Aubo_i5机械臂在ROS环境下编译遇到的问题

环境配置：Ubuntu18.04（ROS-melodic）

1.首先安装ROS 和相应版本的MOVEIT 

wget http://fishros.com/install -O fishros && . fishros

本人用的鱼香ROS的一键安装,十分的简便

sudo apt-get install ros-melodic-moveit

安装moveit

2.创建工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/lg609/aubo_robot.git

下载aubo源码这步，我是直接从github上下载的源码，记得选择对应版本的源码

cd ~/catkin_ws
catkin_make

对工作空间进行编译

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3.下面是在编译过程中，终端报错的解决方案

（1）Could not find a package configuration file provided by
  "moveit_visual_tools" with any of the following names:

    moveit_visual_toolsConfig.cmake
    moveit_visual_tools-config.cmake

sudo apt-get install ros-melodic-moveit-visual-tools

（2）  Could not find a package configuration file provided by "industrial_msgs"
  with any of the following names:

    industrial_msgsConfig.cmake
    industrial_msgs-config.cmake

sudo apt-get install ros-melodic-industrial-robot-client

（3）[ 18%] Built target MoveGroupInterface_To_Melodic
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

cd /usr/include
sudo ln -sf eigen3/Eigen Eigen
sudo ln -sf eigen3/unsupported unsupported
sudo ln -sf /usr/include eigen3/Eigen /usr/include/Eigen
sudo ln -sf /usr/include/eigen3/unsupported /usr/include/unsupported

sudo apt-get install ros-melodic-moveit-core
sudo apt-get install ros-melodic-industrial-core

（4）libprotobuf.so.9, needed by /home/user6/clx_ws/src/aubo_robot-melodic/aubo_driver/lib/lib64/aubocontroller/libauborobotcontroller.so, not found (try using -rpath or -rpath-link)

sudo apt-get update   //更新资源列表

sudo apt-get install gdebi    //安装gdebi

wget http://archive.ubuntu.com/ubuntu/pool/main/p/protobuf/libprotobuf9v5_2.6.1-1.3_amd64.deb     //下载so.9

sudo gdebi ./libprotobuf9v5_2.6.1-1.3_amd64.deb   //安装下载的so.9

https://blog.csdn.net/sinat_15213441/article/details/109837416?ops_request_misc=&request_id=&biz_id=102&utm_term=make%5B1%5D:%20***%20%5Baubo_robot-melod&utm_medium=distribute.pc_search_result.none-task-blog-2~all~sobaiduweb~default-2-109837416.nonecase&spm=1018.2226.3001.4187     
//以上为解决libprotobuf.so.的链接 
 

 

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4.运行真实机械臂遇到的问题

首先一定要保证机械臂和上位机相互ping通后（在同一网段），在进行下一步。

下面是编译过程中终端报错 ，缺少aubo_driver这个包

[aubo_driver-4] process has died [pid 22465, exit code 127, cmd /home/lg/catkin_ws/devel/lib/aubo_driver/aubo_driver __name:=aubo_driver __log:=/home/lg/.ros/log/100b1666-b34d-11ed-bcd2-701a0469d499/aubo_driver-4.log].
log file: /home/lg/.ros/log/100b1666-b34d-11ed-bcd2-701a0469d499/aubo_driver-4*.log

rosrun aubo_driver aubo_driver
locate libconfig.so.11
sudo gedit /etc/ld.so.conf

进行路径编辑，添加以下路径

/home/lg/catkin_ws/src/aubo_robot-melodic/aubo_driver/lib/lib64/config/
/home/lg/catkin_ws/src/aubo_robot-melodic/aubo_driver/lib/lib64/log4cplus/

以上是我的路径，记得改成自己的路径

sudo ldconfig  //保存
rosrun aubo_driver aubo_driver //再次运行

https://blog.csdn.net/weixin_61052385/article/details/124456808  //参考连接

 在18.04我是改了两次，就可以rosluanch啦！！

roslaunch aubo_i5_moveit_config moveit_planning_execution.launch sim:=false robot_ip:=192.168.10.10

用网线把上位机与控制箱链接，运行以上代码，可以看到Rviz和真实机械臂姿态一样就代表成功啦