UR5工作空间catkin_make时报错解决办法

问题描述：

-- +++ processing catkin package: 'ur_kinematics' -- ==> add_subdirectory(fmauch_universal_robot/ur_kinematics) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: system /opt/ros/noetic/lib/python3/dist-packages/_distutils_hack/__init__.py:11: UserWarning: Distutils was imported before Setuptools, but importing Setuptools also replaces the `distutils` module in `sys.modules`. This may lead to undesirable behaviors or errors. To avoid these issues, avoid using distutils directly, ensure that setuptools is installed in the traditional way (e.g. not an editable install), and/or make sure that setuptools is always imported before distutils. warnings.warn( /opt/ros/noetic/lib/python3/dist-packages/_distutils_hack/__init__.py:26: UserWarning: Setuptools is replacing distutils. warnings.warn("Setuptools is replacing distutils.") usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...] or: setup.py --help [cmd1 cmd2 ...] or: setup.py --help-commands or: setup.py cmd --help error: invalid command 'ur_kinematics' CMake Error at /opt/ros/noetic/share/catkin/cmake/safe_execute_process.cmake:11 (message): execute_process(/home/wyf/new_ur_ws/build/catkin_generated/env_cached.sh "/usr/bin/python3" "/opt/ros/noetic/share/catkin/cmake/interrogate_setup_dot_py.py" "ur_kinematics" "/home/wyf/new_ur_ws/src/fmauch_universal_robot/ur_kinematics/setup.py" "/home/wyf/new_ur_ws/build/fmauch_universal_robot/ur_kinematics/catkin_generated/setup_py_interrogation.cmake") returned error code 1 Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/catkin_python_setup.cmake:46 (safe_execute_process) fmauch_universal_robot/ur_kinematics/CMakeLists.txt:11 (catkin_python_setup) -- Configuring incomplete, errors occurred! See also "/home/wyf/new_ur_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/wyf/new_ur_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed 我在新的工作空间重新下载了官方的驱动，并且catkin_make了，还是出现这样的问题，是python库的版本有冲突。

解决办法：

修改ur_kinematics功能包中的setup.py文件，使用setuptools代替distutils.core：

from setuptools import setup

然后再运行就成功了。