关于ubuntu18.04安装ROS_melodic 、Moveit、ompl

zhouyutie2789

已于 2024-03-12 20:55:36 修改

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文章标签： ubuntu

于 2024-02-26 14:23:17 首次发布

本文链接：https://blog.csdn.net/zhouyutie2789/article/details/136260650

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参考1：Ubuntu18.04安装Moveit框架_moveit_core: cannot locate rosdep definition for [-CSDN博客从

参考2：

1、安装ubuntu18.04

2、ROS_melodic安装：参考鱼香ROS

终端输入：wget http://fishros.com/install -O fishros && . fishros

3、路径规划必须安装Moveit+ompl（源码安装）

（1）安装Moveit：

a）下载依赖文件： sudo apt-get install python-wstool python-catkin-tools clang-format-3.9

b）创建工作区和软件源

mkdir ~/ws_moveit
cd ~/ws_moveit

c）加载必要的环境变量

source /opt/ros/melodic/setup.bash

d）下载源代码

wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall

上述代码获取不到源代码，则去相应网站下载（如下）

# This file is intended for users who want to build MoveIt from source.
# Used with wstool, users can download source of all packages of MoveIt.
- git:
    local-name: moveit_msgs
    uri: https://github.com/ros-planning/moveit_msgs.git
    version: master
- git:
    local-name: moveit_resources
    uri: https://github.com/ros-planning/moveit_resources.git
    version: master
- git:
    local-name: geometric_shapes
    uri: https://github.com/ros-planning/geometric_shapes.git
    version: noetic-devel
- git:
    local-name: srdfdom
    uri: https://github.com/ros-planning/srdfdom
    version: noetic-devel
- git:
    local-name: moveit
    uri: https://github.com/ros-planning/moveit.git
    version: master
- git:
    local-name: rviz_visual_tools
    uri: https://github.com/PickNikRobotics/rviz_visual_tools
    version: master
- git:
    local-name: moveit_visual_tools
    uri: https://github.com/ros-planning/moveit_visual_tools.git
    version: master
- git:
    local-name: moveit_tutorials
    uri: https://github.com/ros-planning/moveit_tutorials.git
    version: master
- git:
    local-name: panda_moveit_config
    uri: https://github.com/ros-planning/panda_moveit_config.git
    version: noetic-devel

需要注意的是下载版本得与ros-melodic相匹配（点击master选择melodic-devel）

将下载完的压缩包解压存储到src中，并执行：

rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}

catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args --DCMAKE_BUILD_TYPE=Release

若出现：

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
moveit_resources_dual_panda_moveit_config: Cannot locate rosdep definition for [joint_state_publisher_gui]
panda_moveit_config: Cannot locate rosdep definition for [franka_description]
moveit_resources_panda_moveit_config: Cannot locate rosdep definition for [joint_state_publisher_gui]
moveit_tutorials: Cannot locate rosdep definition for [joy]
pilz_industrial_motion_planner: Cannot locate rosdep definition for [code_coverage]
moveit_servo: Cannot locate rosdep definition for [rosparam_shortcuts]

则：sudo apt-get install ros-melodic-你缺少的东西

例如：

sudo apt-get install ros-melodic-joint-state-publisher-gui
sudo apt-get install ros-melodic-joy
sudo apt-get install ros-melodic-rosparam-shortcuts

尚书

***（可选可不选）安装编译器缓存

***从源代码构建全部甚至部分MoveIt可能需要一个小时。编译器缓存可以防止重新编译未更改的文件，从而可以将此时间减少到几分钟。最常用的编译器缓存是适用于gcc和其他类似编译器的ccache

————————————————————————————————————————————————————

安装ccache：

sudo apt-get install ccache
安装后需要对ccache进行一系列的配置，要在所有受支持的编译器中自动使用ccache，需要将/ usr / lib / ccache目录放在PATH之前。

echo 'export PATH=/usr/lib/ccache:$PATH' >> $HOME/.bashrc
source $HOME/.bashrc
使用以下命令，可以利用ccache查看build过程中命中率和缓存使用情况的统计信息：

ccache --show-stats

————————————————————————————————————————————————————

e)编译Moveit
catkin build

注意：这里会出现一些关于opencv版本的错误，比如：

CMake Error at /opt/ros/melodic/share/cv_bridge/cmake/cv_bridgeConfig.cmake:113 (message):
Project 'cv_bridge' specifies '/usr/include/opencv' as an include dir,
which is not found. It does neither exist as an absolute directory nor in
'${{prefix}}//usr/include/opencv'. Check the issue tracker
'https://github.com/ros-perception/vision_opencv/issues' and consider
creating a ticket if the problem has not been reported yet

以上说明：cv_bridgeConfig.cmake 文件中指定的 OpenCV 头文件目录不存在。这可能是因为 cv_bridge 包没有正确配置。

解决方法：重新编译 cv_bridge 包以解决此问题。首先，确保你的工作空间已被清理。然后，按照以下步骤重新编译 cv_bridge 包

rm -rf /home/jzjt/ws_moveit/build
rm -rf /home/jzjt/ws_moveit/devel

cd /home/jzjt/ws_moveit/src
git clone -b melodic https://github.com/ros-perception/vision_opencv.git

cd /home/jzjt/ws_moveit
catkin build

或者

CMake Error at CMakeLists.txt:16 (find_package):
Could not find a configuration file for package "OpenCV" that is compatible
with requested version "3".

The following configuration files were considered but not accepted:

/usr/lib/aarch64-linux-gnu/cmake/opencv4/OpenCVConfig.cmake, version: 4.1.1

也就是说： cv_bridge 包需要的 OpenCV 版本与系统中安装的版本不匹配。cv_bridge 在寻找 OpenCV 3，但系统中安装的是 OpenCV 4.1.1，

解决方法1：安装OpenCV 3

步骤1：下载源代码：访问 OpenCV 的 GitHub 仓库（https://github.com/opencv/opencv），选择一个 3.x 版本，然后克隆或下载源代码。

步骤2：编译 OpenCV 3.x

进入源代码文件夹，

mkdir build && cd build

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..

make -j$(nproc)
sudo make install

解决方法2（不建议）：修改 cv_bridge 包以使用 OpenCV 4，修改 cv_bridge 的源代码或 CMakeLists.txt 文件

最后再进行：catkin build，成功