Cartographer源码阅读(1)：程序入口
2024-10-15 03:16:14
带着几个思考问题：
（1）IMU数据的使用，如何融合，Kalman滤波？
（2）图优化的具体实现，闭环检测的策略？
（3）3D激光的接入和闭环策略？
1. 安装Kdevelop工具：
http://blog.csdn.net/p942005405/article/details/75715288
http://blog.csdn.net/wan_exe/article/details/56275108
yhexie@ubuntu:~$ sudo apt-get install kdevelop
[sudo] password for yhexie:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following additional packages will be installed:
breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
icoutils kactivities kapptemplate kate-data katepart kde-runtime
kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
kdelibs5-data kdelibs5-plugins kdevelop-data kdevplatform8-libs kdoctools
kpackagelauncherqml kpackagetool5 kwayland-data kwayland-integration
libattica0. libdbusmenu-qt2 libdbusmenu-qt5 libdlrestrictions1 libfam0
libgrantlee-core0 libkactivities6 libkatepartinterfaces4 libkcmutils4
libkde3support4 libkdeclarative5 libkdecore5 libkdesu5 libkdeui5
libkdewebkit5 libkdnssd4 libkemoticons4 libkf5activities5 libkf5archive5
libkf5attica5 libkf5auth-data libkf5auth5 libkf5calendarevents5
libkf5codecs-data libkf5codecs5 libkf5completion-data libkf5completion5
libkf5config-bin libkf5config-data libkf5configcore5 libkf5configgui5
libkf5configwidgets-data libkf5configwidgets5 libkf5coreaddons-data
libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin libkf5dbusaddons-data
libkf5dbusaddons5 libkf5declarative-data libkf5declarative5
libkf5globalaccel-bin libkf5globalaccel-data libkf5globalaccel5
libkf5globalaccelprivate5 libkf5guiaddons5 libkf5i18n-data libkf5i18n5
libkf5iconthemes-bin libkf5iconthemes-data libkf5iconthemes5 libkf5idletime5
libkf5itemviews-data libkf5itemviews5 libkf5jobwidgets-data
libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5 libkf5notifications-data
libkf5notifications5 libkf5package-data libkf5package5 libkf5plasma5
libkf5plasmaquick5 libkf5quickaddons5 libkf5service-bin libkf5service-data
libkf5service5 libkf5sonnet5-data libkf5sonnetcore5 libkf5sonnetui5
libkf5style5 libkf5textwidgets-data libkf5textwidgets5 libkf5waylandclient5
libkf5widgetsaddons-data libkf5widgetsaddons5 libkf5windowsystem-data
libkf5windowsystem5 libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5
libkfile4 libkhtml5 libkio5 libkjsapi4 libkjsembed4 libkmediaplayer4
libknewstuff3- libknotifyconfig4 libkntlm4 libkparts4 libkpty4
libkrosscore4 libktexteditor4 libkxmlrpcclient4 libnl-route--
libntrack-qt4- libntrack0 libphonon4 libphonon4qt5- libplasma3
libpolkit-qt-- libpolkit-qt5-- libqca2 libqca2-plugins libqjson0
libqt5waylandclient5 libsolid4 libstreamanalyzer0v5 libstreams0v5
libsublime8 libthreadweaver4 libvoikko1 libxcb-composite0 libxcb-damage0
ntrack-module-libnl- oxygen-icon-theme oxygen5-icon-theme phonon
phonon-backend-gstreamer phonon-backend-gstreamer-common plasma-framework
plasma-scriptengine-javascript qml-module-org-kde-activities
qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
qml-module-qtquick-controls qml-module-qtquick-dialogs
qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
sonnet-plugins
Suggested packages:
docbook docbook-dsssl docbook-defguide dbtoepub docbook-xsl-doc-html
| docbook-xsl-doc-pdf | docbook-xsl-doc-text | docbook-xsl-doc
docbook-xsl-saxon fop libsaxon-java libxalan2-java libxslthl-java xalan
libterm-readline-gnu-perl | libterm-readline-perl-perl kio-dev djvulibre-bin
finger kdevelop-l10n cvs kdevplatform-l10n konsole fam hspell voikko-fi
phonon-backend-mplayer phonon-backend-vlc gstreamer1.-plugins-ugly
phonon4qt5-backend-gstreamer perlsgml w3-recs opensp
The following NEW packages will be installed:
breeze-icon-theme docbook-xml docbook-xsl fonts-dejavu fonts-dejavu-extra
icoutils kactivities kapptemplate kate-data katepart kde-runtime
kde-runtime-data kde-style-breeze kde-style-breeze-qt4 kdelibs-bin
kdelibs5-data kdelibs5-plugins kdevelop kdevelop-data kdevplatform8-libs
kdoctools kpackagelauncherqml kpackagetool5 kwayland-data
kwayland-integration libattica0. libdbusmenu-qt2 libdbusmenu-qt5
libdlrestrictions1 libfam0 libgrantlee-core0 libkactivities6
libkatepartinterfaces4 libkcmutils4 libkde3support4 libkdeclarative5
libkdecore5 libkdesu5 libkdeui5 libkdewebkit5 libkdnssd4 libkemoticons4
libkf5activities5 libkf5archive5 libkf5attica5 libkf5auth-data libkf5auth5
libkf5calendarevents5 libkf5codecs-data libkf5codecs5 libkf5completion-data
libkf5completion5 libkf5config-bin libkf5config-data libkf5configcore5
libkf5configgui5 libkf5configwidgets-data libkf5configwidgets5
libkf5coreaddons-data libkf5coreaddons5 libkf5crash5 libkf5dbusaddons-bin
libkf5dbusaddons-data libkf5dbusaddons5 libkf5declarative-data
libkf5declarative5 libkf5globalaccel-bin libkf5globalaccel-data
libkf5globalaccel5 libkf5globalaccelprivate5 libkf5guiaddons5
libkf5i18n-data libkf5i18n5 libkf5iconthemes-bin libkf5iconthemes-data
libkf5iconthemes5 libkf5idletime5 libkf5itemviews-data libkf5itemviews5
libkf5jobwidgets-data libkf5jobwidgets5 libkf5kiocore5 libkf5kiowidgets5
libkf5notifications-data libkf5notifications5 libkf5package-data
libkf5package5 libkf5plasma5 libkf5plasmaquick5 libkf5quickaddons5
libkf5service-bin libkf5service-data libkf5service5 libkf5sonnet5-data
libkf5sonnetcore5 libkf5sonnetui5 libkf5style5 libkf5textwidgets-data
libkf5textwidgets5 libkf5waylandclient5 libkf5widgetsaddons-data
libkf5widgetsaddons5 libkf5windowsystem-data libkf5windowsystem5
libkf5xmlgui-bin libkf5xmlgui-data libkf5xmlgui5 libkfile4 libkhtml5 libkio5
libkjsapi4 libkjsembed4 libkmediaplayer4 libknewstuff3- libknotifyconfig4
libkntlm4 libkparts4 libkpty4 libkrosscore4 libktexteditor4
libkxmlrpcclient4 libnl-route-- libntrack-qt4- libntrack0 libphonon4
libphonon4qt5- libplasma3 libpolkit-qt-- libpolkit-qt5-- libqca2
libqca2-plugins libqjson0 libqt5waylandclient5 libsolid4
libstreamanalyzer0v5 libstreams0v5 libsublime8 libthreadweaver4 libvoikko1
libxcb-composite0 libxcb-damage0 ntrack-module-libnl- oxygen-icon-theme
oxygen5-icon-theme phonon phonon-backend-gstreamer
phonon-backend-gstreamer-common plasma-framework
plasma-scriptengine-javascript qml-module-org-kde-activities
qml-module-org-kde-kquickcontrols qml-module-org-kde-kquickcontrolsaddons
qml-module-qtquick-controls qml-module-qtquick-dialogs
qml-module-qtquick-layouts qml-module-qtquick-privatewidgets
qml-module-qtquick-window2 qml-module-qtquick2 qtwayland5 sgml-data
sonnet-plugins
upgraded, newly installed, to remove and not upgraded.
Need to get 82.5 MB of archives.
After this operation, MB of additional disk space will be used.
Do you want to continue? [Y/n] Y
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqjson0 amd64 0.8.1-3 [63.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-layouts amd64 5.5.1-1ubuntu1 [30.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-window2 amd64 5.5.1-2ubuntu6 [16.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick2 amd64 5.5.1-2ubuntu6 [35.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-controls amd64 5.5.1-1ubuntu1 [643 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 sgml-data all 2.0.10 [173 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xml all 4.5-7.3 [74.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 docbook-xsl all 1.79.1+dfsg-1 [1,077 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 fonts-dejavu-extra all 2.35-1 [1,749 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 fonts-dejavu all 2.35-1 [3,184 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 icoutils amd64 0.31.0-3 [56.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5declarative-data all 5.18.0-0ubuntu1 [49.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5config-data all 5.18.0-0ubuntu1 [70.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configcore5 amd64 5.18.0-0ubuntu1 [110 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5i18n-data all 5.18.0-0ubuntu1 [1,032 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5i18n5 amd64 5.18.0-0ubuntu1 [109 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes-data all 5.18.0-0ubuntu1 [30.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configwidgets-data all 5.18.0-0ubuntu1 [189 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5auth-data all 5.18.0-0ubuntu2 [24.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5coreaddons-data all 5.18.0-0ubuntu1.1 [122 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libfam0 amd64 2.7.0-17.1 [17.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5coreaddons5 amd64 5.18.0-0ubuntu1.1 [190 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libpolkit-qt5-1-1 amd64 0.112.0-4 [54.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5auth5 amd64 5.18.0-0ubuntu2 [46.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5codecs-data all 5.18.0-0ubuntu1 [56.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5codecs5 amd64 5.18.0-0ubuntu1 [87.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configgui5 amd64 5.18.0-0ubuntu1 [38.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5guiaddons5 amd64 5.18.0-0ubuntu1 [37.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5widgetsaddons-data all 5.18.0-0ubuntu1 [1,252 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5widgetsaddons5 amd64 5.18.0-0ubuntu1 [343 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5configwidgets5 amd64 5.18.0-0ubuntu1 [112 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5itemviews-data all 5.18.0-0ubuntu1 [13.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5itemviews5 amd64 5.18.0-0ubuntu1 [71.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes5 amd64 5.18.0-0ubuntu1 [76.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5completion-data all 5.18.0-0ubuntu1 [22.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5completion5 amd64 5.18.0-0ubuntu1 [69.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5jobwidgets-data all 5.18.0-0ubuntu1 [52.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5jobwidgets5 amd64 5.18.0-0ubuntu1 [46.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons-data all 5.18.0-0ubuntu1 [13.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons5 amd64 5.18.0-0ubuntu1 [22.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5windowsystem-data all 5.18.0-0ubuntu1 [10.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5windowsystem5 amd64 5.18.0-0ubuntu1 [122 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5crash5 amd64 5.18.0-0ubuntu1 [12.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service-data all 5.18.0-0ubuntu1 [61.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service5 amd64 5.18.0-0ubuntu1 [188 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5service-bin amd64 5.18.0-0ubuntu1 [24.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5kiocore5 amd64 5.18.0-0ubuntu1.1 [411 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5kiowidgets5 amd64 5.18.0-0ubuntu1.1 [331 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5package-data all 5.18.0-0ubuntu1 [59.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5archive5 amd64 5.18.0-0ubuntu1.1 [75.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5package5 amd64 5.18.0-0ubuntu1 [51.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5declarative5 amd64 5.18.0-0ubuntu1 [27.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-privatewidgets amd64 5.5.1-1ubuntu1 [38.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 qml-module-qtquick-dialogs amd64 5.5.1-1ubuntu1 [89.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel-data all 5.18.0-0ubuntu1 [31.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel5 amd64 5.18.0-0ubuntu1 [44.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-kquickcontrols amd64 5.18.0-0ubuntu1 [25.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5quickaddons5 amd64 5.18.0-0ubuntu1 [23.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-kquickcontrolsaddons amd64 5.18.0-0ubuntu1 [59.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5activities5 amd64 5.18.0-0ubuntu1 [54.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5calendarevents5 amd64 5.18.0-0ubuntu1 [10.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5notifications-data all 5.18.0-0ubuntu1 [20.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libdbusmenu-qt5 amd64 0.9.3+16.04.20160218-0ubuntu1 [66.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4qt5-4 amd64 4:4.8.3-0ubuntu3 [145 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5notifications5 amd64 5.18.0-0ubuntu1 [89.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui-data all 5.18.0-0ubuntu1 [367 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5attica5 amd64 5.18.0-0ubuntu1 [134 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5textwidgets-data all 5.18.0-0ubuntu1 [173 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnet5-data all 5.18.0-0ubuntu1 [160 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnetcore5 amd64 5.18.0-0ubuntu1 [44.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5sonnetui5 amd64 5.18.0-0ubuntu1 [41.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5textwidgets5 amd64 5.18.0-0ubuntu1 [75.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui5 amd64 5.18.0-0ubuntu1 [291 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5plasma5 amd64 5.18.0-0ubuntu1.1 [217 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkf5plasmaquick5 amd64 5.18.0-0ubuntu1.1 [94.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libxcb-composite0 amd64 1.11.1-1ubuntu1 [5,100 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libxcb-damage0 amd64 1.11.1-1ubuntu1 [4,784 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 plasma-framework amd64 5.18.0-0ubuntu1.1 [3,377 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qml-module-org-kde-activities amd64 5.18.0-0ubuntu1 [72.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kactivities amd64 5.18.0-0ubuntu1 [215 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kapptemplate amd64 4:15.12.3-0ubuntu1 [857 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kate-data all 4:4.14.3-0ubuntu4 [1,461 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libdlrestrictions1 amd64 0.15.20~ubuntu4 [10.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdecore5 amd64 4:4.14.16-0ubuntu3.2 [934 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libattica0.4 amd64 0.4.2-2 [175 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libdbusmenu-qt2 amd64 0.9.3+16.04.20160218-0ubuntu1 [73.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdeui5 amd64 4:4.14.16-0ubuntu3.2 [1,314 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkcmutils4 amd64 4:4.14.16-0ubuntu3.2 [96.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libsolid4 amd64 4:4.14.16-0ubuntu3.2 [276 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libstreams0v5 amd64 0.7.8-2ubuntu1 [80.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libstreamanalyzer0v5 amd64 0.7.8-2ubuntu1 [274 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkio5 amd64 4:4.14.16-0ubuntu3.2 [865 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libknewstuff3-4 amd64 4:4.14.16-0ubuntu3.2 [164 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkparts4 amd64 4:4.14.16-0ubuntu3.2 [123 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libktexteditor4 amd64 4:4.14.16-0ubuntu3.2 [97.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkatepartinterfaces4 amd64 4:4.14.3-0ubuntu4 [864 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 katepart amd64 4:4.14.3-0ubuntu4 [62.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 breeze-icon-theme amd64 4:5.18.0-0ubuntu1 [2,348 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-runtime-data all 4:15.12.3-0ubuntu1 [6,829 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5style5 amd64 5.18.0-0ubuntu1 [13.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-style-breeze amd64 4:5.5.5-0ubuntu1 [185 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-style-breeze-qt4 amd64 4:5.5.5-0ubuntu1 [149 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkjsapi4 amd64 4:4.14.16-0ubuntu3.2 [266 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkjsembed4 amd64 4:4.14.16-0ubuntu3.2 [309 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkrosscore4 amd64 4:4.14.16-0ubuntu3.2 [57.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs-bin amd64 4:4.14.16-0ubuntu3.2 [168 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs5-data all 4:4.14.16-0ubuntu3.2 [2,622 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdoctools amd64 4:4.14.16-0ubuntu3.2 [176 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkpty4 amd64 4:4.14.16-0ubuntu3.2 [32.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkde3support4 amd64 4:4.14.16-0ubuntu3.2 [314 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdewebkit5 amd64 4:4.14.16-0ubuntu3.2 [63.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkemoticons4 amd64 4:4.14.16-0ubuntu3.2 [42.1 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkfile4 amd64 4:4.14.16-0ubuntu3.2 [222 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libphonon4 amd64 4:4.8.3-0ubuntu3 [151 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkhtml5 amd64 4:4.14.16-0ubuntu3.2 [2,032 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkntlm4 amd64 4:4.14.16-0ubuntu3.2 [28.7 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libpolkit-qt-1-1 amd64 0.112.0-4 [53.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 kdelibs5-plugins amd64 4:4.14.16-0ubuntu3.2 [982 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 oxygen5-icon-theme all 5.18.0-0ubuntu1 [29.5 MB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 oxygen-icon-theme all 5:5.18.0-0ubuntu1 [2,222 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdnssd4 amd64 4:4.14.16-0ubuntu3.2 [67.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqca2 amd64 2.1.1-2ubuntu1 [305 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libthreadweaver4 amd64 4:4.14.16-0ubuntu3.2 [46.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libplasma3 amd64 4:4.14.16-0ubuntu3.2 [928 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 plasma-scriptengine-javascript amd64 4:15.12.3-0ubuntu1 [397 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkactivities6 amd64 4:4.13.3-0ubuntu6 [34.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdeclarative5 amd64 4:4.14.16-0ubuntu3.2 [39.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkdesu5 amd64 4:4.14.16-0ubuntu3.2 [52.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libkmediaplayer4 amd64 4:4.14.16-0ubuntu3.2 [29.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/universe amd64 libknotifyconfig4 amd64 4:4.14.16-0ubuntu3.2 [40.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkxmlrpcclient4 amd64 4:4.14.10-1ubuntu2 [28.8 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial-updates/main amd64 libnl-route-3-200 amd64 3.2.27-1ubuntu0.16.04.1 [124 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 ntrack-module-libnl-0 amd64 016-1.3 [17.2 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libntrack0 amd64 016-1.3 [7,340 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libntrack-qt4-1 amd64 016-1.3 [6,904 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon-backend-gstreamer-common amd64 4:4.8.2-0ubuntu2 [11.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon-backend-gstreamer amd64 4:4.8.2-0ubuntu2 [109 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 phonon amd64 4:4.8.3-0ubuntu3 [8,874 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kde-runtime amd64 4:15.12.3-0ubuntu1 [1,899 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevelop-data all 4:4.7.3-0ubuntu1 [3,152 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libsublime8 amd64 1.7.3-0ubuntu1 [99.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libgrantlee-core0 amd64 0.5.1-0ubuntu3 [225 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevplatform8-libs amd64 1.7.3-0ubuntu1 [2,440 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kdevelop amd64 4:4.7.3-0ubuntu1 [1,485 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kpackagelauncherqml amd64 5.18.0-0ubuntu1 [13.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kpackagetool5 amd64 5.18.0-0ubuntu1 [51.3 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kwayland-data all 4:5.5.5-0ubuntu1 [2,716 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5idletime5 amd64 5.18.0-0ubuntu1 [26.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5waylandclient5 amd64 4:5.5.5-0ubuntu1 [106 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 kwayland-integration amd64 4:5.5.5-0ubuntu1 [21.0 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5config-bin amd64 5.18.0-0ubuntu1 [31.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5dbusaddons-bin amd64 5.18.0-0ubuntu1 [7,774 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccelprivate5 amd64 5.18.0-0ubuntu1 [40.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5globalaccel-bin amd64 5.18.0-0ubuntu1 [13.4 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5iconthemes-bin amd64 5.18.0-0ubuntu1 [5,966 B]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libkf5xmlgui-bin amd64 5.18.0-0ubuntu1 [16.9 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqca2-plugins amd64 2.1.1-2ubuntu1 [186 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 libqt5waylandclient5 amd64 5.5.1-2build1 [211 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/main amd64 libvoikko1 amd64 4.0.1-3ubuntu1 [90.5 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 qtwayland5 amd64 5.5.1-2build1 [72.6 kB]
Get: http://us.archive.ubuntu.com/ubuntu xenial/universe amd64 sonnet-plugins amd64 5.18.0-0ubuntu1 [110 kB]
Fetched 82.5 MB in 8min 1s ( kB/s)
Extracting templates from packages: %
Preconfiguring packages ...
Selecting previously unselected package libqjson0:amd64.
(Reading database ... files and directories currently installed.)
Preparing to unpack .../libqjson0_0.8.1-3_amd64.deb ...
Unpacking libqjson0:amd64 (0.8.-) ...
Selecting previously unselected package qml-module-qtquick-layouts:amd64.
Preparing to unpack .../qml-module-qtquick-layouts_5.5.1-1ubuntu1_amd64.deb ...
Unpacking qml-module-qtquick-layouts:amd64 (5.5.-1ubuntu1) ...
Selecting previously unselected package qml-module-qtquick-window2:amd64.
Preparing to unpack .../qml-module-qtquick-window2_5.5.1-2ubuntu6_amd64.deb ...
Unpacking qml-module-qtquick-window2:amd64 (5.5.-2ubuntu6) ...
Selecting previously unselected package qml-module-qtquick2:amd64.
Preparing to unpack .../qml-module-qtquick2_5.5.1-2ubuntu6_amd64.deb ...
Unpacking qml-module-qtquick2:amd64 (5.5.-2ubuntu6) ...
Selecting previously unselected package qml-module-qtquick-controls:amd64.
Preparing to unpack .../qml-module-qtquick-controls_5.5.1-1ubuntu1_amd64.deb ...
Unpacking qml-module-qtquick-controls:amd64 (5.5.-1ubuntu1) ...
Selecting previously unselected package sgml-data.
Preparing to unpack .../sgml-data_2..10_all.deb ...
Unpacking sgml-data (2.0.) ...
Selecting previously unselected package docbook-xml.
Preparing to unpack .../docbook-xml_4.-.3_all.deb ...
Unpacking docbook-xml (4.5-7.3) ...
Selecting previously unselected package docbook-xsl.
Preparing to unpack .../docbook-xsl_1.79.1+dfsg-1_all.deb ...
Unpacking docbook-xsl (1.79.+dfsg-) ...
Selecting previously unselected package fonts-dejavu-extra.
Preparing to unpack .../fonts-dejavu-extra_2.-1_all.deb ...
Unpacking fonts-dejavu-extra (2.35-) ...
Selecting previously unselected package fonts-dejavu.
Preparing to unpack .../fonts-dejavu_2.-1_all.deb ...
Unpacking fonts-dejavu (2.35-) ...
Selecting previously unselected package icoutils.
Preparing to unpack .../icoutils_0.31.0-3_amd64.deb ...
Unpacking icoutils (0.31.-) ...
Selecting previously unselected package libkf5declarative-data.
Preparing to unpack .../libkf5declarative-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5declarative-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5config-data.
Preparing to unpack .../libkf5config-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5config-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5configcore5:amd64.
Preparing to unpack .../libkf5configcore5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5configcore5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5i18n-data.
Preparing to unpack .../libkf5i18n-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5i18n-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5i18n5:amd64.
Preparing to unpack .../libkf5i18n5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5i18n5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5iconthemes-data.
Preparing to unpack .../libkf5iconthemes-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5iconthemes-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5configwidgets-data.
Preparing to unpack .../libkf5configwidgets-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5configwidgets-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5auth-data.
Preparing to unpack .../libkf5auth-data_5.18.0-0ubuntu2_all.deb ...
Unpacking libkf5auth-data (5.18.-0ubuntu2) ...
Selecting previously unselected package libkf5coreaddons-data.
Preparing to unpack .../libkf5coreaddons-data_5.18.0-0ubuntu1.1_all.deb ...
Unpacking libkf5coreaddons-data (5.18.-0ubuntu1.) ...
Selecting previously unselected package libfam0.
Preparing to unpack .../libfam0_2.7.0-.1_amd64.deb ...
Unpacking libfam0 (2.7.-17.1) ...
Selecting previously unselected package libkf5coreaddons5:amd64.
Preparing to unpack .../libkf5coreaddons5_5.18.0-0ubuntu1.1_amd64.deb ...
Unpacking libkf5coreaddons5:amd64 (5.18.-0ubuntu1.) ...
Selecting previously unselected package libpolkit-qt5--:amd64.
Preparing to unpack .../libpolkit-qt5--1_0.112.0-4_amd64.deb ...
Unpacking libpolkit-qt5--:amd64 (0.112.-) ...
Selecting previously unselected package libkf5auth5:amd64.
Preparing to unpack .../libkf5auth5_5.18.0-0ubuntu2_amd64.deb ...
Unpacking libkf5auth5:amd64 (5.18.-0ubuntu2) ...
Selecting previously unselected package libkf5codecs-data.
Preparing to unpack .../libkf5codecs-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5codecs-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5codecs5:amd64.
Preparing to unpack .../libkf5codecs5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5codecs5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5configgui5:amd64.
Preparing to unpack .../libkf5configgui5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5configgui5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5guiaddons5:amd64.
Preparing to unpack .../libkf5guiaddons5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5guiaddons5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5widgetsaddons-data.
Preparing to unpack .../libkf5widgetsaddons-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5widgetsaddons-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5widgetsaddons5:amd64.
Preparing to unpack .../libkf5widgetsaddons5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5widgetsaddons5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5configwidgets5:amd64.
Preparing to unpack .../libkf5configwidgets5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5configwidgets5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5itemviews-data.
Preparing to unpack .../libkf5itemviews-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5itemviews-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5itemviews5:amd64.
Preparing to unpack .../libkf5itemviews5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5itemviews5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5iconthemes5:amd64.
Preparing to unpack .../libkf5iconthemes5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5iconthemes5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5completion-data.
Preparing to unpack .../libkf5completion-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5completion-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5completion5:amd64.
Preparing to unpack .../libkf5completion5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5completion5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5jobwidgets-data.
Preparing to unpack .../libkf5jobwidgets-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5jobwidgets-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5jobwidgets5:amd64.
Preparing to unpack .../libkf5jobwidgets5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5jobwidgets5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5dbusaddons-data.
Preparing to unpack .../libkf5dbusaddons-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5dbusaddons-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5dbusaddons5:amd64.
Preparing to unpack .../libkf5dbusaddons5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5dbusaddons5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5windowsystem-data.
Preparing to unpack .../libkf5windowsystem-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5windowsystem-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5windowsystem5:amd64.
Preparing to unpack .../libkf5windowsystem5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5windowsystem5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5crash5:amd64.
Preparing to unpack .../libkf5crash5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5crash5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5service-data.
Preparing to unpack .../libkf5service-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5service-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5service5:amd64.
Preparing to unpack .../libkf5service5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5service5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5service-bin.
Preparing to unpack .../libkf5service-bin_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5service-bin (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5kiocore5:amd64.
Preparing to unpack .../libkf5kiocore5_5.18.0-0ubuntu1.1_amd64.deb ...
Unpacking libkf5kiocore5:amd64 (5.18.-0ubuntu1.) ...
Selecting previously unselected package libkf5kiowidgets5:amd64.
Preparing to unpack .../libkf5kiowidgets5_5.18.0-0ubuntu1.1_amd64.deb ...
Unpacking libkf5kiowidgets5:amd64 (5.18.-0ubuntu1.) ...
Selecting previously unselected package libkf5package-data.
Preparing to unpack .../libkf5package-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5package-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5archive5:amd64.
Preparing to unpack .../libkf5archive5_5.18.0-0ubuntu1.1_amd64.deb ...
Unpacking libkf5archive5:amd64 (5.18.-0ubuntu1.) ...
Selecting previously unselected package libkf5package5:amd64.
Preparing to unpack .../libkf5package5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5package5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5declarative5:amd64.
Preparing to unpack .../libkf5declarative5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5declarative5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package qml-module-qtquick-privatewidgets:amd64.
Preparing to unpack .../qml-module-qtquick-privatewidgets_5.5.1-1ubuntu1_amd64.deb ...
Unpacking qml-module-qtquick-privatewidgets:amd64 (5.5.-1ubuntu1) ...
Selecting previously unselected package qml-module-qtquick-dialogs:amd64.
Preparing to unpack .../qml-module-qtquick-dialogs_5.5.1-1ubuntu1_amd64.deb ...
Unpacking qml-module-qtquick-dialogs:amd64 (5.5.-1ubuntu1) ...
Selecting previously unselected package libkf5globalaccel-data.
Preparing to unpack .../libkf5globalaccel-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5globalaccel-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5globalaccel5:amd64.
Preparing to unpack .../libkf5globalaccel5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5globalaccel5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package qml-module-org-kde-kquickcontrols:amd64.
Preparing to unpack .../qml-module-org-kde-kquickcontrols_5.18.0-0ubuntu1_amd64.deb ...
Unpacking qml-module-org-kde-kquickcontrols:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5quickaddons5:amd64.
Preparing to unpack .../libkf5quickaddons5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5quickaddons5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package qml-module-org-kde-kquickcontrolsaddons:amd64.
Preparing to unpack .../qml-module-org-kde-kquickcontrolsaddons_5.18.0-0ubuntu1_amd64.deb ...
Unpacking qml-module-org-kde-kquickcontrolsaddons:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5activities5:amd64.
Preparing to unpack .../libkf5activities5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5activities5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5calendarevents5:amd64.
Preparing to unpack .../libkf5calendarevents5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5calendarevents5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5notifications-data.
Preparing to unpack .../libkf5notifications-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5notifications-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libdbusmenu-qt5:amd64.
Preparing to unpack .../libdbusmenu-qt5_0.9.3+16.04.-0ubuntu1_amd64.deb ...
Unpacking libdbusmenu-qt5:amd64 (0.9.+16.04.-0ubuntu1) ...
Selecting previously unselected package libphonon4qt5-:amd64.
Preparing to unpack .../libphonon4qt5-4_4%3a4.8.3-0ubuntu3_amd64.deb ...
Unpacking libphonon4qt5-:amd64 (:4.8.-0ubuntu3) ...
Selecting previously unselected package libkf5notifications5:amd64.
Preparing to unpack .../libkf5notifications5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5notifications5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5xmlgui-data.
Preparing to unpack .../libkf5xmlgui-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5xmlgui-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5attica5:amd64.
Preparing to unpack .../libkf5attica5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5attica5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5textwidgets-data.
Preparing to unpack .../libkf5textwidgets-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5textwidgets-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5sonnet5-data.
Preparing to unpack .../libkf5sonnet5-data_5.18.0-0ubuntu1_all.deb ...
Unpacking libkf5sonnet5-data (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5sonnetcore5:amd64.
Preparing to unpack .../libkf5sonnetcore5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5sonnetcore5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5sonnetui5:amd64.
Preparing to unpack .../libkf5sonnetui5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5sonnetui5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5textwidgets5:amd64.
Preparing to unpack .../libkf5textwidgets5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5textwidgets5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5xmlgui5:amd64.
Preparing to unpack .../libkf5xmlgui5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5xmlgui5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5plasma5:amd64.
Preparing to unpack .../libkf5plasma5_5.18.0-0ubuntu1.1_amd64.deb ...
Unpacking libkf5plasma5:amd64 (5.18.-0ubuntu1.) ...
Selecting previously unselected package libkf5plasmaquick5:amd64.
Preparing to unpack .../libkf5plasmaquick5_5.18.0-0ubuntu1.1_amd64.deb ...
Unpacking libkf5plasmaquick5:amd64 (5.18.-0ubuntu1.) ...
Selecting previously unselected package libxcb-composite0:amd64.
Preparing to unpack .../libxcb-composite0_1.11.1-1ubuntu1_amd64.deb ...
Unpacking libxcb-composite0:amd64 (1.11.-1ubuntu1) ...
Selecting previously unselected package libxcb-damage0:amd64.
Preparing to unpack .../libxcb-damage0_1.11.1-1ubuntu1_amd64.deb ...
Unpacking libxcb-damage0:amd64 (1.11.-1ubuntu1) ...
Selecting previously unselected package plasma-framework.
Preparing to unpack .../plasma-framework_5.18.0-0ubuntu1.1_amd64.deb ...
Unpacking plasma-framework (5.18.-0ubuntu1.) ...
Selecting previously unselected package qml-module-org-kde-activities:amd64.
Preparing to unpack .../qml-module-org-kde-activities_5.18.0-0ubuntu1_amd64.deb ...
Unpacking qml-module-org-kde-activities:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package kactivities.
Preparing to unpack .../kactivities_5.18.0-0ubuntu1_amd64.deb ...
Unpacking kactivities (5.18.-0ubuntu1) ...
Selecting previously unselected package kapptemplate.
Preparing to unpack .../kapptemplate_4%3a15.12.3-0ubuntu1_amd64.deb ...
Unpacking kapptemplate (:15.12.-0ubuntu1) ...
Selecting previously unselected package kate-data.
Preparing to unpack .../kate-data_4%3a4.14.3-0ubuntu4_all.deb ...
Unpacking kate-data (:4.14.-0ubuntu4) ...
Selecting previously unselected package libdlrestrictions1.
Preparing to unpack .../libdlrestrictions1_0.15.20~ubuntu4_amd64.deb ...
Unpacking libdlrestrictions1 (0.15.~ubuntu4) ...
Selecting previously unselected package libkdecore5.
Preparing to unpack .../libkdecore5_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkdecore5 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libattica0.:amd64.
Preparing to unpack .../libattica0.4_0.4.2-2_amd64.deb ...
Unpacking libattica0.:amd64 (0.4.-) ...
Selecting previously unselected package libdbusmenu-qt2:amd64.
Preparing to unpack .../libdbusmenu-qt2_0.9.3+16.04.-0ubuntu1_amd64.deb ...
Unpacking libdbusmenu-qt2:amd64 (0.9.+16.04.-0ubuntu1) ...
Selecting previously unselected package libkdeui5.
Preparing to unpack .../libkdeui5_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkdeui5 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkcmutils4.
Preparing to unpack .../libkcmutils4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkcmutils4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libsolid4.
Preparing to unpack .../libsolid4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libsolid4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libstreams0v5.
Preparing to unpack .../libstreams0v5_0.7.8-2ubuntu1_amd64.deb ...
Unpacking libstreams0v5 (0.7.-2ubuntu1) ...
Selecting previously unselected package libstreamanalyzer0v5.
Preparing to unpack .../libstreamanalyzer0v5_0.7.8-2ubuntu1_amd64.deb ...
Unpacking libstreamanalyzer0v5 (0.7.-2ubuntu1) ...
Selecting previously unselected package libkio5.
Preparing to unpack .../libkio5_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkio5 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libknewstuff3-.
Preparing to unpack .../libknewstuff3-4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libknewstuff3- (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkparts4.
Preparing to unpack .../libkparts4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkparts4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libktexteditor4.
Preparing to unpack .../libktexteditor4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libktexteditor4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkatepartinterfaces4.
Preparing to unpack .../libkatepartinterfaces4_4%3a4.14.3-0ubuntu4_amd64.deb ...
Unpacking libkatepartinterfaces4 (:4.14.-0ubuntu4) ...
Selecting previously unselected package katepart.
Preparing to unpack .../katepart_4%3a4.14.3-0ubuntu4_amd64.deb ...
Unpacking katepart (:4.14.-0ubuntu4) ...
Selecting previously unselected package breeze-icon-theme.
Preparing to unpack .../breeze-icon-theme_4%3a5.18.0-0ubuntu1_amd64.deb ...
Unpacking breeze-icon-theme (:5.18.-0ubuntu1) ...
Selecting previously unselected package kde-runtime-data.
Preparing to unpack .../kde-runtime-data_4%3a15.12.3-0ubuntu1_all.deb ...
Unpacking kde-runtime-data (:15.12.-0ubuntu1) ...
Selecting previously unselected package libkf5style5:amd64.
Preparing to unpack .../libkf5style5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5style5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package kde-style-breeze.
Preparing to unpack .../kde-style-breeze_4%3a5.5.5-0ubuntu1_amd64.deb ...
Unpacking kde-style-breeze (:5.5.-0ubuntu1) ...
Selecting previously unselected package kde-style-breeze-qt4.
Preparing to unpack .../kde-style-breeze-qt4_4%3a5.5.5-0ubuntu1_amd64.deb ...
Unpacking kde-style-breeze-qt4 (:5.5.-0ubuntu1) ...
Selecting previously unselected package libkjsapi4.
Preparing to unpack .../libkjsapi4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkjsapi4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkjsembed4.
Preparing to unpack .../libkjsembed4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkjsembed4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkrosscore4.
Preparing to unpack .../libkrosscore4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkrosscore4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package kdelibs-bin.
Preparing to unpack .../kdelibs-bin_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking kdelibs-bin (:4.14.-0ubuntu3.) ...
Selecting previously unselected package kdelibs5-data.
Preparing to unpack .../kdelibs5-data_4%3a4.14.16-0ubuntu3.2_all.deb ...
Unpacking kdelibs5-data (:4.14.-0ubuntu3.) ...
Selecting previously unselected package kdoctools.
Preparing to unpack .../kdoctools_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking kdoctools (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkpty4.
Preparing to unpack .../libkpty4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkpty4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkde3support4.
Preparing to unpack .../libkde3support4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkde3support4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkdewebkit5.
Preparing to unpack .../libkdewebkit5_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkdewebkit5 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkemoticons4.
Preparing to unpack .../libkemoticons4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkemoticons4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkfile4.
Preparing to unpack .../libkfile4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkfile4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libphonon4:amd64.
Preparing to unpack .../libphonon4_4%3a4.8.3-0ubuntu3_amd64.deb ...
Unpacking libphonon4:amd64 (:4.8.-0ubuntu3) ...
Selecting previously unselected package libkhtml5.
Preparing to unpack .../libkhtml5_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkhtml5 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkntlm4.
Preparing to unpack .../libkntlm4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkntlm4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libpolkit-qt--:amd64.
Preparing to unpack .../libpolkit-qt--1_0.112.0-4_amd64.deb ...
Unpacking libpolkit-qt--:amd64 (0.112.-) ...
Selecting previously unselected package kdelibs5-plugins.
Preparing to unpack .../kdelibs5-plugins_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking kdelibs5-plugins (:4.14.-0ubuntu3.) ...
Selecting previously unselected package oxygen5-icon-theme.
Preparing to unpack .../oxygen5-icon-theme_5.18.0-0ubuntu1_all.deb ...
Unpacking oxygen5-icon-theme (5.18.-0ubuntu1) ...
Selecting previously unselected package oxygen-icon-theme.
Preparing to unpack .../oxygen-icon-theme_5%3a5.18.0-0ubuntu1_all.deb ...
Unpacking oxygen-icon-theme (:5.18.-0ubuntu1) ...
Selecting previously unselected package libkdnssd4.
Preparing to unpack .../libkdnssd4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkdnssd4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libqca2:amd64.
Preparing to unpack .../libqca2_2.1.1-2ubuntu1_amd64.deb ...
Unpacking libqca2:amd64 (2.1.-2ubuntu1) ...
Selecting previously unselected package libthreadweaver4.
Preparing to unpack .../libthreadweaver4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libthreadweaver4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libplasma3.
Preparing to unpack .../libplasma3_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libplasma3 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package plasma-scriptengine-javascript.
Preparing to unpack .../plasma-scriptengine-javascript_4%3a15.12.3-0ubuntu1_amd64.deb ...
Unpacking plasma-scriptengine-javascript (:15.12.-0ubuntu1) ...
Selecting previously unselected package libkactivities6.
Preparing to unpack .../libkactivities6_4%3a4.13.3-0ubuntu6_amd64.deb ...
Unpacking libkactivities6 (:4.13.-0ubuntu6) ...
Selecting previously unselected package libkdeclarative5.
Preparing to unpack .../libkdeclarative5_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkdeclarative5 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkdesu5.
Preparing to unpack .../libkdesu5_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkdesu5 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkmediaplayer4.
Preparing to unpack .../libkmediaplayer4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libkmediaplayer4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libknotifyconfig4.
Preparing to unpack .../libknotifyconfig4_4%3a4.14.16-0ubuntu3.2_amd64.deb ...
Unpacking libknotifyconfig4 (:4.14.-0ubuntu3.) ...
Selecting previously unselected package libkxmlrpcclient4.
Preparing to unpack .../libkxmlrpcclient4_4%3a4.14.10-1ubuntu2_amd64.deb ...
Unpacking libkxmlrpcclient4 (:4.14.-1ubuntu2) ...
Selecting previously unselected package libnl-route--:amd64.
Preparing to unpack .../libnl-route--200_3.2.27-1ubuntu0.16.04.1_amd64.deb ...
Unpacking libnl-route--:amd64 (3.2.-1ubuntu0.16.04.) ...
Selecting previously unselected package ntrack-module-libnl-.
Preparing to unpack .../ntrack-module-libnl-0_016-.3_amd64.deb ...
Unpacking ntrack-module-libnl- (-1.3) ...
Selecting previously unselected package libntrack0.
Preparing to unpack .../libntrack0_016-.3_amd64.deb ...
Unpacking libntrack0 (-1.3) ...
Selecting previously unselected package libntrack-qt4-.
Preparing to unpack .../libntrack-qt4-1_016-.3_amd64.deb ...
Unpacking libntrack-qt4- (-1.3) ...
Selecting previously unselected package phonon-backend-gstreamer-common:amd64.
Preparing to unpack .../phonon-backend-gstreamer-common_4%3a4.8.2-0ubuntu2_amd64.deb ...
Unpacking phonon-backend-gstreamer-common:amd64 (:4.8.-0ubuntu2) ...
Selecting previously unselected package phonon-backend-gstreamer:amd64.
Preparing to unpack .../phonon-backend-gstreamer_4%3a4.8.2-0ubuntu2_amd64.deb ...
Unpacking phonon-backend-gstreamer:amd64 (:4.8.-0ubuntu2) ...
Selecting previously unselected package phonon:amd64.
Preparing to unpack .../phonon_4%3a4.8.3-0ubuntu3_amd64.deb ...
Unpacking phonon:amd64 (:4.8.-0ubuntu3) ...
Selecting previously unselected package kde-runtime.
Preparing to unpack .../kde-runtime_4%3a15.12.3-0ubuntu1_amd64.deb ...
Unpacking kde-runtime (:15.12.-0ubuntu1) ...
Selecting previously unselected package kdevelop-data.
Preparing to unpack .../kdevelop-data_4%3a4.7.3-0ubuntu1_all.deb ...
Unpacking kdevelop-data (:4.7.-0ubuntu1) ...
Selecting previously unselected package libsublime8.
Preparing to unpack .../libsublime8_1.7.3-0ubuntu1_amd64.deb ...
Unpacking libsublime8 (1.7.-0ubuntu1) ...
Selecting previously unselected package libgrantlee-core0.
Preparing to unpack .../libgrantlee-core0_0.5.1-0ubuntu3_amd64.deb ...
Unpacking libgrantlee-core0 (0.5.-0ubuntu3) ...
Selecting previously unselected package kdevplatform8-libs.
Preparing to unpack .../kdevplatform8-libs_1.7.3-0ubuntu1_amd64.deb ...
Unpacking kdevplatform8-libs (1.7.-0ubuntu1) ...
Selecting previously unselected package kdevelop.
Preparing to unpack .../kdevelop_4%3a4.7.3-0ubuntu1_amd64.deb ...
Unpacking kdevelop (:4.7.-0ubuntu1) ...
Selecting previously unselected package kpackagelauncherqml.
Preparing to unpack .../kpackagelauncherqml_5.18.0-0ubuntu1_amd64.deb ...
Unpacking kpackagelauncherqml (5.18.-0ubuntu1) ...
Selecting previously unselected package kpackagetool5.
Preparing to unpack .../kpackagetool5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking kpackagetool5 (5.18.-0ubuntu1) ...
Selecting previously unselected package kwayland-data.
Preparing to unpack .../kwayland-data_4%3a5.5.5-0ubuntu1_all.deb ...
Unpacking kwayland-data (:5.5.-0ubuntu1) ...
Selecting previously unselected package libkf5idletime5:amd64.
Preparing to unpack .../libkf5idletime5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5idletime5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5waylandclient5:amd64.
Preparing to unpack .../libkf5waylandclient5_4%3a5.5.5-0ubuntu1_amd64.deb ...
Unpacking libkf5waylandclient5:amd64 (:5.5.-0ubuntu1) ...
Selecting previously unselected package kwayland-integration:amd64.
Preparing to unpack .../kwayland-integration_4%3a5.5.5-0ubuntu1_amd64.deb ...
Unpacking kwayland-integration:amd64 (:5.5.-0ubuntu1) ...
Selecting previously unselected package libkf5config-bin.
Preparing to unpack .../libkf5config-bin_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5config-bin (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5dbusaddons-bin.
Preparing to unpack .../libkf5dbusaddons-bin_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5dbusaddons-bin (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5globalaccelprivate5:amd64.
Preparing to unpack .../libkf5globalaccelprivate5_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5globalaccelprivate5:amd64 (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5globalaccel-bin.
Preparing to unpack .../libkf5globalaccel-bin_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5globalaccel-bin (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5iconthemes-bin.
Preparing to unpack .../libkf5iconthemes-bin_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5iconthemes-bin (5.18.-0ubuntu1) ...
Selecting previously unselected package libkf5xmlgui-bin.
Preparing to unpack .../libkf5xmlgui-bin_5.18.0-0ubuntu1_amd64.deb ...
Unpacking libkf5xmlgui-bin (5.18.-0ubuntu1) ...
Selecting previously unselected package libqca2-plugins:amd64.
Preparing to unpack .../libqca2-plugins_2.1.1-2ubuntu1_amd64.deb ...
Unpacking libqca2-plugins:amd64 (2.1.-2ubuntu1) ...
Selecting previously unselected package libqt5waylandclient5:amd64.
Preparing to unpack .../libqt5waylandclient5_5.5.1-2build1_amd64.deb ...
Unpacking libqt5waylandclient5:amd64 (5.5.-2build1) ...
Selecting previously unselected package libvoikko1:amd64.
Preparing to unpack .../libvoikko1_4.0.1-3ubuntu1_amd64.deb ...
Unpacking libvoikko1:amd64 (4.0.-3ubuntu1) ...
Selecting previously unselected package qtwayland5:amd64.
Preparing to unpack .../qtwayland5_5.5.1-2build1_amd64.deb ...
Unpacking qtwayland5:amd64 (5.5.-2build1) ...
Selecting previously unselected package sonnet-plugins.
Preparing to unpack .../sonnet-plugins_5.18.0-0ubuntu1_amd64.deb ...
Unpacking sonnet-plugins (5.18.-0ubuntu1) ...
Processing triggers for sgml-base (1.26+nmu4ubuntu1) ...
Processing triggers for fontconfig (2.11.-0ubuntu1.) ...
Processing triggers for man-db (2.7.-) ...
Processing triggers for libc-bin (2.23-0ubuntu9) ...
Processing triggers for dbus (1.10.-1ubuntu3.) ...
Processing triggers for shared-mime-info (1.5-2ubuntu0.) ...
Unknown media type in type 'all/all'
Unknown media type in type 'all/allfiles'
Processing triggers for gnome-menus (3.13.-6ubuntu3.) ...
Processing triggers for desktop-file-utils (0.22-1ubuntu5) ...
Processing triggers for mime-support (.59ubuntu1) ...
Processing triggers for hicolor-icon-theme (0.15-0ubuntu1) ...
Setting up libqjson0:amd64 (0.8.-) ...
Setting up qml-module-qtquick-layouts:amd64 (5.5.-1ubuntu1) ...
Setting up qml-module-qtquick-window2:amd64 (5.5.-2ubuntu6) ...
Setting up qml-module-qtquick2:amd64 (5.5.-2ubuntu6) ...
Setting up qml-module-qtquick-controls:amd64 (5.5.-1ubuntu1) ...
Setting up sgml-data (2.0.) ...
Setting up docbook-xsl (1.79.+dfsg-) ...
Setting up fonts-dejavu-extra (2.35-) ...
Setting up fonts-dejavu (2.35-) ...
Setting up icoutils (0.31.-) ...
Setting up libkf5declarative-data (5.18.-0ubuntu1) ...
Setting up libkf5config-data (5.18.-0ubuntu1) ...
Setting up libkf5configcore5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5i18n-data (5.18.-0ubuntu1) ...
Setting up libkf5i18n5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5iconthemes-data (5.18.-0ubuntu1) ...
Setting up libkf5configwidgets-data (5.18.-0ubuntu1) ...
Setting up libkf5auth-data (5.18.-0ubuntu2) ...
Setting up libkf5coreaddons-data (5.18.-0ubuntu1.) ...
Setting up libfam0 (2.7.-17.1) ...
Setting up libkf5coreaddons5:amd64 (5.18.-0ubuntu1.) ...
Setting up libpolkit-qt5--:amd64 (0.112.-) ...
Setting up libkf5auth5:amd64 (5.18.-0ubuntu2) ...
Setting up libkf5codecs-data (5.18.-0ubuntu1) ...
Setting up libkf5codecs5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5configgui5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5guiaddons5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5widgetsaddons-data (5.18.-0ubuntu1) ...
Setting up libkf5widgetsaddons5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5configwidgets5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5itemviews-data (5.18.-0ubuntu1) ...
Setting up libkf5itemviews5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5iconthemes5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5completion-data (5.18.-0ubuntu1) ...
Setting up libkf5completion5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5jobwidgets-data (5.18.-0ubuntu1) ...
Setting up libkf5jobwidgets5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5dbusaddons-data (5.18.-0ubuntu1) ...
Setting up libkf5dbusaddons5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5windowsystem-data (5.18.-0ubuntu1) ...
Setting up libkf5windowsystem5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5crash5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5service-data (5.18.-0ubuntu1) ...
Setting up libkf5service5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5service-bin (5.18.-0ubuntu1) ...
Setting up libkf5kiocore5:amd64 (5.18.-0ubuntu1.) ...
Setting up libkf5kiowidgets5:amd64 (5.18.-0ubuntu1.) ...
Setting up libkf5package-data (5.18.-0ubuntu1) ...
Setting up libkf5archive5:amd64 (5.18.-0ubuntu1.) ...
Setting up libkf5package5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5declarative5:amd64 (5.18.-0ubuntu1) ...
Setting up qml-module-qtquick-privatewidgets:amd64 (5.5.-1ubuntu1) ...
Setting up qml-module-qtquick-dialogs:amd64 (5.5.-1ubuntu1) ...
Setting up libkf5globalaccel-data (5.18.-0ubuntu1) ...
Setting up libkf5globalaccel5:amd64 (5.18.-0ubuntu1) ...
Setting up qml-module-org-kde-kquickcontrols:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5quickaddons5:amd64 (5.18.-0ubuntu1) ...
Setting up qml-module-org-kde-kquickcontrolsaddons:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5activities5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5calendarevents5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5notifications-data (5.18.-0ubuntu1) ...
Setting up libdbusmenu-qt5:amd64 (0.9.+16.04.-0ubuntu1) ...
Setting up libphonon4qt5-:amd64 (:4.8.-0ubuntu3) ...
Setting up libkf5notifications5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5xmlgui-data (5.18.-0ubuntu1) ...
Setting up libkf5attica5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5textwidgets-data (5.18.-0ubuntu1) ...
Setting up libkf5sonnet5-data (5.18.-0ubuntu1) ...
Setting up libkf5sonnetcore5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5sonnetui5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5textwidgets5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5xmlgui5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5plasma5:amd64 (5.18.-0ubuntu1.) ...
Setting up libkf5plasmaquick5:amd64 (5.18.-0ubuntu1.) ...
Setting up libxcb-composite0:amd64 (1.11.-1ubuntu1) ...
Setting up libxcb-damage0:amd64 (1.11.-1ubuntu1) ...
Setting up plasma-framework (5.18.-0ubuntu1.) ...
Setting up qml-module-org-kde-activities:amd64 (5.18.-0ubuntu1) ...
Setting up kactivities (5.18.-0ubuntu1) ...
Setting up kapptemplate (:15.12.-0ubuntu1) ...
Setting up kate-data (:4.14.-0ubuntu4) ...
Setting up libdlrestrictions1 (0.15.~ubuntu4) ...
Setting up libkdecore5 (:4.14.-0ubuntu3.) ...
Setting up libattica0.:amd64 (0.4.-) ...
Setting up libdbusmenu-qt2:amd64 (0.9.+16.04.-0ubuntu1) ...
Setting up libkdeui5 (:4.14.-0ubuntu3.) ...
Setting up libkcmutils4 (:4.14.-0ubuntu3.) ...
Setting up libsolid4 (:4.14.-0ubuntu3.) ...
Setting up libstreams0v5 (0.7.-2ubuntu1) ...
Setting up libstreamanalyzer0v5 (0.7.-2ubuntu1) ...
Setting up libkio5 (:4.14.-0ubuntu3.) ...
Setting up libknewstuff3- (:4.14.-0ubuntu3.) ...
Setting up libkparts4 (:4.14.-0ubuntu3.) ...
Setting up libktexteditor4 (:4.14.-0ubuntu3.) ...
Setting up libkatepartinterfaces4 (:4.14.-0ubuntu4) ...
Setting up katepart (:4.14.-0ubuntu4) ...
Setting up breeze-icon-theme (:5.18.-0ubuntu1) ...
Setting up kde-runtime-data (:15.12.-0ubuntu1) ...
Setting up libkf5style5:amd64 (5.18.-0ubuntu1) ...
Setting up kde-style-breeze (:5.5.-0ubuntu1) ...
Setting up kde-style-breeze-qt4 (:5.5.-0ubuntu1) ...
Setting up libkjsapi4 (:4.14.-0ubuntu3.) ...
Setting up libkjsembed4 (:4.14.-0ubuntu3.) ...
Setting up libkrosscore4 (:4.14.-0ubuntu3.) ...
Setting up kdelibs-bin (:4.14.-0ubuntu3.) ...
Setting up kdelibs5-data (:4.14.-0ubuntu3.) ...
Setting up libkpty4 (:4.14.-0ubuntu3.) ...
Setting up libkde3support4 (:4.14.-0ubuntu3.) ...
Setting up libkdewebkit5 (:4.14.-0ubuntu3.) ...
Setting up libkemoticons4 (:4.14.-0ubuntu3.) ...
Setting up libkfile4 (:4.14.-0ubuntu3.) ...
Setting up libphonon4:amd64 (:4.8.-0ubuntu3) ...
Setting up libkhtml5 (:4.14.-0ubuntu3.) ...
Setting up libkntlm4 (:4.14.-0ubuntu3.) ...
Setting up libpolkit-qt--:amd64 (0.112.-) ...
Setting up oxygen5-icon-theme (5.18.-0ubuntu1) ...
Setting up oxygen-icon-theme (:5.18.-0ubuntu1) ...
Setting up libkdnssd4 (:4.14.-0ubuntu3.) ...
Setting up libqca2:amd64 (2.1.-2ubuntu1) ...
Setting up libthreadweaver4 (:4.14.-0ubuntu3.) ...
Setting up libplasma3 (:4.14.-0ubuntu3.) ...
Setting up plasma-scriptengine-javascript (:15.12.-0ubuntu1) ...
Setting up libkactivities6 (:4.13.-0ubuntu6) ...
Setting up libkdeclarative5 (:4.14.-0ubuntu3.) ...
Setting up libkdesu5 (:4.14.-0ubuntu3.) ...
Setting up libkmediaplayer4 (:4.14.-0ubuntu3.) ...
Setting up libknotifyconfig4 (:4.14.-0ubuntu3.) ...
Setting up libkxmlrpcclient4 (:4.14.-1ubuntu2) ...
Setting up libnl-route--:amd64 (3.2.-1ubuntu0.16.04.) ...
Setting up phonon-backend-gstreamer-common:amd64 (:4.8.-0ubuntu2) ...
Setting up phonon-backend-gstreamer:amd64 (:4.8.-0ubuntu2) ...
Setting up phonon:amd64 (:4.8.-0ubuntu3) ...
Setting up kdevelop-data (:4.7.-0ubuntu1) ...
Setting up libsublime8 (1.7.-0ubuntu1) ...
Setting up libgrantlee-core0 (0.5.-0ubuntu3) ...
Setting up kdevplatform8-libs (1.7.-0ubuntu1) ...
Setting up kpackagelauncherqml (5.18.-0ubuntu1) ...
Setting up kpackagetool5 (5.18.-0ubuntu1) ...
Setting up kwayland-data (:5.5.-0ubuntu1) ...
Setting up libkf5idletime5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5waylandclient5:amd64 (:5.5.-0ubuntu1) ...
Setting up kwayland-integration:amd64 (:5.5.-0ubuntu1) ...
Setting up libkf5config-bin (5.18.-0ubuntu1) ...
Setting up libkf5dbusaddons-bin (5.18.-0ubuntu1) ...
Setting up libkf5globalaccelprivate5:amd64 (5.18.-0ubuntu1) ...
Setting up libkf5globalaccel-bin (5.18.-0ubuntu1) ...
Setting up libkf5iconthemes-bin (5.18.-0ubuntu1) ...
Setting up libkf5xmlgui-bin (5.18.-0ubuntu1) ...
Setting up libqca2-plugins:amd64 (2.1.-2ubuntu1) ...
Setting up libqt5waylandclient5:amd64 (5.5.-2build1) ...
Setting up libvoikko1:amd64 (4.0.-3ubuntu1) ...
Setting up qtwayland5:amd64 (5.5.-2build1) ...
Setting up sonnet-plugins (5.18.-0ubuntu1) ...
Processing triggers for sgml-base (1.26+nmu4ubuntu1) ...
Setting up docbook-xml (4.5-7.3) ...
Processing triggers for sgml-base (1.26+nmu4ubuntu1) ...
Setting up kdoctools (:4.14.-0ubuntu3.) ...
Setting up kdelibs5-plugins (:4.14.-0ubuntu3.) ...
Setting up libntrack0 (-1.3) ...
Setting up libntrack-qt4- (-1.3) ...
Setting up kde-runtime (:15.12.-0ubuntu1) ...
update-alternatives: using /usr/lib/kde4/libexec/kdesu-distrib/kdesu to provide /usr/lib/kde4/libexec/kdesu (kdesu) in auto mode
Setting up kdevelop (:4.7.-0ubuntu1) ...
Setting up ntrack-module-libnl- (-1.3) ...
Processing triggers for libc-bin (2.23-0ubuntu9) ...
Processing triggers for dbus (1.10.-1ubuntu3.) ...
kdevelop
2. Cartographer_ROS不同节点的入口main()函数
这里作一点更正，首先Cartographer_ROS是一个Package，包含多个node，所以程序入口main函数有很多个。比如还有offline_node_main.cc，通过查看不同的launch文件可以看看究竟有多少个node。
这里只是对其中的一个demo_packback_2d.launch中的节点进行了说明。
(1) 主程序入口(node_main.cc)
int main(int argc, char** argv) {
google::InitGoogleLogging(argv[]);
google::ParseCommandLineFlags(&argc, &argv, true);
CHECK(!FLAGS_configuration_directory.empty())
<< "-configuration_directory is missing.";
CHECK(!FLAGS_configuration_basename.empty())
<< "-configuration_basename is missing.";
::ros::init(argc, argv, "cartographer_node");
::ros::start();
cartographer_ros::ScopedRosLogSink ros_log_sink;
cartographer_ros::Run();
::ros::shutdown();
}
main
(2) cartographer_ros::Run()是全局函数。
注意该方法中的::ros::spin();进入ROS系统内部循环，消息的请求响应，各种处理开始。
void cartographer_ros::Run() {
constexpr double kTfBufferCacheTimeInSeconds = 1e6;
tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
tf2_ros::TransformListener tf(tf_buffer);
NodeOptions node_options;
TrajectoryOptions trajectory_options;
std::tie(node_options, trajectory_options) =LoadOptions(FLAGS_configuration_directory,LAGS_configuration_basename);
Node node(node_options, &tf_buffer);
if (!FLAGS_map_filename.empty())
{
node.LoadMap(FLAGS_map_filename);
}
if (FLAGS_start_trajectory_with_default_topics)
{
node.StartTrajectoryWithDefaultTopics(trajectory_options);
}
::ros::spin();
node.FinishAllTrajectories();
node.RunFinalOptimization();
if (!FLAGS_save_map_filename.empty())
{
node.SerializeState(FLAGS_save_map_filename);
}
}
cartographer_ros::Run()
(3)cartographer_ros::Run()方法中定义了Node node(node_options, &tf_buffer);
在cartographer_ros::Run()第15行-18行，执行了node.StartTrajectoryWithDefaultTopics(trajectory_options)方法。
Node::Node(const NodeOptions& node_options, tf2_ros::Buffer* const tf_buffer)
: node_options_(node_options),
map_builder_bridge_(node_options_, tf_buffer) {
carto::common::MutexLocker lock(&mutex_);
submap_list_publisher_ =
node_handle_.advertise<::cartographer_ros_msgs::SubmapList>(
kSubmapListTopic, kLatestOnlyPublisherQueueSize);
trajectory_node_list_publisher_ =
node_handle_.advertise<::visualization_msgs::MarkerArray>(
kTrajectoryNodeListTopic, kLatestOnlyPublisherQueueSize);
constraint_list_publisher_ =
node_handle_.advertise<::visualization_msgs::MarkerArray>(
kConstraintListTopic, kLatestOnlyPublisherQueueSize);
service_servers_.push_back(node_handle_.advertiseService(
kSubmapQueryServiceName, &Node::HandleSubmapQuery, this));
service_servers_.push_back(node_handle_.advertiseService(
kStartTrajectoryServiceName, &Node::HandleStartTrajectory, this));
service_servers_.push_back(node_handle_.advertiseService(
kFinishTrajectoryServiceName, &Node::HandleFinishTrajectory, this));
service_servers_.push_back(node_handle_.advertiseService(
kWriteStateServiceName, &Node::HandleWriteState, this)); scan_matched_point_cloud_publisher_ =
node_handle_.advertise<sensor_msgs::PointCloud2>(
kScanMatchedPointCloudTopic, kLatestOnlyPublisherQueueSize); wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(node_options_.submap_publish_period_sec),
&Node::PublishSubmapList, this));
wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(node_options_.pose_publish_period_sec),
&Node::PublishTrajectoryStates, this));
wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(node_options_.trajectory_publish_period_sec),
&Node::PublishTrajectoryNodeList, this));
wall_timers_.push_back(node_handle_.createWallTimer(
::ros::WallDuration(kConstraintPublishPeriodSec),
&Node::PublishConstraintList, this));
}
Node构造函数
if (FLAGS_start_trajectory_with_default_topics)
{
node.StartTrajectoryWithDefaultTopics(trajectory_options);
}
Node::StartTrajectoryWithDefaultTopics函数如下：
void Node::StartTrajectoryWithDefaultTopics(const TrajectoryOptions& options)
{
carto::common::MutexLocker lock(&mutex_);
CHECK(ValidateTrajectoryOptions(options));
AddTrajectory(options, DefaultSensorTopics());//注意
}
DefaultSensorTopics()函数如下：
cartographer_ros_msgs::SensorTopics DefaultSensorTopics()
{
cartographer_ros_msgs::SensorTopics topics;
topics.laser_scan_topic = kLaserScanTopic;
topics.multi_echo_laser_scan_topic = kMultiEchoLaserScanTopic;
topics.point_cloud2_topic = kPointCloud2Topic;
topics.imu_topic = kImuTopic;
topics.odometry_topic = kOdometryTopic;
return topics;
}
(3.1)查看Node::AddTrajectory的代码，特别注意map_builder_bridge_.AddTrajectory(x,x)，需要重点阅读。
int Node::AddTrajectory(const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics)
{
const std::unordered_set<std::string> expected_sensor_ids = ComputeExpectedTopics(options, topics);
const int trajectory_id = map_builder_bridge_.AddTrajectory(expected_sensor_ids, options); //增加Trajectory
AddExtrapolator(trajectory_id, options);
AddSensorSamplers(trajectory_id, options);
LaunchSubscribers(options, topics, trajectory_id);//消息订阅，重要
is_active_trajectory_[trajectory_id] = true;
subscribed_topics_.insert(expected_sensor_ids.begin(), expected_sensor_ids.end());
return trajectory_id;
}
其中的expected_sensor_ids 得到的是期望订阅主题的字符串列表。这里的AddExtrapolator方法暂且不表。
std::unordered_set<std::string> Node::ComputeExpectedTopics( const TrajectoryOptions& options, const cartographer_ros_msgs::SensorTopics& topics)
{
std::unordered_set<std::string> expected_topics;
// Subscribe to all laser scan, multi echo laser scan, and point cloud topics.
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.laser_scan_topic, options.num_laser_scans))
{
expected_topics.insert(topic);
}
for (const std::string& topic :
ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
options.num_multi_echo_laser_scans))
{
expected_topics.insert(topic);
}
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.point_cloud2_topic, options.num_point_clouds))
{
expected_topics.insert(topic);
}
// For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
// required.
if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
(node_options_.map_builder_options.use_trajectory_builder_2d() &&
options.trajectory_builder_options.trajectory_builder_2d_options()
.use_imu_data()))
{
expected_topics.insert(topics.imu_topic);
}
// Odometry is optional.
if (options.use_odometry)
{
expected_topics.insert(topics.odometry_topic);
}
return expected_topics;
}
Node::ComputeExpectedTopics
(3.2) 消息订阅
void Node::LaunchSubscribers(const TrajectoryOptions& options,
const cartographer_ros_msgs::SensorTopics& topics,
const int trajectory_id) {
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.laser_scan_topic, options.num_laser_scans)) {
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::LaserScan>(
&Node::HandleLaserScanMessage, trajectory_id, topic, &node_handle_,
this),
topic});
}
for (const std::string& topic :
ComputeRepeatedTopicNames(topics.multi_echo_laser_scan_topic,
options.num_multi_echo_laser_scans)) {
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::MultiEchoLaserScan>(
&Node::HandleMultiEchoLaserScanMessage, trajectory_id, topic,
&node_handle_, this),
topic});
}
for (const std::string& topic : ComputeRepeatedTopicNames(
topics.point_cloud2_topic, options.num_point_clouds)) {
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::PointCloud2>(
&Node::HandlePointCloud2Message, trajectory_id, topic,
&node_handle_, this),
topic});
} // For 2D SLAM, subscribe to the IMU if we expect it. For 3D SLAM, the IMU is
// required.
if (node_options_.map_builder_options.use_trajectory_builder_3d() ||
(node_options_.map_builder_options.use_trajectory_builder_2d() &&
options.trajectory_builder_options.trajectory_builder_2d_options()
.use_imu_data())) {
std::string topic = topics.imu_topic;
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<sensor_msgs::Imu>(&Node::HandleImuMessage,
trajectory_id, topic,
&node_handle_, this),
topic});
} if (options.use_odometry) {
std::string topic = topics.odometry_topic;
subscribers_[trajectory_id].push_back(
{SubscribeWithHandler<nav_msgs::Odometry>(&Node::HandleOdometryMessage,
trajectory_id, topic,
&node_handle_, this),
topic});
}
}
Node::LaunchSubscribers
(4) 回到步骤(2)，进行系统循环，订阅主题的消息处理开始。
阅读的代码是2017年12月27日GitHub下载的代码。
Cartographer中图优化存在2个部分：局部优化和全局优化
定义：扫描、子图
最新文章
- 「标准」的 JS风格
- eclipse打开文件所在目录
- linux自定义系统调用
- C语言函数的声明以及函数原型
- netfx_NativeCompilation.msi 传说中的 .NET Native 预览版的文件列表
- Java中不同转换符实现不同数据类型到字符串的转换
- 需要正确安装 Microsoft.Windows.ShellExperienceHost 和 "Microsoft.Windows.Cortana" 应用程序。
- WPF UI虚拟化
- HttpURL
- PHP 多个文件上传
- TCP同步传送数据示例以及可能出现问题分析
- oracle查询和断开用户session
- 计算机专业-世界大学学术排名,QS排名,U.S.NEWS排名
- Java按钮设计
- Python内置函数(20)——hex
- ajax的请求步骤！每个状态值表示什么？
- Spring Boot 2.x 编写 RESTful API (六) 事务
- jQuery动画方法
- 【Java每日一题】20170328
- linux syscall 详解【转】