ROS中使用catkin_make报错的解决

catkin_make编译报错：

过了一段时间打开虚拟机，编译cmake文件报错，提示找不到PCL包

尝试各种解决方法仍没有解决，原因未知。

CMake Error at grid_path_searcher/CMakeLists.txt:12 (find_package):
  By not providing "FindPCL.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "PCL", but
  CMake did not find one.

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

    PCLConfig.cmake
    pcl-config.cmake

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


-- Configuring incomplete, errors occurred!
See also "/home/dsy/my/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/dsy/my/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:1370: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

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解决：

在发现虚拟机断网并重新设置网络后，发现~/catkin_ws下catkin_make可以编译成功，而 ~/my/catkin_ws编译仍然出错，报错提示如上，原因未知：

首先安装PCL：
参考：Ubuntu20.04纯命令配置PCL（点云库）

sudo apt-get update
sudo apt-get install libpcl-dev
sudo apt-get install libpcl-dev pcl-tools

重新运行catkin_make命令，在编译到42%时报错：

/home/dsy/my/hw_2/src/grid_path_searcher/src/random_complex_generator.cpp:3:10: fatal error: pcl_conversions/pcl_conversions.h: 没有那个文件或目录
 #include <pcl_conversions/pcl_conversions.h>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
grid_path_searcher/CMakeFiles/random_complex.dir/build.make:62: recipe for target 'grid_path_searcher/CMakeFiles/random_complex.dir/src/random_complex_generator.cpp.o' failed
make[2]: *** [grid_path_searcher/CMakeFiles/random_complex.dir/src/random_complex_generator.cpp.o] Error 1
CMakeFiles/Makefile2:467: recipe for target 'grid_path_searcher/CMakeFiles/random_complex.dir/all' failed
make[1]: *** [grid_path_searcher/CMakeFiles/random_complex.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
CMakeFiles/Makefile2:1624: recipe for target 'grid_path_searcher/CMakeFiles/demo_node.dir/all' failed
make[1]: *** [grid_path_searcher/CMakeFiles/demo_node.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

安装ros-melodic-pcl-conversions
参考：PCL报错：pcl/conversions.h: 没有那个文件或目录

删除build和devel文件，重新编译，编译成功！

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年前没有解决的原因：在install pcl时失败，但是当时并不知道网络没有连接，导致后序操作都没有解决。

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按照下列命令操作，运行我们的launch文件

#进入工作空间
cd catkin_ws/
#进入src
cd src
#编译初始化
catkin_init_workspace
#回到上一目录
cd ..
#编译
catkin_make
#将工作空间路径添加到ros
source devel/setup.bash

#rviz使用

#先启动ros
roscore
#启动rviz
rviz
#在rviz中添加demo.rviz
#启动程序，导入地图
roslaunch grid_path_searcher demo.launch

之后使用3DGoal设定target点时报错，之前也遇到过这个问题，记录使用source可以解决，本次操作发现source之后仍然报错。

The class required for this tool, 'rviz_plugins/Goal3DTool', could not be loaded.
Error:
According to the loaded plugin descriptions the class rviz_plugins/Goal3DTool with base class type rviz::Tool does not exist. Declared types are rviz/FocusCamera rviz/Interact rviz/Measure rviz/MoveCamera rviz/PublishPoint rviz/Select rviz/SetGoal rviz/SetInitialPose rviz_plugin_tutorials/PlantFlag

解决啦！打开rviz需要在相同工作目录下才可以！！这也是为什么曾经记录source之后就可以使用3DGoal插件！！

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FileZilla连接站点出错：

后来当使用FileZilla将虚拟机文件传输至主机时，站点连接失败

通过建立新站点，更改协议类型、主机ip等信息后仍连接失败，原因未知。

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解决：

后来在虚拟机中使用浏览器发现网络连接有误：

解决：
Ubuntu-18.04版本网络配置，连接网络的方法 未解决。
三分钟完成虚拟机联网 小白看了都说好！！！ 虚拟机超详细联网教程/步骤 SDN软件定义网络实验 成功联网。
再根据使用Filezilla与虚拟机实现文件互传的方法方法建立站点成功连接虚拟机和主机，实现文件互传。