robot_sim
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Suyixiu
问题记录，为后来人提前踩坑，你不一定会遇到类似的问题
版本说明
- ubuntu 16.04
- PCL 1.9.0
- VTK 8.1.0
- rosdistro kinetic
- rosversion 1.12.17
问题1 error: reference to ‘detail’ is ambiguous
参考资料, 问题出现的原因是代码中使用了using namespace cv;
- 解决方式就是删除
using namespace cv,并在对应的位置补上cv::
问题2 /usr/local/lib/libvtkCommonCore-8.1.so.1: error adding symbols: DSO missing from command line
参考资料,但修改完仍有问题 ``对‘vtkRenderingOpenGL_AutoInit_Destruct()’未定义的引用，再参考资料,在~/catkin_ws/src/robot_sim/experiment/CMakeLists.txt的GPD_method_grasp和data_collection的target_link_libraries中添加${PCL_LIBRARIES}
## GPD_method_grasp ##
aux_source_directory(${PROJECT_SOURCE_DIR}/grasp/GPD_method/src GPD_method_SrcFiles)
add_executable(GPD_method_grasp ${GPD_method_SrcFiles})
add_dependencies(GPD_method_grasp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}
target_link_libraries(GPD_method_grasp ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})
# 数据采集部分 #
aux_source_directory(${PROJECT_SOURCE_DIR}/data_collection/src data_collection_SrcFiles)
add_executable(data_collection ${data_collection_SrcFiles})
add_dependencies(data_collection ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(data_collection ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})
catkin_make编译出错
-- +++ processing catkin package: 'aruco' -- ==> add_subdirectory(aruco_ros/aruco) -- +++ processing catkin package: 'dh_robotics_ag95_description' -- ==> add_subdirectory(robot_sim/package/dh_robotics_gripper/dh_robotics_ag95_gripper/dh_robotics_ag95_description) -- Could NOT find roslaunch (missing: roslaunch_DIR) -- Could not find the required component 'roslaunch'. 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. CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "roslaunch" with any of the following names:
roslaunchConfig.cmake
roslaunch-config.cmake
Add the installation prefix of "roslaunch" to CMAKE_PREFIX_PATH or set "roslaunch_DIR" to a directory containing one of the above files. If "roslaunch" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): robot_sim/package/dh_robotics_gripper/dh_robotics_ag95_gripper/dh_robotics_ag95_description/CMakeLists.txt:4 (find_package)
解决办法
重新安装rosbash
catkin_make 编译出错：
-- +++ processing catkin package: 'robot_sim' -- ==> add_subdirectory(robot_sim/experiment) -- Could NOT find serial (missing: serial_DIR) -- Could not find the required component 'serial'. 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. CMake Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package): Could not find a package configuration file provided by "serial" with any of the following names:
serialConfig.cmake
serial-config.cmake
Add the installation prefix of "serial" to CMAKE_PREFIX_PATH or set "serial_DIR" to a directory containing one of the above files. If "serial" provides a separate development package or SDK, be sure it has been installed. Call Stack (most recent call first): robot_sim/experiment/CMakeLists.txt:8 (find_package)
-- Configuring incomplete, errors occurred! See also "/home/yp/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/yp/catkin_ws/build/CMakeFiles/CMakeError.log". make: *** [Makefile:7852: cmake_check_build_system] Error 1 Invoking "make cmake_check_build_system" failed
尝试安装ros-
Reading state information... Done
E: Unable to locate package ros-noetic-serial
按照搜索到的方法，使用源码编译的方式将ros-noetic-serial安装到了 /usr/local/路径下，再执行catkin_make，仍然是上面展示的问题，没有解决。
@onwaiers 牛！问题二参考你的，已解决，谢谢！ 但问题一 我也参考那个没有解决，后来参考了这个：https://blog.csdn.net/zfjBIT/article/details/101055525 另外出现‘param_k_’ has incomplete type可参考：https://github.com/strands-project/strands_3d_mapping/issues/67
18.04编译的一些问题： 18.04需要修改一些东西： 1.error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’
- No such file or directory #include <moveit/move_group_interface/move_group.h> 修改 #include <moveit/move_group_interface/move_group_interface.h>
3.修改moveit #include <moveit/move_group_interface/move_group_interface.h> instead of what you have, in CMakeLists.txt, mine included:
find_package(catkin REQUIRED COMPONENTS moveit_ros_planning_interface moveit_ros_move_group ) 4.gpd cmake .. -DCMAKE_BUILD_TYPE=DEBUG -DCMAKE_C_FLAGS_DEBUG="-g -O0" -DCMAKE_CXX_FLAGS_DEBUG="-g -O0" 5.https://github.com/atenpas/gpd_ros/issues/3 6.System: Ubuntu 18.04 ROS distro: Melodic Following the steps on the MoveIt! getting started page https://ros-planning.github.io/moveit_tutorials/doc/getting_started/getting_started.html. I received the error "error: 'tf' has not been declared" in the pick_place_tutorial.cpp file.
Following the advice at https://answers.ros.org/question/301306/error-tf-has-not-been-declared/ I was able to fix the error by adding "#include <tf/transform_broadcaster.h>" to pick_place_tutorial.cpp.
Please fix this for future users. 7.将.h文件的using namespace cv去掉，修改一下代码
.error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’ 这个错误怎么改？
.error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’ 这个错误怎么改？
问题已解决，一些关于gazobo的错误，可以参考这篇文章https://blog.csdn.net/weixin_44584250/article/details/108569842
请问universal_robot怎样才可以在ubuntu18.04下编译成功，我编译的时候报错说该声明已经被遗弃，感觉是因为对18.04不兼容造成的，或者universal_robot有对应于melodic版本的吗
问题已解决，虽然不知道什么原因，但多编译几次就成功了
我用的melodic，目前编译通过了，手眼标定加载不了rqt的标定插件，就略过了，直接做后面的，但是现在遇到了特别奇怪的问题，gazebo中加载不了banana，准确的说的加载进去但是看不到，因为点云数据可以看出香蕉确实存在，但肉眼看不到。请问有办法解决吗
在执行roslaunch robot_sim grasp_world.launch进行仿真环境抓取时，报错[Err] [SystemPaths.cc:429] File or path does not exist["/home/suyixiu/catkin_ws/src/robot_sim/experiment/grasp/urdf/meshes/banana.dae"]查找launch文件未发现任何一个指定了路径的launch，但仍保留作者的banana位置，请问在哪里修改
在执行roslaunch robot_sim grasp_world.launch进行仿真环境抓取时，报错[Err] [SystemPaths.cc:429] File or path does not exist["/home/suyixiu/catkin_ws/src/robot_sim/experiment/grasp/urdf/meshes/banana.dae"]查找launch文件未发现任何一个指定了路径的launch，但仍保留作者的banana位置，请问在哪里修改 首先在你的功能包中找到grasp.launch文件在里面找到加载的banana.urdf文件，或者sdf文件，把这个文件里包含的绝对路径/home/suyixiu/catkin_ws/src/robot_sim/experiment/grasp/urdf/meshes/banana.dae修改为你功能包所在的路径，即/home/你的名字/功能包名/src/robot_sim/experiment/grasp/urdf/meshes/banana.dae。你可以试试，改好后就不报错的，但是我的确看不到banana，但确实存在，不知道原因
我用的melodic，目前编译通过了，手眼标定加载不了rqt的标定插件，就略过了，直接做后面的，但是现在遇到了特别奇怪的问题，gazebo中加载不了banana，准确的说的加载进去但是看不到，因为点云数据可以看出香蕉确实存在，但肉眼看不到。请问有办法解决吗
模型看不到的问题我也遇到过，可以参考这个https://blog.csdn.net/qq_44642372/article/details/123935071
模型看不到的问题我也遇到过，可以参考这个https://blog.csdn.net/qq_44642372/article/details/123935071
感谢！
/home/zoufeng/sim/src/robot_sim-master/experiment/grasp/GPD_method/src/main.cpp:6:10: fatal error: gpd_ros/CloudIndexed.h: 没有那个文件或目录 #include <gpd_ros/CloudIndexed.h> ^~~~~~~~~~~~~~~~~~~~~~~~ 这个错误怎么解决呀？ 这个文件里有这个头文件，编译了还是错误
/home/zoufeng/sim/src/robot_sim-master/experiment/grasp/GPD_method/src/main.cpp:6:10: fatal error: gpd_ros/CloudIndexed.h: 没有那个文件或目录 #include <gpd_ros/CloudIndexed.h> ^~~~~~~~~~~~~~~~~~~~~~~~ 这个错误怎么解决呀？ 这个文件里有这个头文件，编译了还是错误
请问这个问题解决了吗？我目前也遇到相同的问题。
大佬，几何抓取的时候，遇到这种情况怎么解决，点击那个抓取按钮没有任何反应
请问您这个问题解决了吗，我也出现了相同的问题
已解决，更改package/yixiuge_ur10_moveit_config/config文件夹中dh_gripper.yaml文件里的 stopped_velocity_tolerance 这一个参数为0之后下面的两行warn消失，同时abort不再出现
ubuntu20.04catkin_make报错： template placeholder type ‘const Box<...auto...>’ must be followed by a simple declarator-id。 找到出问题的文件是gazebo_pkgs文件夹下的gazebo_version_helpers文件夹，目测可能是ubuntu版本不同导致的错误 解决：在https://github.com/JenniferBuehler/gazebo-pkgs下载master分支，然后用gazebo_pkgs文件夹整个替换掉原来的文件夹，不再报错
