《动手学Moveit2》3.安装Moveit2测试

LittleMING

# >>> fishros initialize >>>
 source /opt/ros/humble/setup.bash 
# <<< fishros initialize <<<

这是sudo gedit ~/.bashrc里面的内容，应该已经source了

小鱼

@LittleMING 看起来是的，目前我也没办法定位出问题，建议你用一下一键安装ROS+Docker创建一个Docker下的ROS2环境，测试没问题后再想办法解决你的系统问题。

目前看你给到的错误信息，定位不出具体问题，看不出来哪些包找不到。

LittleMING

@小鱼你试过在双系统直接安装ros humble吗，还是一直在docker

小鱼

@LittleMING 我写教程就是双系统下直接装的，应该是你的一些前置操作造成的。

阿政在路上

请问，我是在源码编译安装最后colcon build 出现了问题，在编译的过程中会卡顿然后终端就闪退了，尝试了增大内存和处理器数量，但是还是没解决，请问有其他的办法吗？

小鱼

@阿政在路上在 Colcon编译导致系统卡死问题|CPU100% 或内存 100% 中说：

六核十二线程处理器，使用从哦啦从编译一个比较大的工作空间导致系统卡死。
解决办法，限制并行使用的线程数量，比如用6个。
colcon build --parallel-workers 6

上面的方案在功能包多的空间内存还会爆掉，还有一个办法，那就是不用并行的了（亲测有效）。
colcon build --executor sequential

阿政在路上

@小鱼好的，谢谢您，我一会试一下

阿政在路上

@小鱼尝试了，还是闪退了

小鱼

@阿政在路上你用的什么环境，系统版本，ros2版本，是否使用容器

阿政在路上

@小鱼 Ubuntu22.04，ros是humble，没有装容器

小鱼

@阿政在路上虚拟机还是双系统鸭，直接闪退可真烦，你把指令后面加上一个&放后台执行试试

阿政在路上

@小鱼虚拟机的

笨笨洋

虚拟机安装Ubuntu22.04系统，安装ROS2 humble，在安装Moveit2 时，编译源码colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release，最后编译结果显示：

1 package had stderr output: moveit_configs_utils

这个怎么处理!

小鱼

@笨笨洋这个没关系,不用管,不应影响

吨吨炖丸子

鱼哥，这种问题你遇到过没

--- stderr: moveit_ros_planning                                            
In file included from /home/wadd/moveit2_ws/src/moveit2/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h:42,
                 from /home/wadd/moveit2_ws/src/moveit2/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp:37:
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp: In member function ‘rcl_interfaces::msg::SetParametersResult kinematics::ParamListener::update(const std::vector<rclcpp::Parameter>&)’:
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:100:59: error: ‘gt_eq’ is not a member of ‘parameter_traits’
  100 |             if(auto validation_result = parameter_traits::gt_eq<double>(param, 0.0);
      |                                                           ^~~~~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:100:65: error: expected primary-expression before ‘double’
  100 |         if(auto validation_result = parameter_traits::gt_eq<double>(param, 0.0);
      |                                                             ^~~~~~

/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:107:59: error: ‘gt’ is not a member of ‘parameter_traits’
  107 |             if(auto validation_result = parameter_traits::gt<double>(param, 0.0);
      |                                                           ^~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:107:62: error: expected primary-expression before ‘double’
  107 |            if(auto validation_result = parameter_traits::gt<double>(param, 0.0);
      |                                                             ^~~~~~

/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp: In member function ‘void kinematics::ParamListener::declare_params()’:
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:153:53: error: ‘gt_eq’ is not a member of ‘parameter_traits’
  153 |       if(auto validation_result = parameter_traits::gt_eq<double>(param, 0.0);
      |                                                     ^~~~~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:153:59: error: expected primary-expression before ‘double’
  153 |       if(auto validation_result = parameter_traits::gt_eq<double>(param, 0.0);
      |                                                           ^~~~~~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:159:53: error: ‘gt’ is not a member of ‘parameter_traits’
  159 |       if(auto validation_result = parameter_traits::gt<double>(param, 0.0);
      |                                                     ^~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:159:56: error: expected primary-expression before ‘double’
  159 |       if(auto validation_result = parameter_traits::gt<double>(param, 0.0);
      |                                                        ^~~~~~
gmake[2]: *** [kinematics_plugin_loader/CMakeFiles/moveit_kinematics_plugin_loader.dir/build.make:76：kinematics_plugin_loader/CMakeFiles/moveit_kinematics_plugin_loader.dir/src/kinematics_plugin_loader.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:460：kinematics_plugin_loader/CMakeFiles/moveit_kinematics_plugin_loader.dir/all] 错误 2
gmake[1]: *** 正在等待未完成的任务....
gmake: *** [Makefile:146：all] 错误 2
---
Failed   <<< moveit_ros_planning [2min 3s, exited with code 2]

Summary: 13 packages finished [11min 29s]
  1 package failed: moveit_ros_planning
  2 packages had stderr output: moveit_configs_utils moveit_ros_planning
  24 packages not processed

小鱼

@吨吨炖丸子你的系统版本是？

@小鱼在提问前必看！一定要看！必须看一下！中说：

尽量提供更多的信息

孤缘

@吨吨炖丸子在《动手学Moveit2》3.安装Moveit2 中说：

鱼哥，这种问题你遇到过没

--- stderr: moveit_ros_planning                                            
In file included from /home/wadd/moveit2_ws/src/moveit2/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h:42,
                 from /home/wadd/moveit2_ws/src/moveit2/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp:37:
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp: In member function ‘rcl_interfaces::msg::SetParametersResult kinematics::ParamListener::update(const std::vector<rclcpp::Parameter>&)’:
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:100:59: error: ‘gt_eq’ is not a member of ‘parameter_traits’
  100 |             if(auto validation_result = parameter_traits::gt_eq<double>(param, 0.0);
      |                                                           ^~~~~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:100:65: error: expected primary-expression before ‘double’
  100 |         if(auto validation_result = parameter_traits::gt_eq<double>(param, 0.0);
      |                                                             ^~~~~~

/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:107:59: error: ‘gt’ is not a member of ‘parameter_traits’
  107 |             if(auto validation_result = parameter_traits::gt<double>(param, 0.0);
      |                                                           ^~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:107:62: error: expected primary-expression before ‘double’
  107 |            if(auto validation_result = parameter_traits::gt<double>(param, 0.0);
      |                                                             ^~~~~~

/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp: In member function ‘void kinematics::ParamListener::declare_params()’:
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:153:53: error: ‘gt_eq’ is not a member of ‘parameter_traits’
  153 |       if(auto validation_result = parameter_traits::gt_eq<double>(param, 0.0);
      |                                                     ^~~~~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:153:59: error: expected primary-expression before ‘double’
  153 |       if(auto validation_result = parameter_traits::gt_eq<double>(param, 0.0);
      |                                                           ^~~~~~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:159:53: error: ‘gt’ is not a member of ‘parameter_traits’
  159 |       if(auto validation_result = parameter_traits::gt<double>(param, 0.0);
      |                                                     ^~
/home/wadd/moveit2_ws/build/moveit_ros_planning/kinematics_plugin_loader/kinematics_parameters/include/kinematics_parameters.hpp:159:56: error: expected primary-expression before ‘double’
  159 |       if(auto validation_result = parameter_traits::gt<double>(param, 0.0);
      |                                                        ^~~~~~
gmake[2]: *** [kinematics_plugin_loader/CMakeFiles/moveit_kinematics_plugin_loader.dir/build.make:76：kinematics_plugin_loader/CMakeFiles/moveit_kinematics_plugin_loader.dir/src/kinematics_plugin_loader.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:460：kinematics_plugin_loader/CMakeFiles/moveit_kinematics_plugin_loader.dir/all] 错误 2
gmake[1]: *** 正在等待未完成的任务....
gmake: *** [Makefile:146：all] 错误 2
---
Failed   <<< moveit_ros_planning [2min 3s, exited with code 2]

Summary: 13 packages finished [11min 29s]
  1 package failed: moveit_ros_planning
  2 packages had stderr output: moveit_configs_utils moveit_ros_planning
  24 packages not processed

我也遇到了同样的错误，我是在 ros:humble-ros-base-jammy 的官方docker容器里跑的

小鱼

@1522346936 将Moveit源码切换到2.5.3 tag试试，应该是跟ros2api相关，你把容器里的ros2版本也更新一下

Haha

@小鱼鱼哥我也是一样的报错，可以具体说一下怎么解决吗，感谢！

孤缘

@小鱼 ros2需要更新到哪个版本，最新版本不就是humble吗？