0800) ...
Setting up ros-indigo-costmap-2d (1.12.16-0trusty-20190604-140451-0800) ...
Setting up ros-indigo-nav-core (1.12.16-0trusty-20190604-142151-0800) ...
Setting up ros-indigo-base-local-planner (1.12.16-0trusty-20190604-143228-0800) ...
Setting up ros-indigo-bfl (0.7.0-6trusty-20190604-000128-0800) ...
Setting up ros-indigo-carrot-planner (1.12.16-0trusty-20190604-144447-0800) ...
Setting up ros-indigo-clear-costmap-recovery (1.12.16-0trusty-20190604-143308-0800) ...
Setting up ros-indigo-dwa-local-planner (1.12.16-0trusty-20190604-144450-0800) ...
Setting up ros-indigo-fake-localization (1.12.16-0trusty-20190604-132321-0800) ...
Setting up ros-indigo-navfn (1.12.16-0trusty-20190604-143735-0800) ...
Setting up ros-indigo-global-planner (1.12.16-0trusty-20190604-145020-0800) ...
Setting up ros-indigo-map-server (1.12.16-0trusty-20190604-135044-0800) ...
Setting up ros-indigo-move-base-msgs (1.12.16-0trusty-20190604-085506-0800) ...
Setting up ros-indigo-rotate-recovery (1.12.16-0trusty-20190604-144513-0800) ...
Setting up ros-indigo-move-base (1.12.16-0trusty-20190604-145605-0800) ...
Setting up ros-indigo-move-slow-and-clear (1.12.16-0trusty-20190604-143724-0800) ...
Setting up ros-indigo-robot-pose-ekf (1.12.16-0trusty-20190604-141647-0800) ...
Setting up ros-indigo-navigation (1.12.16-0trusty-20190604-151124-0800) ...
- sudo apt-get install ros-indigo-geographic-msgs
Setting up ros-indigo-uuid-msgs (1.0.5-0trusty-20190604-094425-0800) ...
Setting up ros-indigo-geographic-msgs (0.5.2-0trusty-20190604-094910-0800) ...
- 系统安装了eigen3 导致找不到头文件
需要创建软链接，或者sudo apt-get install libeigen2-dev
cd /usr/include
sudo ln -s eigen3/Eigen/ Eigen
查询：
ls -l Eigen
lrwxrwxrwx 1 root root 13 6月 11 20:00 Eigen -> eigen3/Eigen/
通过上述操作基本上能解决问题。
