《ROS机器人高效编程》安装遇到的问题

按照书第2.4节创建工作空间，并进行编译，出现以下问题：

问题1：

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "move_base_msgs"
  with any of the following names:

    move_base_msgsConfig.cmake
    move_base_msgs-config.cmake

  Add the installation prefix of "move_base_msgs" to CMAKE_PREFIX_PATH or set
  "move_base_msgs_DIR" to a directory containing one of the above files.  If
  "move_base_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  ros_book/chapter6_tutorials/CMakeLists.txt:4 (find_package)

-- Could not find the required component 'move_base_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "move_base_msgs"
  with any of the following names:

    move_base_msgsConfig.cmake
    move_base_msgs-config.cmake

  Add the installation prefix of "move_base_msgs" to CMAKE_PREFIX_PATH or set
  "move_base_msgs_DIR" to a directory containing one of the above files.  If
  "move_base_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  ros_book/chapter6_tutorials/CMakeLists.txt:4 (find_package)
解决方法：

sudo apt-get install ros-kinetic-navigation

问题2、

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "dynamixel_msgs"
  with any of the following names:

    dynamixel_msgsConfig.cmake
    dynamixel_msgs-config.cmake

  Add the installation prefix of "dynamixel_msgs" to CMAKE_PREFIX_PATH or set
  "dynamixel_msgs_DIR" to a directory containing one of the above files.  If
  "dynamixel_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  ros_book/chapter8_tutorials/CMakeLists.txt:7 (find_package)

-- Could not find the required component 'dynamixel_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "dynamixel_msgs"
  with any of the following names:

    dynamixel_msgsConfig.cmake
    dynamixel_msgs-config.cmake

  Add the installation prefix of "dynamixel_msgs" to CMAKE_PREFIX_PATH or set
  "dynamixel_msgs_DIR" to a directory containing one of the above files.  If
  "dynamixel_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  ros_book/chapter8_tutorials/CMakeLists.txt:7 (find_package)

解决办法：

sudo apt-get -y install ros-kinetic-dynamixel-controllers ros-kinetic-dynamixel-driver ros-kinetic-dynamixel-msgs ros-kinetic-dynamixel-motor ros-kinetic-moveit-visual-tools ros-kinetic-simple-grasping

问题3、

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by
  "moveit_simple_grasps" with any of the following names:

    moveit_simple_graspsConfig.cmake
    moveit_simple_grasps-config.cmake

  Add the installation prefix of "moveit_simple_grasps" to CMAKE_PREFIX_PATH
  or set "moveit_simple_grasps_DIR" to a directory containing one of the
  above files.  If "moveit_simple_grasps" provides a separate development
  package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  ros_book/chapter7_tutorials/rosbook_arm_pick_and_place/CMakeLists.txt:5 (find_package)

-- Could not find the required component 'moveit_simple_grasps'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "moveit_simple_grasps" with any of the following names:

    moveit_simple_graspsConfig.cmake
    moveit_simple_grasps-config.cmake

  Add the installation prefix of "moveit_simple_grasps" to CMAKE_PREFIX_PATH
  or set "moveit_simple_grasps_DIR" to a directory containing one of the
  above files.  If "moveit_simple_grasps" provides a separate development
  package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  ros_book/chapter7_tutorials/rosbook_arm_pick_and_place/CMakeLists.txt:5 (find_package)

解决办法：

下载moveit-simple-grasps GitHub - davetcoleman/moveit_simple_grasps: Generate basic grasp poses for simple objects such as blocks or cylinders

解压到文件夹~/dev/catkin_ws/src