Download the source code package and compile it in Ubuntu

Download the source code package and compile it in Ubuntu

In the process of learning to use Ubuntu, you will inevitably try to run other people's code. At this time, you need to know how to download the source code, compile and run it.
This article is related to the following two blogs:
ROS workspace and function package
ROS implementation code and compiled code running steps

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1. After downloading the source code package from Github, copy it to Ubuntu, as shown in the figure of the Unity-Robotics-Hub source code package
   
   . There is a series of codes related to the pick_and_place function in the process. Here, only the ROS code is taken. As shown in the figure, there are five packages: moveit_msgs, niryo_moveit, niryo_one_ros, niryo_one_urdf, ros_tcp_endpoint.

2. Create a new folder as a new workspace. (It can also be used with the workspace where the previously used package is located)
   I named it catkin_ws_ROS here
   

3. Then create a new folder named src to store the package
   

4. Put the five packages mentioned earlier into the src folder created in the previous step.
   

5. Then return to the catkin_ws_ROS directory, open the terminal, and enter

catkin_make

6. After compilation is completed, update the environment variables.
   Use ctrl+H to display hidden files in the interface .bashrc
   . After entering the text, add

source ~/catkin_ws_ROS/devel/setup.bash

Reopen the terminal to update the environment variables

Errors encountered during compilation and their solutions

At first, we planned to put the function package mentioned above directly into catkin_ws for compilation, but we encountered some problems.

The first question
The specified base path “/home/vm123/catkin_ws” contains a CMakeLists.txt but “catkin_make” must be invoked in the root of workspace is

solved by referring to the following URL:
https://answers.ros.org/question/ 252980/catkin_make-fail-must-be-invoked-in-the-root-of-workspace/
hyperlink

The second problem
The build space at '/home/vm123/catkin_ws/build' was previously built by 'catkin build'. Please remove the build space or pick a different build space. Please refer to the following URL to solve it: https://

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