上述指令执行完毕之后, ROS也就安装完成了。 当然, 紧接着还需要建立自己的工作空间。 执行下述代码:
[python] view plain copy
- mkdir -p ~/catkin_ws/src
- cd ~/catkin_ws/src
- catkin_init_workspace
- cd ..
- catkin_make
roslaunch aubo_driver aubo_i5_bringup.launch robot_ip:=192.168.1.34
1. 关于"hardware_interface"
-
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
-
Could not find a package configuration file provided by
-
"hardware_interface" with any of the following names:
-
hardware_interfaceConfig.cmake
-
hardware_interface-config.cmake
-
Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or
-
set "hardware_interface_DIR" to a directory containing one of the above
-
files. If "hardware_interface" provides a separate development package or
-
SDK, be sure it has been installed.
-
Call Stack (most recent call first):
-
aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)
-
-- Could not find the required component 'hardware_interface'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
-
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
-
Could not find a package configuration file provided by
-
"hardware_interface" with any of the following names:
-
hardware_interfaceConfig.cmake
-
hardware_interface-config.cmake
-
Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or
-
set "hardware_interface_DIR" to a directory containing one of the above
-
files. If "hardware_interface" provides a separate development package or
-
SDK, be sure it has been installed.
-
Call Stack (most recent call first):
-
aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)
-
-- Configuring incomplete, errors occurred!
-
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
-
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
-
Makefile:1858: recipe for target 'cmake_check_build_system' failed
-
make: *** [cmake_check_build_system] Error 1
-
Invoking "make cmake_check_build_system" failed
解决办法
sudo apt-get install ros-kinetic-effort-controllers sudo apt-get install ros-kinetic-joint-state-controller 2. 关于controller_manager
-
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
-
Could not find a package configuration file provided by
-
"controller_manager" with any of the following names:
-
controller_managerConfig.cmake
-
controller_manager-config.cmake
-
Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or
-
set "controller_manager_DIR" to a directory containing one of the above
-
files. If "controller_manager" provides a separate development package or
-
SDK, be sure it has been installed.
-
Call Stack (most recent call first):
-
aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)
-
-- Configuring incomplete, errors occurred!
-
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
-
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
-
Makefile:1858: recipe for target 'cmake_check_build_system' failed
-
make: *** [cmake_check_build_system] Error 1
-
Invoking "make cmake_check_build_system" failed
解决办法
sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers
3. 与Python兼容问题(No module catkin_dkg.package)
-
-- Using Python nosetests: /usr/bin/nosetests-2.7
-
ImportError: "from catkin_pkg.package import parse_package" failed: No module named catkin_pkg.package
-
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
-
CMake Error at /opt/ros/kinetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):
-
execute_process(/home/wgb/anaconda2/bin/python
-
"/opt/ros/kinetic/share/catkin/cmake/parse_package_xml.py"
-
"/opt/ros/kinetic/share/catkin/cmake/../package.xml"
-
"/home/wgb/catkin_ws/build/catkin/catkin_generated/version/package.cmake")
-
returned error code 1
-
Call Stack (most recent call first):
-
/opt/ros/kinetic/share/catkin/cmake/catkin_package_xml.cmake:63 (safe_execute_process)
-
/opt/ros/kinetic/share/catkin/cmake/all.cmake:151 (_catkin_package_xml)
-
/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
-
CMakeLists.txt:52 (find_package)
-
-- Configuring incomplete, errors occurred!
-
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
-
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
-
Invoking "cmake" failed
解决办法
检查一下Python的版本: wgb@wgb:~$ python -V
检查一下catkin依赖的Python版本: wgb@wgb:~$ dpkg -L python-catkin-pkg
如果Python的版本和catkin依赖的版本不一样,说明Python依赖包有问题,解决办法:
-
conda install setuptools
-
pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools
4 No module named em 的问题
-
ImportError: No module named em
-
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:117: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/ContactState.h' failed
-
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/ContactState.h] Error 1
-
Traceback (most recent call last):
-
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
-
import genmsg.template_tools
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
-
import em
-
ImportError: No module named em
-
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:139: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkStates.h' failed
-
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkStates.h] Error 1
-
Traceback (most recent call last):
-
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
-
import genmsg.template_tools
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
-
import em
-
ImportError: No module named em
-
Traceback (most recent call last):
-
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
-
import genmsg.template_tools
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
-
import em
-
ImportError: No module named em
-
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:128: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkState.h' failed
-
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkState.h] Error 1
-
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:161: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/ModelStates.h' failed
-
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/ModelStates.h] Error 1
-
Traceback (most recent call last):
-
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
-
import genmsg.template_tools
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
-
import em
-
ImportError: No module named em
-
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:174: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/WorldState.h' failed
-
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/WorldState.h] Error 1
-
CMakeFiles/Makefile2:1511: recipe for target 'gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/all' failed
-
make[1]: *** [gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/all] Error 2
-
Makefile:138: recipe for target 'all' failed
-
make: *** [all] Error 2
-
Invoking "make -j12 -l12" failed
解决办法:
wgb@wgb:~/catkin_ws$ pip install empy
5. defusedxml.xmlrpc
-
Traceback (most recent call last):
-
File "/opt/ros/kinetic/lib/xacro/xacro", line 32, in <module>
-
import xacro
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/xacro/__init__.py", line 42, in <module>
-
from roslaunch import substitution_args
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 56, in <module>
-
from .launch import ROSLaunchRunner
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 55, in <module>
-
from roslaunch.nodeprocess import create_master_process, create_node_process
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py", line 52, in <module>
-
from rosmaster.master_api import NUM_WORKERS
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/__init__.py", line 35, in <module>
-
from .main import rosmaster_main
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/main.py", line 43, in <module>
-
import rosmaster.master
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master.py", line 47, in <module>
-
import rosmaster.master_api
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 72, in <module>
-
from rosmaster.util import xmlrpcapi
-
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/util.py", line 48, in <module>
-
from defusedxml.xmlrpc import monkey_patch
-
ImportError: No module named defusedxml.xmlrpc
-
while processing /home/wgb/catkin_ws/src/aubo_robot/aubo_description/launch/aubo_i5_upload.launch:
-
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/wgb/catkin_ws/src/aubo_robot/aubo_description/urdf/aubo_i5_robot.urdf.xacro'] returned with code [1].
-
Param xml is <param command="$(find xacro)/xacro --inorder '$(find aubo_description)/urdf/aubo_i5_robot.urdf.xacro'" name="robot_description"/>
-
The traceback for the exception was written to the log file
solving method
wgb@wgb:~$ conda install -c conda-forge defusedxml
6
-
wgb@wgb:~$ roslaunch aubo_driver aubo_i5_bringup.launch robot_ip:=192.168.1.34
-
[aubo_i5_bringup.launch] is neither a launch file in package [aubo_driver] nor is [aubo_driver] a launch file name
-
The traceback for the exception was written to the log file
solving mehtod
-
Without any further information or poitners to the source of that package it is hard to tell what is going on. Does the file tb_tables.launch actually exist? Did you source the setup.bash file?
-
What does rospack find tb_tables output?
-
If that gives an error, try executing source /home/gabriel/catkin_ws/devel/setup.bash and then try the roslaunch again.
解决办法:
source /home/wgb/catkin_ws/devel/setup.bash
7.
-
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-
-- Using Python nosetests: /usr/bin/nosetests-2.7
-
CMake Error at /opt/ros/kinetic/share/catkin/cmake/assert.cmake:17 (message):
-
Assertion failed: check for file existence, but filename
-
(RT_LIBRARY-NOTFOUND) unset. Message: RT Library
-
Call Stack (most recent call first):
-
/opt/ros/kinetic/share/catkin/cmake/tools/rt.cmake:42 (assert_file_exists)
-
/opt/ros/kinetic/share/catkin/cmake/all.cmake:147 (include)
-
/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
-
CMakeLists.txt:52 (find_package)
-
-- Configuring incomplete, errors occurred!
-
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
-
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
-
Invoking "cmake" failed
solving
ubuntu 文件夹/usr/lib/x86_64-linux-gnu/ shangmian you ge cha, xiang fa chuqu
8. /home/wgb/catkin_ws/build/gazebo_ros_pkgs/gazebo_plugins/setup_custom_pythonpath.sh: 4: exec: /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg/CameraSynchronizer.cfg: Permission denied
-
/home/wgb/catkin_ws/build/gazebo_ros_pkgs/gazebo_plugins/setup_custom_pythonpath.sh: 4: exec: /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg/CameraSynchronizer.cfg: Permission denied
-
gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/build.make:69: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_plugins/CameraSynchronizerConfig.h' failed
-
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_plugins/CameraSynchronizerConfig.h] Error 126
-
CMakeFiles/Makefile2:6310: recipe for target 'gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/all' failed
-
make[1]: *** [gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/all] Error 2
-
make[1]: *** 正在等待未完成的任务....
-
[ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_joint_trajectory.so
-
[ 86%] Built target gazebo_ros_joint_trajectory
-
[ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_joint_state_publisher.so
-
[ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so
-
[ 86%] Built target gazebo_ros_joint_state_publisher
-
[ 86%] Built target gazebo_ros_api_plugin
-
Makefile:138: recipe for target 'all' failed
-
make: *** [all] Error 2
-
Invoking "make -j4 -l4" failed
解决办法:
-
wgb@wgb:~/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/cfg$ cd /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg
-
wgb@wgb:~/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg$ chmod +x CameraSynchronizer.cfg
或者
-
wgb@wgb:~/catkin_ws/src$ sudo chown -R wgb /home/wgb/catkin_ws/
-
[sudo] wgb 的密码:
-
wgb@wgb:~/catkin_ws/src$ sudo chmod -R +x /home/wgb/catkin_ws/
参考:
https://answers.ros.org/question/206860/error-when-calling-catkin_make-invoking-make-failed/
9. "moveit_ros_planning"
moveit_ros_planningConfig.cmake
moveit_ros_planning-config.cmake
问题
-
CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
-
Could not find a package configuration file provided by
-
"moveit_ros_planning" with any of the following names:
-
moveit_ros_planningConfig.cmake
-
moveit_ros_planning-config.cmake
-
Add the installation prefix of "moveit_ros_planning" to CMAKE_PREFIX_PATH
-
or set "moveit_ros_planning_DIR" to a directory containing one of the above
-
files. If "moveit_ros_planning" provides a separate development package or
-
SDK, be sure it has been installed.
-
Call Stack (most recent call first):
-
aubo_robot-indigo-devel/aubo_trajectory_filters/CMakeLists.txt:5 (find_package)
-
-- Could not find the required component 'moveit_ros_planning'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
-
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
-
Could not find a package configuration file provided by
-
"moveit_ros_planning" with any of the following names:
-
moveit_ros_planningConfig.cmake
-
moveit_ros_planning-config.cmake
-
Add the installation prefix of "moveit_ros_planning" to CMAKE_PREFIX_PATH
-
or set "moveit_ros_planning_DIR" to a directory containing one of the above
-
files. If "moveit_ros_planning" provides a separate development package or
-
SDK, be sure it has been installed.
-
Call Stack (most recent call first):
-
aubo_robot-indigo-devel/aubo_trajectory_filters/CMakeLists.txt:5 (find_package)
-
-- Configuring incomplete, errors occurred!
-
See also "/home/sensetime/catkin_ws/build/CMakeFiles/CMakeOutput.log".
-
See also "/home/sensetime/catkin_ws/build/CMakeFiles/CMakeError.log".
-
make: *** [cmake_check_build_system] Error 1
-
Invoking "make cmake_check_build_system" failed
解决办法: 安装moveit,安装方法参考http://moveit.ros.org/install/
对于indigo
sudo apt-get install ros-indigo-moveit
sudo apt-get install ros-indigo-moveit-full-pr2
-
source /opt/ros/indigo/setup.bash
-
对于kinetic
sudo apt-get install ros-kinetic-moveit
source /opt/ros/kinetic/setup.bash