ubuntu使用过程中遇到的一些错误及解决办法

1.在编译程序的时候遇到下面的错误：

CMake Error at /home/moro/work_ws/devel/share/pcl_ros/cmake/pcl_rosConfig.cmake:106 (message):
Project 'pcl_ros' specifies '/usr/include/ni' as an include dir, which is no found. It does neither exist as an absolute directory nor in '/opt/ros/kinetic//usr/include/ni'

解决办法：该错误的意思是说在/usr/include/下并没有ni文件夹，同时ni文件里应该要有pcl_ros包，我们可以cd /usr/include ,然后mkdir ni,接下来去下面的网址下载perception_pcl包，在主目录下解压缩。

https://github.com/ros-perception/perception_pcl/tree/kinetic-devel

将里面的pcl_ros移动到刚刚建立的usr/include/ni目录，解决！

sudo  mv ~/perception_pcl-kinetic-devel/pcl_ros /usr/include/ni/

2.编译过程中出现如下错误:

make[2]: *** No rule to make target '/usr/lib/libOpenNI.so', needed by '/home/moro/work_ws/devel/lib/libcostmap_2d.so'。 停止。

大致意思是/usr/lib/目录下缺少libOpenNI.so动态库文件，可以在整个电脑里查找是否有该文件，没有该文件的话就去下载，有该文件的话就把文件复制到/usr/lib/目录下。我是在主文件夹之前装的kinect V1驱动包里找到了该文件，所以直接复制就解决了。

sudo cp ~/software/OpenNI-Bin-Dev-Linux-x64-v1.5.7.10/Lib/libOpenNI.so /usr/lib/

3.在编译ROS相关源码包的时候出现以下两种错误：

/opt/ros/kinetic/include/ros/internal/condition_variable.h:45:7: error: expected nested-name-specifier before 'condition_variable_monotonic'
using condition_variable_monotonic = boost::condition_variable;

/opt/ros/kinetic/include/ros/callback_queue.h:166:18: error: ‘condition_variable_monotonic’ in namespace ‘ros::internal’ does not name a type
   ros::internal::condition_variable_monotonic condition_;

解决办法：在终端输入

sudo gedit /opt/ros/kinetic/include/ros/internal/condition_variable.h

将第45行的

using condition_variable_monotonic = boost::condition_variable;

注释掉，并在下面添加一行

typedef boost::condition_variable condition_variable_monotonic;

保存即可。

4.ROS编译navigation源码包的时候出现一堆类似下面的错误，主要意思就是依赖tests不存在：

CMake Error at navigation/clear_costmap_recovery/CMakeLists.txt:50 (add_dependencies):
  The dependency target "/opt/ros/kinetic/lib/libactionlib.so" of target
  "tests" does not exist.

解决方法：打开文件navigation/clear_costmap_recovery/CMakeLists.txt，将第50行

add_dependencies(tests clear_tester ${catkin_LIBRARIES})

注释掉即可，然后重新编译就可以了。