如何在ROS hydro版本下安装moveit

Moveit安装

说明

由于目前Moveit停止对hydro及以前版本支持，所以官网没有直接给出在hydro上安装方法，其他版本可参考官网链接：http://moveit.ros.org/install/

本次安装软件版本：ubuntu 12.04 32位；ros hydro；

遇到什么问题，重启电脑试试

Installation

Installation and Setup

Note for Ubuntu 13.4 32 bit users: There is a bug with GCC 4.7 on Ubuntu 13.4 32bit with Eigen 3.1.2. It's not likely to being fixed, so upgrade/downgrade your system to 13.4 64 bit resp. 12.4. 
STEP 0: Install ROS 
Follow all the instructions to install the base version of ROS: Install ROS-Base 
Please make sure you have followed all the ROS installation steps, including calls to rosdep. 
Installation of binaries follows below. Please scroll down for instructions on installing from source. 
STEP 1: Ubuntu Installation: Debian Packages for MoveIt! 
MoveIt! can be installed directly as a set of debian packages on Ubuntu. To get a complete installation:

sudo apt-get install ros-hydro-moveit-full

STEP 2: Debian Packages for MoveIt! with the PR2 
If you would like to use MoveIt! with the PR2 (recommended if you are following the tutorials on the MoveIt! wiki):

sudo apt-get install ros-hydro-moveit-full-pr2

STEP 3: Setup your environment

source /opt/ros/hydro/setup.bash

Additional Source Installation Instructions (for developers)

(assuming STEP 0 is complete) 
STEP 1: Get the wstool package

sudo apt-get install python-wstool

STEP 2: Download the source code

source /opt/ros/hydro/setup.bash

mkdir moveit

cd moveit

mkdir src

cd src/

wstool init .

wstool merge  https://raw.github.com/ros-planning/moveit_docs/hydro-devel/moveit.rosinstall

wstool update

cd ..

STEP 3: Make sure MoveIt! dependencies are installed

rosdep install --from-paths src --ignore-src --rosdistro hydro -y

STEP 4: Build MoveIt! 
# assuming you are in the moveit folder created above

catkin_make

STEP 5: Setup your environment 
You will have to do this every time you work with this particular source install of the code. 
# assuming you are in the moveit folder created above

source devel/setup.bash # or .zsh, depending on your shell

报错

如果运行过程中，程序报错，可能是版本不匹配问题，需要将原来软件版本都升级到最新,该过程可能需要较长时间。

sudo apt-get update

sudo apt-get dist-upgrade

参考

• http://picknik.io/moveit_wiki/index.php?title=Installation
• http://docs.ros.org/hydro/api/moveit_ros_visualization/html/doc/tutorial.html
• http://answers.ros.org/question/166381/ros-hydro-moveit-symbol-lookup-error/
• http://answers.ros.org/question/55135/rviz-symbol-lookup-error/