ros2 humble 非外网环境下源码编译moveit

默认已经安装好ros2 humble

moveit安装

• 安装mixing

• sudo apt install python3-colcon-common-extensions
  sudo apt install python3-colcon-mixin
  # 用gitee替换官网github
  colcon mixin add default https://gitee.com/zhenshenglee/colcon-mixin-repository/raw/master/index.yaml
  colcon mixin update default
  
  sudo apt install python3-vcstool
  

• 创建教程文件夹

  mkdir -p ~/ws_moveit/src
  
  cd ~/ws_moveit/src
  git clone -b <branch> https://github.com/moveit/moveit2_tutorials
  

• 下载依赖文件（官方网方法需要访问github，需要使用镜像站地址）

  • 修改链接

    # 打开下载文件
    vim moveit2_tutorials/moveit2_tutorials.repos
    # 全局替换
    :%s/github.com/githubfast.com/g
    

  • 下载

    vcs import --recursive < moveit2_tutorials/moveit2_tutorials.repos
    

  • 输出如下

    rm@DC2:~/Documents/moveit_ws/src$ vcs import --recursive < moveit2_tutorials/moveit2_tutorials.repos
    .....
    .E
    === ./launch_param_builder (git) ===
    正克隆到 '.'...
    
    === ./moveit2 (git) ===
    正克隆到 '.'...
    
    === ./moveit_resources (git) ===
    正克隆到 '.'...
    
    === ./moveit_task_constructor (git) ===
    Could not init/update submodules: 子模组 'core/python/pybind11'（https://github.com/pybind/pybind11）已对路径 'core/python/pybind11' 注册
    子模组 'core/src/scope_guard'（https://github.com/ricab/scope_guard）已对路径 'core/src/scope_guard' 注册
    正克隆到 '/home/rm/Documents/moveit_ws/src/moveit_task_constructor/core/python/pybind11'...
    fatal: 无法访问 'https://github.com/pybind/pybind11/'：Failed to connect to github.com port 443 after 134720 ms: 连接超时
    fatal: 无法克隆 'https://github.com/pybind/pybind11' 到子模组路径 '/home/rm/Documents/moveit_ws/src/moveit_task_constructor/core/python/pybind11'
    克隆 'core/python/pybind11' 失败。按计划重试
    正克隆到 '/home/rm/Documents/moveit_ws/src/moveit_task_constructor/core/src/scope_guard'...
    正克隆到 '/home/rm/Documents/moveit_ws/src/moveit_task_constructor/core/python/pybind11'...
    fatal: 无法访问 'https://github.com/pybind/pybind11/'：Failed to connect to github.com port 443 after 133251 ms: 连接超时
    fatal: 无法克隆 'https://github.com/pybind/pybind11' 到子模组路径 '/home/rm/Documents/moveit_ws/src/moveit_task_constructor/core/python/pybind11'
    第二次尝试克隆 'core/python/pybind11' 失败，退出
    === ./moveit_visual_tools (git) ===
    正克隆到 '.'...
    
    === ./rosparam_shortcuts (git) ===
    正克隆到 '.'...
    
    === ./srdfdom (git) ===
    正克隆到 '.'...
    

  • 下载未成功代码

    # 修改后面的路径为自己的
    git clone https://githubfast.com/pybind/pybind11 /home/rm/Documents/moveit_ws/src/moveit_task_constructor/core/python/pybind11
    

  • 再次运行

    rm@DC2:~/Documents/moveit_ws/src$ vcs import --recursive < moveit2_tutorials/moveit2_tutorials.repos
    .......
    === ./launch_param_builder (git) ===
    
    已经位于 'main'
    您的分支与上游分支 'origin/main' 一致。
    
    === ./moveit2 (git) ===
    
    已经位于 'humble'
    您的分支与上游分支 'origin/humble' 一致。
    
    === ./moveit_resources (git) ===
    
    已经位于 'humble'
    您的分支与上游分支 'origin/humble' 一致。
    
    === ./moveit_task_constructor (git) ===
    
    已经位于 'humble'
    M       core/python/pybind11
    M       core/src/scope_guard
    您的分支与上游分支 'origin/humble' 一致。
    子模组路径 'core/python/pybind11'：检出 'f4bc71f981d4eb2dd780215fd3c5a7420f1f03aa'
    === ./moveit_visual_tools (git) ===
    
    已经位于 'ros2'
    您的分支与上游分支 'origin/ros2' 一致。
    
    === ./rosparam_shortcuts (git) ===
    
    已经位于 'ros2'
    您的分支与上游分支 'origin/ros2' 一致。
    
    === ./srdfdom (git) ===
    
    已经位于 'ros2'
    您的分支与上游分支 'origin/ros2' 一致。
    

• 卸载原moveit包

  sudo apt remove ros-$ROS_DISTRO-moveit*
  

• 安装依赖

  # 小鱼rosdepc
  sudo apt update && rosdepc install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
  # 原rosdep
  sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
  

• 编译源码

  colcon build --mixin release --parallel-workers 4
  # 如报错如下
  /usr/bin/ld: /usr/local/lib/libfmt.a(format.cc.o): warning: relocation against stdout@@GLIBC_2.2.5' in read-only section .text'
  /usr/bin/ld: /usr/local/lib/libfmt.a(format.cc.o): relocation R_X86_64_PC32 against symbol stderr@@GLIBC_2.2.5' can not be used when making a shared object; recompile with -fPIC
  /usr/bin/ld: 最后的链结失败: bad value
  
  # 重新编译fmt包并安装
  cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE=ON
  
  # 如报错如下
  home/rm/Documents/moveit_ws/src/moveit_task_constructor/core/src/task.cpp:49:10: fatal error: scope_guard/scope_guard.hpp: 没有那个文件或目录
     49 | #include <scope_guard/scope_guard.hpp>
        |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  
  # 下载scope_guard.hpp
  cd home/rm/Documents/moveit_ws/src/moveit_task_constructor/core/src/scope_guard
  wget https://githubfast.com/ricab/scope_guard/blob/71a04528184db1749dd08ebbbf4daf3b5dca21fd/scope_guard.hpp
  
  

• 添加环境变量

  source ./install/setup.bash
  echo 'source ~/Documents/moveit_ws/install/setup.bash' >> ~/.bashrc