datetime:2025/02/17 16:24

author:nzb

安装

• main分支安装
  • main 分支才有moveit_py包
• 编译colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-skip pilz_industrial_motion_planner
  • 跳过pilz_industrial_motion_planner规划器，Eigen相关报错，跳过需要修改motion_planning_python_api_tutorial.yaml文件，将pilz_industrial_motion_planner注释掉

问题及解决方案

问题1：

Finished <<< geometric_shapes [39.1s]
Finished <<< moveit_msgs [42.8s]
Starting >>> moveit_core
--- stderr: moveit_core
In file included from /home/robolab/ws_moveit2/src/moveit2/moveit_core/online_signal_smoothing/src/butterworth_filter.cpp:39:
/home/robolab/ws_moveit2/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/butterworth_filter.hpp:46:10: fatal error: moveit_core/moveit_butterworth_filter_parameters.hpp: No such file or directory
   46 | #include <moveit_core/moveit_butterworth_filter_parameters.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [online_signal_smoothing/CMakeFiles/moveit_butterworth_filter.dir/build.make:76: online_signal_smoothing/CMakeFiles/moveit_butterworth_filter.dir/src/butterworth_filter.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:1828: online_signal_smoothing/CMakeFiles/moveit_butterworth_filter.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< moveit_core [19.2s, exited with code 2]

Summary: 13 packages finished [1min 2s]
  1 package failed: moveit_core
  2 packages had stderr output: geometric_shapes moveit_core
  37 packages not processed

• 解决方案：sudo apt install ros-humble-generate-parameter-library*

问题2：

• 存在 osqp 找不到问题
• 解决方案

git clone https://github.com/osqp/osqp.git
cd osqp && mkdir build && cd build
cmake .. && make && sudo make install

问题3：

• google-benchmark 找不到问题
• 解决方法：apt-get install ros-humble-ament-cmake-google-benchmark