This file was generated by an older version of protoc 解决方法

在编译与gazebo相关的包时常常会出现protoc版本冲突问题，从而导致编译失败，如下图：

    In file included from /usr/include/gazebo7/gazebo/msgs/MessageTypes.hh:91:0,
                 from /usr/include/gazebo7/gazebo/msgs/msgs.hh:24,
                 from /usr/include/gazebo7/gazebo/physics/Entity.hh:28,
                 from /usr/include/gazebo7/gazebo/physics/Model.hh:32,
                 from /home/thesis/gazebo_animate_pose/animate_pose.cc:4:
/usr/include/gazebo7/gazebo/msgs/wrench_stamped.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
/usr/include/gazebo7/gazebo/msgs/wrench_stamped.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
/usr/include/gazebo7/gazebo/msgs/wrench_stamped.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.

遇到此类问题的其中一个原因是，当前的protoc版本较高。

命令 protoc --version 可以查看当前protoc版本 。

我当前使用的是ubuntu 16.04，ros kinetic ，Gazebo版本为7.0。protoc需要确保版本为2.6.1，而我当前的为3.4.0，因此需要将系统中的protoc替换为2.6.1版本。

具体操作为：

1.$ cd /usr/local/include/google;

2.sudo rm -rf protobuf;

3.下载protobuf-2.6.1，here;（我下载了protobuf-2.6.1.zip）

4.$ ./autogen.sh;

5.$ ./configure;

6.$ make;

7.$ make check;

8.$ sudo make install;

9.$ sudo ldconfig;

至此可以继续编译相应工作区。