aubo-i5机械臂加载进rviz遇到的问题

被auboi5在Ubuntu18.04下执行roslaunch aubo_i5_moveit_config moveit_planning_execution出现[aubo_driver-5]错误-CSDN博客

按照上述链接流程加载。

一些悲伤的报错经历：

一开始的报错：

[aubo_driver-4] process has died [pid 14861, exit code 127, cmd /home/liu/aubo_ws/devel/lib/aubo_driver/aubo_driver __name:=aubo_driver __log:=/home/liu/.ros/log/668688ca-b123-11ee-b70d-32ecf029148d/aubo_driver-4.log].
log file: /home/liu/.ros/log/668688ca-b123-11ee-b70d-32ecf029148d/aubo_driver-4*.log

liu@liu-Legion-Y7000P-IRH8:~$ rosrun aubo_driver aubo_driver
/home/liu/aubo_ws/devel/lib/aubo_driver/aubo_driver: error while loading shared libraries: libconfig.so.11: cannot open shared object file: No such file or directory
liu@liu-Legion-Y7000P-IRH8:~$ locate libconfig.so.11
liu@liu-Legion-Y7000P-IRH8:~$  dpkg -l | grep libconfig
liu@liu-Legion-Y7000P-IRH8:~$ sudo apt-get install libconfig11
[sudo] liu 的密码： 
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
E: 无法定位软件包 libconfig11

这个locate后，没有显示位置，暴风哭泣。 dpkg -l | grep libconfig 后无输出，确定没有libconfig这个库。接下来，尝试下载，报错：无法定位软件包。

于是从网上找安装包，自己下载。

About | libconfig   下载libconfig-1.7.3 安装包

https://www.cnblogs.com/treeofb/p/16518864.html   安装libconfig

 aubo机械臂ROS功能包在melodic版本下编译问题解决 | 码农家园   解决libconfig.so.11找不到的问题

sudo find / -name libconfig.so.11

 输出显示：

[sudo] liu 的密码： 
/usr/local/lib/libconfig.so.11
find: ‘/run/user/1000/doc’: 权限不够
find: ‘/run/user/1000/gvfs’: 权限不够
/home/liu/libconfig-1.7.3/lib/.libs/libconfig.so.11
/home/liu/.local/share/Trash/files/aubo_ws/src/aubo_robot/aubo_driver/lib/lib64/config/libconfig.so.11
/home/liu/aubo_ws/src/aubo_robot/aubo_driver/lib/lib64/config/libconfig.so.11

把地址复制下来，粘贴到这个文件里，稍微改一下，后面的文件名删掉。再刷新共享库路径环境变量，sudo ldconfig。再继续  rosrun aubo_driver aubo_driver

sudo gedit /etc/ld.so.conf

sudo ldconfig
rosrun aubo_driver aubo_driver

输出

/home/liu/aubo_ws/devel/lib/aubo_driver/aubo_driver: error while loading shared libraries: liblog4cplus-1.2.so.5: cannot open shared object file: No such file or directory

其中，文件ld.so.conf 内容为：

include /etc/ld.so.conf.d/*.conf
/usr/lib/x86_64-linux-gnu
/home/liu/.local/share/Trash/files/aubo_ws/src/aubo_robot/aubo_driver/lib/lib64/config/
/home/liu/aubo_ws/src/aubo_robot/aubo_driver/lib/lib64/config/


/home/liu/.local/share/Trash/files/aubo_ws/src/aubo_robot/aubo_driver/lib/lib64/log4cplus/
/home/liu/aubo_ws/src/aubo_robot/aubo_driver/lib/lib64/log4cplus/

按照上述流程，继续确定liblog4cplus-1.2.so.5位置，输入

sudo find / -name liblog4cplus-1.2.so.5

输出：

find: ‘/run/user/1000/doc’: 权限不够
find: ‘/run/user/1000/gvfs’: 权限不够
/home/liu/.local/share/Trash/files/aubo_ws/src/aubo_robot/aubo_driver/lib/lib64/log4cplus/liblog4cplus-1.2.so.5
/home/liu/aubo_ws/src/aubo_robot/aubo_driver/lib/lib64/log4cplus/liblog4cplus-1.2.so.5

再输入sudo gedit /etc/ld.so.conf，修改文件，然后再刷新共享库路径环境变量，sudo ldconfig。继续  rosrun aubo_driver aubo_driver

输出：

[ INFO] [1705057911.793244072]: aubo_driver/external_axis_number: 0
[ INFO] [1705057911.799791953]: Start the driver!
server_host:127.0.0.1
log4cplus:ERROR could not open file ./config/tracelog.properties
log4cplus:ERROR No appenders could be found for logger (ourrobottrace).
log4cplus:ERROR Please initialize the log4cplus system properly.
login failed.

 感觉问题不大，输入：

roslaunch aubo_i5_moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1

无报错！bingo！