aubo机械臂ROS功能包在melodic版本下编译问题解决

aubo机械臂ROS功能包在melodic版本下编译问题解决

首先下载aubo_robot formelodic源码

https://github.com/fitsir/aubo_robot/tree/melodic
将下载下来的功能包放入自己的工作空间的src路径下

1、编译问题

1.1 编译报Cannot locate node of type [aubo_joint_trajectory_action] in package [aubo_controller]

ERROR: cannot launch node of type [aubo_controller/aubo_joint_trajectory_action]: Cannot locate node of type [aubo_joint_trajectory_action] in package [aubo_controller]. Make sure file exists in package path and permission is set to executable (chmod +x)
ERROR: cannot launch node of type [aubo_driver/aubo_driver]: Cannot locate node of type [aubo_driver] in package [aubo_driver]. Make sure file exists in package path and permission is set to executable (chmod +x)

环境没有source的缘故，改完bash source以下，或者手动下发下面指令

source devel/setup.bash

1.2 编译报 libprotobuf.so.9库缺失

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)

手动安装缺少的so.9库,，命令如下：

$ 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

备注1：gdebi是一个用于安装你自己手动下载的包的GUI程序

备注2：weget是linux下一个下载文件的工具

1.3 libmoveit_robot_trajectory.so.0.9.15库文件找不到

PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load.  Error: Failed to load library /opt/ros/melodic/lib/libmoveit_motion_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_robot_trajectory.so.0.9.15: 无法打开共享对象文件: 没有那个文件或目录)
Traceback (most recent call last):

原因是/opt/ros/kinetic/lib/目录下只有libmoveit_robot_trajectory.so.0.9.17，libmoveit_robot_model.so.0.9.17，libmoveit_robot_state.so.0.9.17三个文件，没有0.9.15文件，所以执行

cd /opt/ros/kinetic/lib
sudo cp -r libmoveit_robot_trajectory.so.0.9.17 ..
sudo cp -r libmoveit_robot_model.so.0.9.17 ..
sudo cp -r libmoveit_robot_state.so.0.9.17 ..
cd ..
sudo mv libmoveit_robot_state.so.0.9.17 libmoveit_robot_state.so.0.9.15
sudo mv libmoveit_robot_model.so.0.9.17 libmoveit_robot_model.so.0.9.15
sudo mv libmoveit_robot_trajectory.so.0.9.17 libmoveit_robot_trajectory.so.0.9.15
sudo cp -r libmoveit_robot_state.so.0.9.15 lib/
sudo cp -r libmoveit_robot_model.so.0.9.15 lib/
sudo cp -r libmoveit_robot_trajectory.so.0.9.15 lib/
1234567891011

其实就是将上述三个0.9.17文件拷贝至其他目录，将后缀改为0.9.15，然后复制回/opt/ros/kinetic/lib/目录下即可。

1.4 libconfig.so.11找不到

error while loading shared libraries: libconfig.so.11: cannot open shared object file: No such file or directory

出现此类问题是因为libconfig.so.11库不存在或者存在但不在usr/lib的路径下，那就先搜下这个库的位置

sudo find / -name libconfig.so.11

返回：

/home/user6/.local/share/Trash/files/aubo_robotmelodic/aubo_driver/lib/lib64/config/libconfig.so.11
/home/user6/.local/share/Trash/files/aubo_driver/lib/lib64/config/libconfig.so.11
/home/user6/clx_ws/src/aubo_robot-melodic/aubo_driver/lib/lib64/config/libconfig.so.11

方法一：

可以新建一个文件夹，将分布在不同文件中的so文件都放进去，然后把这个文件夹路径加入到usr-libs.conf文件里去。

新建/usr/local/lib

mkdir -p /usr/local/lib

把so文件拷贝进去

sudo cp     /home/user6/.local/share/Trash/files/aubo_robotmelodic/aubo_driver/lib/lib64/config/libconfig.so.11 /usr/local/lib

向库配置文件usr-libs.conf* 中加入新建的库路径

vim /etc/ld.so.conf.d/usr-libs.conf*    
#最后一行加入：
/usr/local/lib  

更新/etc/ld.so.cache文件

ldconfig  

方法二：

创建共享库的链接，进入/usr/lib

cd /usr/lib

创建看所缺so库的链接

ln -s /home/user6/.local/share/Trash/files/aubo_robotmelodic/aubo_driver/lib/lib64/config/libconfig.so.11 libconfig.so.11

2、运行roslaunch moveit_planning_execution.launch robot_ip:=127.0.0.1后报PluginlibFactory错误

[ERROR] [1605760114.392227103]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load.  Error: Failed to load library /opt/ros/melodic/lib/libmoveit_motion_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_semantic_world.so.1.0.6: 无法打开共享对象文件: 没有那个文件或目录)

使用find命令查找缺失的so库，发现没有1.0.6版本

user6@ubuntu:~$ sudo find / -name libmoveit_semantic_world.so*
[sudo] user6 的密码： 
find: ‘/run/user/1000/gvfs’: 权限不够
/opt/ros/melodic/lib/libmoveit_semantic_world.so

使用下面的命令进行更新

sudo apt-get update
sudo apt-get dist-upgrade

sudo apt-get dist-upgrade的作用为根据update更新的索引记录来下载并更新软件包，更新软件资源并且更新相关的依赖。更新完成后重新进行搜索，发现1.0.6已经正常安装了

user6@ubuntu:~$ sudo find / -name libmoveit_semantic_world.so*
[sudo] user6 的密码： 
find: ‘/run/user/1000/gvfs’: 权限不够
/opt/ros/melodic/lib/libmoveit_semantic_world.so
/opt/ros/melodic/lib/libmoveit_semantic_world.so.1.0.6

3 运行仿真节点

roslaunch aubo)moveit_config moveit_planning_execution.launch robot_ip:=127.0.0.1

 roslaunch aubo_gazebo aubo_i5_gazebo_control.launch 

4 参考资料

1、https://blog.csdn.net/cstone123/article/details/96139241?utm_medium=distribute.pc_relevant.none-task-blog-title-3&spm=1001.2101.3001.4242