【CANN2306】catkin_make报错catkin_make Base path: /root/catkin_ws Source space: /root/catkin_ws/src Buil

catkin_make
Base path: /root/catkin_ws
Source space: /root/catkin_ws/src
Build space: /root/catkin_ws/build
Devel space: /root/catkin_ws/devel
Install space: /root/catkin_ws/install
Error(s) in package '/root/catkin_ws/src/quadruped-robot/rl-robotics/legged_gym/legged_gym/envs/lite3/lite3_real/deeprobotics_legged_sdk/package.xml':
Invalid email "" for person "zhu"
Maintainers must have an email address

这个错误提示是因为在您的ROS包的package.xml中，指定的负责人"zhu"没有提供正确的电子邮件地址。您需要在package.xml文件中将其更正为有效的电子邮件地址。

请按照以下步骤进行修复：

1. 打开位于/root/catkin_ws/src/quadruped-robot/rl-robotics/legged_gym/legged_gym/envs/lite3/lite3_real/deeprobotics_legged_sdk/package.xml的package.xml文件。

2. 找到负责人（Maintainer）的部分，并找到名为“zhu”的条目。应该类似于以下内容：

   <maintainer email="">zhu</maintainer>
   

3. 在email属性中添加一个有效的电子邮件地址，例如：

   <maintainer email="zhu@example.com">zhu</maintainer>
   

4. 最后保存并关闭文件，然后再次运行catkin_make命令即可。

CMake Error at quadruped-robot/model-control/quadruped/extern/deeprobotics_legged_sdk/CMakeLists.txt:18 (target_link_libraries):
Attempt to add link library “-lpthread” to target “deeprobotics_legged_sdk”
which is not built in this directory.

This is allowed only when policy CMP0079 is set to NEW.
解决：cmake最低版本设置为3.13以上

– Architecture: x86_64
CMake Error at quadruped-robot/model-control/quadruped/extern/deeprobotics_legged_sdk/CMakeLists.txt:15 (add_library):
add_library cannot create target “deeprobotics_legged_sdk” because another
target with the same name already exists. The existing target is a shared
library created in source directory
“/root/catkin_ws/src/quadruped-robot/rl-robotics/legged_gym/legged_gym/envs/lite3/lite3_real/deeprobotics_legged_sdk”.
See documentation for policy CMP0002 for more details.

参考：https://blog.csdn.net/yichao_ding/article/details/131060064

如果没有安装Intel OneAPI的话，会出现提示BLAS API找不到或者BLAS LIB找不到的问题
解决方法：
可以把quadruped-robot/model-control/quadruped/CMakeLists.txt文件中的BLAS相关代码注释掉，或者将配置文件中的USE_BLAS设置为 OFF