关于Moveit安装的问题

环境

由于Moveit和ROS是相关联的，所以会有版本上的区别。这边博客都是博主在Ubuntu20.04下noetic的ROS版本中进行的，其他的版本并没有测试，所以不敢确定是否对于使用其他版本的你是否有帮助。

安装步骤

官网安装步骤

问题汇总

随着使用的深入逐步更新

1. osrf-pycommon

参考网址

错误的具体表现：

vision@P920:~/catkin_ws/moveit_ws$ catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release
Traceback (most recent call last):
  File "/usr/bin/catkin", line 6, in <module>
    from pkg_resources import load_entry_point
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 3254, in <module>
    def _initialize_master_working_set():
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 3237, in _call_aside
    f(*args, **kwargs)
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 3266, in _initialize_master_working_set
    working_set = WorkingSet._build_master()
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 584, in _build_master
    ws.require(__requires__)
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 901, in require
    needed = self.resolve(parse_requirements(requirements))
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 787, in resolve
    raise DistributionNotFound(req, requirers)
pkg_resources.DistributionNotFound: The 'osrf-pycommon>0.1.1' distribution was not found and is required by catkin-tools

报错的原因是缺少osrf-pycommon这个依赖，那么解决办法如下：

sudo apt install python3-catkin-lint python3-pip
pip3 install osrf-pycommon