使用胡春旭程序包错误的记录及解决办法

学习Ｍoveit过程中，参考胡春旭的《ＲＯＳ机器人开发实践》中的程序包文件。对应的功能包为：robot_ｍarm。使用的ＲＯＳ版本为melodic。在编译过程中（catkin make），存在以下报错信息：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "manipulation_msgs"
  with any of the following names:

    manipulation_msgsConfig.cmake
    manipulation_msgs-config.cmake

  Add the installation prefix of "manipulation_msgs" to CMAKE_PREFIX_PATH or
  set "manipulation_msgs_DIR" to a directory containing one of the above
  files.  If "manipulation_msgs" provides a separate development package or
  SDK, be sure it has been installed.
Call Stack (most recent call first):
  robot_marm/marm_planning/CMakeLists.txt:10 (find_package)

原因是缺少"manipulation_msgs"包，重新安装即可。放在ｓｒｃ目录下：

git clone https://github.com/ros-interactive-manipulation/manipulation_msgs.git

编译，但仍有报错：

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "household_objects_database_msgs" with any of the following names:

    household_objects_database_msgsConfig.cmake
    household_objects_database_msgs-config.cmake

  Add the installation prefix of "household_objects_database_msgs" to
  CMAKE_PREFIX_PATH or set "household_objects_database_msgs_DIR" to a
  directory containing one of the above files.  If
  "household_objects_database_msgs" provides a separate development package
  or SDK, be sure it has been installed.

又缺了"household_objects_database_msgs",继续装，也是放在ｓｒｃ目录下：

git clone  https://github.com/ros-interactive-manipulation/household_objects_database_msgs

重新编译，就ｏｋ了：

Scanning dependencies of target household_objects_database_msgs_generate_messages_nodejs
[  1%] Generating EusLisp code from household_objects_database_msgs/DatabaseModelPoseList.msg
[  1%] Generating Javascript code from household_objects_database_msgs/DatabaseModelPoseList.msg
[  2%] Generating Javascript code from household_objects_database_msgs/DatabaseScan.msg
[  2%] Generating EusLisp code from household_objects_database_msgs/DatabaseScan.msg
[  2%] Generating Javascript code from household_objects_database_msgs/DatabaseReturnCode.msg
[  3%] Generating EusLisp code from household_objects_database_msgs/DatabaseReturnCode.msg
[  3%] Generating EusLisp code from household_objects_database_msgs/DatabaseModelPose.msg
[  4%] Generating EusLisp code from household_objects_database_msgs/SaveScan.srv
[  5%] Generating Javascript code from household_objects_database_msgs/DatabaseModelPose.msg
[  5%] Building CXX object robot_marm/marm_planning/CMakeFiles/add_collision_objct_node.dir/src/add_collision_objct.cpp.o
[  6%] Building CXX object robot_marm/marm_planning/CMakeFiles/test_custom_node.dir/src/test_custom.cpp.o
[  8%] Building CXX object robot_marm/marm_planning/CMakeFiles/remove_collision_objct_node.dir/src/remove_collision_objct.cpp.o
[  8%] Building CXX object robot_marm/marm_planning/CMakeFiles/test_cartesian_path_node.dir/src/test_cartesian_path.cpp.o
[  9%] Building CXX object robot_marm/marm_planning/CMakeFiles/test_random_node.dir/src/test_random.cpp.o
[  9%] Building CXX object robot_marm/marm_planning/CMakeFiles/check_collision_node.dir/src/check_collision.cpp.o
[  9%] Generating EusLisp co