moveit+ompl源码安装

ros版本：Kinetic

moveit安装链接：http://moveit.ros.org/install/source/

ompl安装链接：http://moveit.ros.org/install/source/dependencies/

放在同一个工作空间下，先编译ompl再编译moveit

rosdep update
sudo apt-get update
sudo apt-get dist-upgrade

sudo apt-get install python-wstool python-catkin-tools clang-format-3.8

mkdir -p ~/ws_moveit/src
cd ~/ws_moveit/src

下载ompl源码：

cd ~/ws_moveit/src

git clone https://github.com/ompl/ompl

cd ompl 

wget https://raw.githubusercontent.com/ros-gbp/ompl-release/debian/kinetic/xenial/ompl/package.xml

编译

cd ~/ws_moveit

catkin build

下载moveit源码：

cd ~/ws_moveit/src

wstool init .

wstool merge https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall

wstool update

修改 moveit_planners_ompl 的 CMakeLists.txt

gedit ~/ws_moveit/src/moveit/moveit_planners/ompl/CMakeLists.txt

将其中的find_package(OMPL....）修改为find_package(ompl ....）

cd ~/ws_moveit/src

rosdep install -y --from-paths . --ignore-src --rosdistro kinetic

cd ..

catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release

编译

cd ~/ws_moveit

catkin build

参考

https://www.zhihu.com/question/55861914?from=profile_question_card