grad_traj_optimization编译出错记录

caktin_make报错：grad_traj_optimization/third_party/sdf_tools/src/sdf_tools/sdf_builder.cpp:87:134: error : no matching function for call to ‘planning_scene::PlanningScene::PlanningScene(boost::shared_ptr<urdf::Model>&, boost::shared_ptr<srdf::Model>&)
解决方法：

sudo apt-get remove ros-noetic-moveit-*

【注】：再次编译的时候，会报出cmake警告，并不影响。

CMake Warning at grad_traj_optimization/third_party/sdf_tools/CMakeLists.txt:13 (find_package):
  By not providing "Findmoveit_msgs.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "moveit_msgs", but CMake did not find one.

  Could not find a package configuration file provided by "moveit_msgs" with
  any of the following names:

    moveit_msgsConfig.cmake
    moveit_msgs-config.cmake

  Add the installation prefix of "moveit_msgs" to CMAKE_PREFIX_PATH or set
  "moveit_msgs_DIR" to a directory containing one of the above files.  If
  "moveit_msgs" provides a separate development package or SDK, be sure it
  has been installed.


CMake Warning at grad_traj_optimization/third_party/sdf_tools/CMakeLists.txt:14 (find_package):
  By not providing "Findmoveit_core.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "moveit_core", but CMake did not find one.

  Could not find a package configuration file provided by "moveit_core" with
  any of the following names:

    moveit_coreConfig.cmake
    moveit_core-config.cmake

  Add the installation prefix of "moveit_core" to CMAKE_PREFIX_PATH or set
  "moveit_core_DIR" to a directory containing one of the above files.  If
  "moveit_core" provides a separate development package or SDK, be sure it
  has been installed.


CMake Warning at grad_traj_optimization/third_party/sdf_tools/CMakeLists.txt:15 (find_package):
  By not providing "Findmoveit_ros_planning.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "moveit_ros_planning", but CMake did not find one.

  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.

但是这会和一些其他工程出现冲突。对于编译的时候因为"example_pkgConfig.cmake"出错时，这是由于CMakeLists.txt中的"find_package()" 查找系统无法识别的包"example_pkg"导致的，对应的错误位置为：

find_package(example_pkg REQUIRED)

解决方法是：安装对应的功能包“example_pkg ”。