安装机器人ros驱动遇到的问题（catkin_make）

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：

[python] view plain copy

1. mkdir -p ~/catkin_ws/src    
2. cd ~/catkin_ws/src    
3. catkin_init_workspace    
4. cd ..    
5. catkin_make   

roslaunch aubo_driver aubo_i5_bringup.launch robot_ip:=192.168.1.34

1.  关于"hardware_interface"

1. CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):

2. Could not find a package configuration file provided by

3. "hardware_interface" with any of the following names:

4.  

5. hardware_interfaceConfig.cmake

6. hardware_interface-config.cmake

7.  

8. Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or

9. set "hardware_interface_DIR" to a directory containing one of the above

10. files. If "hardware_interface" provides a separate development package or

11. SDK, be sure it has been installed.

12. Call Stack (most recent call first):

13. aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)

14.  
15.  

16. -- 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.

17. CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):

18. Could not find a package configuration file provided by

19. "hardware_interface" with any of the following names:

20.  

21. hardware_interfaceConfig.cmake

22. hardware_interface-config.cmake

23.  

24. Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or

25. set "hardware_interface_DIR" to a directory containing one of the above

26. files. If "hardware_interface" provides a separate development package or

27. SDK, be sure it has been installed.

28. Call Stack (most recent call first):

29. aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)

30.  
31.  

32. -- Configuring incomplete, errors occurred!

33. See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".

34. See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".

35. Makefile:1858: recipe for target 'cmake_check_build_system' failed

36. make: *** [cmake_check_build_system] Error 1

37. 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_manager

1. CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):

2. Could not find a package configuration file provided by

3. "controller_manager" with any of the following names:

4.  

5. controller_managerConfig.cmake

6. controller_manager-config.cmake

7.  

8. Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or

9. set "controller_manager_DIR" to a directory containing one of the above

10. files. If "controller_manager" provides a separate development package or

11. SDK, be sure it has been installed.

12. Call Stack (most recent call first):

13. aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)

14.  
15.  

16. -- Configuring incomplete, errors occurred!

17. See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".

18. See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".

19. Makefile:1858: recipe for target 'cmake_check_build_system' failed

20. make: *** [cmake_check_build_system] Error 1

21. 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)

1. -- Using Python nosetests: /usr/bin/nosetests-2.7

2. ImportError: "from catkin_pkg.package import parse_package" failed: No module named catkin_pkg.package

3. Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.

4. CMake Error at /opt/ros/kinetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):

5. execute_process(/home/wgb/anaconda2/bin/python

6. "/opt/ros/kinetic/share/catkin/cmake/parse_package_xml.py"

7. "/opt/ros/kinetic/share/catkin/cmake/../package.xml"

8. "/home/wgb/catkin_ws/build/catkin/catkin_generated/version/package.cmake")

9. returned error code 1

10. Call Stack (most recent call first):

11. /opt/ros/kinetic/share/catkin/cmake/catkin_package_xml.cmake:63 (safe_execute_process)

12. /opt/ros/kinetic/share/catkin/cmake/all.cmake:151 (_catkin_package_xml)

13. /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)

14. CMakeLists.txt:52 (find_package)

15.  
16.  

17. -- Configuring incomplete, errors occurred!

18. See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".

19. See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".

20. Invoking "cmake" failed

解决办法
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：

1. conda install setuptools

2.  

3. pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools

4 No module named em 的问题

1. ImportError: No module named em

2. 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

3. make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/ContactState.h] Error 1

4. Traceback (most recent call last):

5. File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>

6. import genmsg.template_tools

7. File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>

8. import em

9. ImportError: No module named em

10. 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

11. make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkStates.h] Error 1

12. Traceback (most recent call last):

13. File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>

14. import genmsg.template_tools

15. File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>

16. import em

17. ImportError: No module named em

18. Traceback (most recent call last):

19. File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>

20. import genmsg.template_tools

21. File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>

22. import em

23. ImportError: No module named em

24. 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

25. make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkState.h] Error 1

26. 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

27. make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/ModelStates.h] Error 1

28. Traceback (most recent call last):

29. File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>

30. import genmsg.template_tools

31. File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>

32. import em

33. ImportError: No module named em

34. 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

35. make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/WorldState.h] Error 1

36. CMakeFiles/Makefile2:1511: recipe for target 'gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/all' failed

37. make[1]: *** [gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/all] Error 2

38. Makefile:138: recipe for target 'all' failed

39. make: *** [all] Error 2

40. Invoking "make -j12 -l12" failed

解决办法：
wgb@wgb:~/catkin_ws$ pip install empy

5. defusedxml.xmlrpc

1. Traceback (most recent call last):

2. File "/opt/ros/kinetic/lib/xacro/xacro", line 32, in <module>

3. import xacro

4. File "/opt/ros/kinetic/lib/python2.7/dist-packages/xacro/__init__.py", line 42, in <module>

5. from roslaunch import substitution_args

6. File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 56, in <module>

7. from .launch import ROSLaunchRunner

8. File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 55, in <module>

9. from roslaunch.nodeprocess import create_master_process, create_node_process

10. File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py", line 52, in <module>

11. from rosmaster.master_api import NUM_WORKERS

12. File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/__init__.py", line 35, in <module>

13. from .main import rosmaster_main

14. File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/main.py", line 43, in <module>

15. import rosmaster.master

16. File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master.py", line 47, in <module>

17. import rosmaster.master_api

18. File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 72, in <module>

19. from rosmaster.util import xmlrpcapi

20. File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/util.py", line 48, in <module>

21. from defusedxml.xmlrpc import monkey_patch

22. ImportError: No module named defusedxml.xmlrpc

23. while processing /home/wgb/catkin_ws/src/aubo_robot/aubo_description/launch/aubo_i5_upload.launch:

24. 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].

25.  

26. Param xml is <param command="$(find xacro)/xacro --inorder '$(find aubo_description)/urdf/aubo_i5_robot.urdf.xacro'" name="robot_description"/>

27. The traceback for the exception was written to the log file

solving method
wgb@wgb:~$ conda install -c conda-forge defusedxml

6

1. wgb@wgb:~$ roslaunch aubo_driver aubo_i5_bringup.launch robot_ip:=192.168.1.34

2. [aubo_i5_bringup.launch] is neither a launch file in package [aubo_driver] nor is [aubo_driver] a launch file name

3. The traceback for the exception was written to the log file

solving mehtod

1. Without 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?

2.  

3. What does rospack find tb_tables output?

4.  

5. 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.
 

1. -- Found gtest sources under '/usr/src/gtest': gtests will be built

2. -- Using Python nosetests: /usr/bin/nosetests-2.7

3. CMake Error at /opt/ros/kinetic/share/catkin/cmake/assert.cmake:17 (message):

4.  
5.  

6. Assertion failed: check for file existence, but filename

7. (RT_LIBRARY-NOTFOUND) unset. Message: RT Library

8.  

9. Call Stack (most recent call first):

10. /opt/ros/kinetic/share/catkin/cmake/tools/rt.cmake:42 (assert_file_exists)

11. /opt/ros/kinetic/share/catkin/cmake/all.cmake:147 (include)

12. /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)

13. CMakeLists.txt:52 (find_package)

14.  
15.  

16. -- Configuring incomplete, errors occurred!

17. See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".

18. See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".

19. Invoking "cmake" failed

solving

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

1. /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

2. 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

3. make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_plugins/CameraSynchronizerConfig.h] Error 126

4. CMakeFiles/Makefile2:6310: recipe for target 'gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/all' failed

5. make[1]: *** [gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/all] Error 2

6. make[1]: *** 正在等待未完成的任务....

7. [ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_joint_trajectory.so

8. [ 86%] Built target gazebo_ros_joint_trajectory

9. [ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_joint_state_publisher.so

10. [ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so

11. [ 86%] Built target gazebo_ros_joint_state_publisher

12. [ 86%] Built target gazebo_ros_api_plugin

13. Makefile:138: recipe for target 'all' failed

14. make: *** [all] Error 2

15. Invoking "make -j4 -l4" failed

解决办法：

1. wgb@wgb:~/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/cfg$ cd /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg

2. wgb@wgb:~/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg$ chmod +x CameraSynchronizer.cfg

或者

1. wgb@wgb:~/catkin_ws/src$ sudo chown -R wgb /home/wgb/catkin_ws/

2. [sudo] wgb 的密码：

3. 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

1. CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):

2. Could not find a package configuration file provided by

3. "moveit_ros_planning" with any of the following names:

4.  

5. moveit_ros_planningConfig.cmake

6. moveit_ros_planning-config.cmake

7.  

8. Add the installation prefix of "moveit_ros_planning" to CMAKE_PREFIX_PATH

9. or set "moveit_ros_planning_DIR" to a directory containing one of the above

10. files. If "moveit_ros_planning" provides a separate development package or

11. SDK, be sure it has been installed.

12. Call Stack (most recent call first):

13. aubo_robot-indigo-devel/aubo_trajectory_filters/CMakeLists.txt:5 (find_package)

14.  
15.  

16. -- 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.

17. CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):

18. Could not find a package configuration file provided by

19. "moveit_ros_planning" with any of the following names:

20.  

21. moveit_ros_planningConfig.cmake

22. moveit_ros_planning-config.cmake

23.  

24. Add the installation prefix of "moveit_ros_planning" to CMAKE_PREFIX_PATH

25. or set "moveit_ros_planning_DIR" to a directory containing one of the above

26. files. If "moveit_ros_planning" provides a separate development package or

27. SDK, be sure it has been installed.

28. Call Stack (most recent call first):

29. aubo_robot-indigo-devel/aubo_trajectory_filters/CMakeLists.txt:5 (find_package)

30.  
31.  

32. -- Configuring incomplete, errors occurred!

33. See also "/home/sensetime/catkin_ws/build/CMakeFiles/CMakeOutput.log".

34. See also "/home/sensetime/catkin_ws/build/CMakeFiles/CMakeError.log".

35. make: *** [cmake_check_build_system] Error 1

36. 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

1. source /opt/ros/indigo/setup.bash

2.  

3. 对于kinetic

sudo apt-get install ros-kinetic-moveit

source /opt/ros/kinetic/setup.bash