ROS 编译代码过程中遇到的Protocol Buffer版本问题

flyfish

版本 Ubuntu16.04 ， Kinetic，Gazebo7
现象

现象

/usr/include/gazebo-7/gazebo/msgs/color.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
 #error This file was generated by an older version of protoc which is
  ^
/usr/include/gazebo-7/gazebo/msgs/color.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
 #error incompatible with your Protocol Buffer headers.  Please
  ^
/usr/include/gazebo-7/gazebo/msgs/color.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
 #error regenerate this file with a newer version of protoc.

In file included from /usr/include/gazebo-7/gazebo/msgs/MessageTypes.hh:100:0,
                 from /usr/include/gazebo-7/gazebo/msgs/msgs.hh:32,
                 from /usr/include/gazebo-7/gazebo/physics/Entity.hh:30,
                 from /usr/include/gazebo-7/gazebo/physics/Model.hh:34,
                 from /usr/include/gazebo-7/gazebo/physics/Actor.hh:24,
                 from /usr/include/gazebo-7/gazebo/physics/physics.hh:2,
                 from /opt/ros/kinetic/include/gazebo_ros_control/robot_hw_sim.h:45,
                 from /home/pumpkinking/catkin_ws/src/chapter7_tutorials/rosbook_arm_hardware_gazebo/include/rosbook_arm_hardware_gazebo/rosbook_arm_hardware_gazebo.h:15,
                 from /home/pumpkinking/catkin_ws/src/chapter7_tutorials/rosbook_arm_hardware_gazebo/src/rosbook_arm_hardware_gazebo.cpp:11:
/usr/include/gazebo-7/gazebo/msgs/shadows.pb.h:267:113: error: expected class-name before ‘{’ token
 gazebo::msgs::Shadows_ShadowType> : ::google::protobuf::internal::true_type {};

查找原因
查看/usr/include/gazebo-7/gazebo/msgs其中一个文件说明

#if GOOGLE_PROTOBUF_VERSION < 2006000
#error This file was generated by a newer version of protoc which is
#error incompatible with your Protocol Buffer headers.  Please update
#error your headers.
#endif
#if 2006001 < GOOGLE_PROTOBUF_MIN_PROTOC_VERSION
#error This file was generated by an older version of protoc which is
#error incompatible with your Protocol Buffer headers.  Please
#error regenerate this file with a newer version of protoc.
#endif

Protocol Buffer 需要2.6.1版本

下载2.6.1版本后执行
./configure
make
make check
sudo make install

再次执行catkin_make

ROS 编译代码过程中遇到的Protocol Buffer版本问题

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