上述指令执行完毕之后, ROS也就安装完成了。 当然, 紧接着还需要建立自己的工作空间。 执行下述代码:
- mkdir -p ~/catkin_ws/src
- cd ~/catkin_ws/src
- catkin_init_workspace
- cd ..
- catkin_make
roslaunch aubo_driver aubo_i5_bringup.launch robot_ip:=192.168.1.34
1. 关于"hardware_interface"
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by
"hardware_interface" with any of the following names:
hardware_interfaceConfig.cmake
hardware_interface-config.cmake
Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or
set "hardware_interface_DIR" to a directory containing one of the above
files. If "hardware_interface" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)
-- Could not find the required component 'hardware_interface'. 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
"hardware_interface" with any of the following names:
hardware_interfaceConfig.cmake
hardware_interface-config.cmake
Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or
set "hardware_interface_DIR" to a directory containing one of the above
files. If "hardware_interface" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:1858: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
解决办法
sudo apt-get install ros-kinetic-effort-controllers sudo apt-get install ros-kinetic-joint-state-controller 2. 关于controller_managerCMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "controller_manager" with any of the following names: controller_managerConfig.cmake controller_manager-config.cmake Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or set "controller_manager_DIR" to a directory containing one of the above files. If "controller_manager" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package) -- Configuring incomplete, errors occurred! See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log". Makefile:1858: recipe for target 'cmake_check_build_system' failed make: *** [cmake_check_build_system] Error 1 Invoking "make cmake_check_build_system" failed
解决办法
sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers
3. 与Python兼容问题(No module catkin_dkg.package)解决办法-- Using Python nosetests: /usr/bin/nosetests-2.7 ImportError: "from catkin_pkg.package import parse_package" failed: No module named catkin_pkg.package Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH. CMake Error at /opt/ros/kinetic/share/catkin/cmake/safe_execute_process.cmake:11 (message): execute_process(/home/wgb/anaconda2/bin/python "/opt/ros/kinetic/share/catkin/cmake/parse_package_xml.py" "/opt/ros/kinetic/share/catkin/cmake/../package.xml" "/home/wgb/catkin_ws/build/catkin/catkin_generated/version/package.cmake") returned error code 1 Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/catkin_package_xml.cmake:63 (safe_execute_process) /opt/ros/kinetic/share/catkin/cmake/all.cmake:151 (_catkin_package_xml) /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include) CMakeLists.txt:52 (find_package) -- Configuring incomplete, errors occurred! See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed
检查一下Python的版本: wgb@wgb:~$ python -V
检查一下catkin依赖的Python版本: wgb@wgb:~$ dpkg -L python-catkin-pkg
如果Python的版本和catkin依赖的版本不一样,说明Python依赖包有问题,解决办法:conda install setuptools pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools
4 No module named em 的问题解决办法:ImportError: No module named em gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:117: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/ContactState.h' failed make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/ContactState.h] Error 1 Traceback (most recent call last): File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module> import genmsg.template_tools File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module> import em ImportError: No module named em gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:139: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkStates.h' failed make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkStates.h] Error 1 Traceback (most recent call last): File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module> import genmsg.template_tools File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module> import em ImportError: No module named em Traceback (most recent call last): File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module> import genmsg.template_tools File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module> import em ImportError: No module named em gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:128: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkState.h' failed make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkState.h] Error 1 gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:161: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/ModelStates.h' failed make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/ModelStates.h] Error 1 Traceback (most recent call last): File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module> import genmsg.template_tools File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module> import em ImportError: No module named em gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:174: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/WorldState.h' failed make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/WorldState.h] Error 1 CMakeFiles/Makefile2:1511: recipe for target 'gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/all' failed make[1]: *** [gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j12 -l12" failed
wgb@wgb:~/catkin_ws$ pip install empy
5. defusedxml.xmlrpcsolving methodTraceback (most recent call last): File "/opt/ros/kinetic/lib/xacro/xacro", line 32, in <module> import xacro File "/opt/ros/kinetic/lib/python2.7/dist-packages/xacro/__init__.py", line 42, in <module> from roslaunch import substitution_args File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 56, in <module> from .launch import ROSLaunchRunner File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 55, in <module> from roslaunch.nodeprocess import create_master_process, create_node_process File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py", line 52, in <module> from rosmaster.master_api import NUM_WORKERS File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/__init__.py", line 35, in <module> from .main import rosmaster_main File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/main.py", line 43, in <module> import rosmaster.master File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master.py", line 47, in <module> import rosmaster.master_api File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 72, in <module> from rosmaster.util import xmlrpcapi File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/util.py", line 48, in <module> from defusedxml.xmlrpc import monkey_patch ImportError: No module named defusedxml.xmlrpc while processing /home/wgb/catkin_ws/src/aubo_robot/aubo_description/launch/aubo_i5_upload.launch: Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/wgb/catkin_ws/src/aubo_robot/aubo_description/urdf/aubo_i5_robot.urdf.xacro'] returned with code [1]. Param xml is <param command="$(find xacro)/xacro --inorder '$(find aubo_description)/urdf/aubo_i5_robot.urdf.xacro'" name="robot_description"/> The traceback for the exception was written to the log file
wgb@wgb:~$ conda install -c conda-forge defusedxml
6wgb@wgb:~$ roslaunch aubo_driver aubo_i5_bringup.launch robot_ip:=192.168.1.34 [aubo_i5_bringup.launch] is neither a launch file in package [aubo_driver] nor is [aubo_driver] a launch file name The traceback for the exception was written to the log file
solving mehtodWithout any further information or poitners to the source of that package it is hard to tell what is going on. Does the file tb_tables.launch actually exist? Did you source the setup.bash file? What does rospack find tb_tables output? If that gives an error, try executing source /home/gabriel/catkin_ws/devel/setup.bash and then try the roslaunch again.
解决办法:source /home/wgb/catkin_ws/devel/setup.bash
7.solving-- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 CMake Error at /opt/ros/kinetic/share/catkin/cmake/assert.cmake:17 (message): Assertion failed: check for file existence, but filename (RT_LIBRARY-NOTFOUND) unset. Message: RT Library Call Stack (most recent call first): /opt/ros/kinetic/share/catkin/cmake/tools/rt.cmake:42 (assert_file_exists) /opt/ros/kinetic/share/catkin/cmake/all.cmake:147 (include) /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include) CMakeLists.txt:52 (find_package) -- Configuring incomplete, errors occurred! See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed
ubuntu 文件夹/usr/lib/x86_64-linux-gnu/ shangmian you ge cha, xiang fa chuqu
8. /home/wgb/catkin_ws/build/gazebo_ros_pkgs/gazebo_plugins/setup_custom_pythonpath.sh: 4: exec: /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg/CameraSynchronizer.cfg: Permission denied
/home/wgb/catkin_ws/build/gazebo_ros_pkgs/gazebo_plugins/setup_custom_pythonpath.sh: 4: exec: /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg/CameraSynchronizer.cfg: Permission denied
gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/build.make:69: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_plugins/CameraSynchronizerConfig.h' failed
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_plugins/CameraSynchronizerConfig.h] Error 126
CMakeFiles/Makefile2:6310: recipe for target 'gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/all' failed
make[1]: *** [gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_joint_trajectory.so
[ 86%] Built target gazebo_ros_joint_trajectory
[ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_joint_state_publisher.so
[ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so
[ 86%] Built target gazebo_ros_joint_state_publisher
[ 86%] Built target gazebo_ros_api_plugin
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
解决办法:
wgb@wgb:~/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/cfg$ cd /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg
wgb@wgb:~/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg$ chmod +x CameraSynchronizer.cfg
或者
wgb@wgb:~/catkin_ws/src$ sudo chown -R wgb /home/wgb/catkin_ws/
[sudo] wgb 的密码:
wgb@wgb:~/catkin_ws/src$ sudo chmod -R +x /home/wgb/catkin_ws/
参考:
https://answers.ros.org/question/206860/error-when-calling-catkin_make-invoking-make-failed/
9. "moveit_ros_planning"
moveit_ros_planningConfig.cmake
moveit_ros_planning-config.cmake
问题
CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by
"moveit_ros_planning" with any of the following names:
moveit_ros_planningConfig.cmake
moveit_ros_planning-config.cmake
Add the installation prefix of "moveit_ros_planning" to CMAKE_PREFIX_PATH
or set "moveit_ros_planning_DIR" to a directory containing one of the above
files. If "moveit_ros_planning" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
aubo_robot-indigo-devel/aubo_trajectory_filters/CMakeLists.txt:5 (find_package)
-- Could not find the required component 'moveit_ros_planning'. 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/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"moveit_ros_planning" with any of the following names:
moveit_ros_planningConfig.cmake
moveit_ros_planning-config.cmake
Add the installation prefix of "moveit_ros_planning" to CMAKE_PREFIX_PATH
or set "moveit_ros_planning_DIR" to a directory containing one of the above
files. If "moveit_ros_planning" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
aubo_robot-indigo-devel/aubo_trajectory_filters/CMakeLists.txt:5 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/sensetime/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/sensetime/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
解决办法: 安装moveit,安装方法参考http://moveit.ros.org/install/
对于indigo
sudo apt-get install ros-indigo-moveit
sudo apt-get install ros-indigo-moveit-full-pr2
source /opt/ros/indigo/setup.bash 对于kinetic
sudo apt-get install ros-kinetic-moveit
source /opt/ros/kinetic/setup.bash