《动手学Moveit2》3.安装Moveit2测试
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小鱼大佬，我第一步就安装不了怎么办，github一直连接不了
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鱼哥，求教一个问题。如果只计算一个串联机械臂的逆解，MOVEIT能在ROS2的程序中通过调用函数或者接口的方式，发送目标位置并获取逆解嘛，或者还有什么其他的方法嘞。
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@小鱼
鱼哥这是这是内存不足导致的吗 -
@2838896053 https://clinux.blog.csdn.net/article/details/153775565?spm=1001.2101.3001.6650.4&utm_medium=distribute.pc_relevant.none-task-blog-2~default~YuanLiJiHua~Position-4-153775565-blog-149640781.235^v43^pc_blog_bottom_relevance_base7&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2~default~YuanLiJiHua~Position-4-153775565-blog-149640781.235^v43^pc_blog_bottom_relevance_base7&utm_relevant_index=9试试这个
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[INFO] [launch]: All log files can be found below /home/fjh/.ros/log/2025-12-13-22-49-13-668920-fjh-53674
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [moveit_setup_assistant-1]: process started with pid [53676]
[moveit_setup_assistant-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[moveit_setup_assistant-1] [INFO] [1765637363.561557471] [moveit_setup_assistant.urdf]: Loaded ur5e_gripper robot model.
[moveit_setup_assistant-1] [INFO] [1765637363.561725832] [moveit_robot_model.robot_model]: Loading robot model 'ur5e_gripper'...
[moveit_setup_assistant-1] [INFO] [1765637363.561744819] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [INFO] [1765637366.201287180] [moveit_setup_assistant.urdf]: Loaded ur5e_gripper robot model.
[moveit_setup_assistant-1] [INFO] [1765637366.201349086] [moveit_robot_model.robot_model]: Loading robot model 'ur5e_gripper'...
[moveit_setup_assistant-1] [INFO] [1765637366.201365584] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [INFO] [1765637366.415226604] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00154965 seconds
[moveit_setup_assistant-1] [INFO] [1765637366.415244828] [moveit_robot_model.robot_model]: Loading robot model 'ur5e_gripper'...
[moveit_setup_assistant-1] [INFO] [1765637366.415248651] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [rviz_common:error] The link robotiq_85_left_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[moveit_setup_assistant-1] , at ./src/rviz_default_plugins/robot/robot_link.cpp:890
[moveit_setup_assistant-1] [rviz_common:error] The link robotiq_85_right_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[moveit_setup_assistant-1] , at ./src/rviz_default_plugins/robot/robot_link.cpp:890
[moveit_setup_assistant-1] [INFO] [1765637366.760641963] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00167839 seconds
[moveit_setup_assistant-1] [INFO] [1765637366.760658039] [moveit_robot_model.robot_model]: Loading robot model 'ur5e_gripper'...
[moveit_setup_assistant-1] [INFO] [1765637366.760661861] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [rviz_common:error] The link robotiq_85_left_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[moveit_setup_assistant-1] , at ./src/rviz_default_plugins/robot/robot_link.cpp:890
[moveit_setup_assistant-1] [rviz_common:error] The link robotiq_85_right_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[moveit_setup_assistant-1] , at ./src/rviz_default_plugins/robot/robot_link.cpp:890
[moveit_setup_assistant-1] Stack trace (most recent call last):
[moveit_setup_assistant-1] #31 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e69762b7, in
[moveit_setup_assistant-1] #30 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e6920d3a, in g_main_context_dispatch
[moveit_setup_assistant-1] #29 Object "/usr/lib/x86_64-linux-gnu/libQt5XcbQpa.so.5.15.3", at 0x7682dc171d6d, in
[moveit_setup_assistant-1] #28 Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.3", at 0x7682e8516a2b, in QWindowSystemInterface::sendWindowSystemEvents(QFlagsQEventLoop::ProcessEventsFlag)
[moveit_setup_assistant-1] #27 Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.3", at 0x7682e8541306, in QGuiApplicationPrivate::processMouseEvent(QWindowSystemInterfacePrivate::MouseEvent*)
[moveit_setup_assistant-1] #26 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80b9e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #25 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d6c712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #24 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8dcbfd4, in
[moveit_setup_assistant-1] #23 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8dc8d3f, in
[moveit_setup_assistant-1] #22 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d72e46, in QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer<QWidget>&, bool, bool)
[moveit_setup_assistant-1] #21 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80b9e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #20 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d74363, in QApplication::notify(QObject*, QEvent*)
[moveit_setup_assistant-1] #19 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d6c712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #18 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8daf4ed, in QWidget::event(QEvent*)
[moveit_setup_assistant-1] #17 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8e641e6, in QAbstractButton::mouseReleaseEvent(QMouseEvent*)
[moveit_setup_assistant-1] #16 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8e63fc3, in
[moveit_setup_assistant-1] #15 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8e6239d, in
[moveit_setup_assistant-1] #14 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8e62115, in QAbstractButton::clicked(bool)
[moveit_setup_assistant-1] #13 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80f17c7, in
[moveit_setup_assistant-1] #12 Object "/home/fjh/moveit2_ws/install/moveit_setup_core_plugins/lib/libmoveit_setup_core_plugins.so", at 0x7682c63dd9c9, in moveit_setup::core::StartScreenWidget::loadFilesClick()
[moveit_setup_assistant-1] #11 Object "/home/fjh/moveit2_ws/install/moveit_setup_core_plugins/lib/libmoveit_setup_core_plugins.so", at 0x7682c63dd45c, in moveit_setup::core::StartScreenWidget::loadNewFiles()
[moveit_setup_assistant-1] #10 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e8113111, in QEventDispatcherGlib::processEvents(QFlagsQEventLoop::ProcessEventsFlag)
[moveit_setup_assistant-1] #9 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e691e3e2, in g_main_context_iteration
[moveit_setup_assistant-1] #8 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e69762b7, in
[moveit_setup_assistant-1] #7 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e6920d3a, in g_main_context_dispatch
[moveit_setup_assistant-1] #6 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e8113a66, in
[moveit_setup_assistant-1] #5 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80bcf26, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
[moveit_setup_assistant-1] #4 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80b9e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #3 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d6c712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #2 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80e741d, in QObject::event(QEvent*)
[moveit_setup_assistant-1] #1 Object "/opt/ros/humble/lib/librviz_common.so", at 0x7682e971db12, in rviz_common::properties::PropertyTreeModel::propertyHiddenChanged(rviz_common::properties::Property const*)
[moveit_setup_assistant-1] #0 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80f12a8, in
[moveit_setup_assistant-1] 段错误 (地址没有映射到对象 [0x100000025])
[ERROR] [moveit_setup_assistant-1]: process has died [pid 53676, exit code -11, cmd '/home/fjh/moveit2_ws/install/moveit_setup_assistant/lib/moveit_setup_assistant/moveit_setup_assistant --ros-args']. -
collect2: error: ld returned 1 exit status
gmake[2]: *** [ompl_interface/CMakeFiles/test_constrained_planning_state_space.dir/build.make:343：ompl_interface/test_constrained_planning_state_space] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:350：ompl_interface/CMakeFiles/test_constrained_planning_state_space.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2Failed <<< moveit_planners_ompl [0.81s, exited with code 2]
Summary: 26 packages finished [7.08s]
1 package failed: moveit_planners_ompl
1 package had stderr output: moveit_planners_ompl
29 packages not processed
显示ompl包没有办法编译怎么办 -
@LittleMING 你好你解决了吗？我今天也是编译出问题，我是编译卡死，终端闪退，是电脑内存太小吗？我8g，swap10g
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你好请问一下这种错误是版本不匹配的原因吗？ --- stderr: robotiq_controllers
/home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp: In member function ‘bool robotiq_controllers::RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger_Request_<std::allocator<void> >::SharedPtr, std_srvs::srv::Trigger_Response_<std::allocator<void> >::SharedPtr)’:
/home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp:108:77: error: void value not ignored as it ought to be
108 | resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp:109:73: error: void value not ignored as it ought to be
109 | resp->success &= command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp:113:79: error: ‘__gnu_cxx::_alloc_traits<std::allocator<hardware_interface::LoanedCommandInterface>, hardware_interface::LoanedCommandInterface>::value_type’ {aka ‘class hardware_interface::LoanedCommandInterface’} has no member named ‘get_optional’
113 | const auto maybe_value = command_interfaces[REACTIVATE_GRIPPER_RESPONSE].get_optional();
| ^
/home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp:122:87: error: ‘__gnu_cxx::_alloc_traits<std::allocator<hardware_interface::LoanedCommandInterface>, hardware_interface::LoanedCommandInterface>::value_type’ {aka ‘class hardware_interface::LoanedCommandInterface’} has no member named ‘get_optional’
122 | resp->success &= static_cast<bool>(command_interfaces[REACTIVATE_GRIPPER_RESPONSE].get_optional().value_or(false));
| ^
gmake[2]: *** [CMakeFiles/robotiq_controllers.dir/build.make:76：CMakeFiles/robotiq_controllers.dir/src/robotiq_activation_controller.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/robotiq_controllers.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2Failed <<< robotiq_controllers [7.22s, exited with code 2]
Aborted <<< robotiq_driver [6.43s]
Aborted <<< moveit_msgs [1min 45s]
Aborted <<< kortex_driver [4min 38s]Summary: 16 packages finished [4min 40s]
1 package failed: robotiq_controllers
3 packages aborted: kortex_driver moveit_msgs robotiq_driver
3 packages had stderr output: robotiq_controllers robotiq_driver rviz_marker_tools
50 packages not processedcode_text -
这个怎么办 -
@LittleMING 我也是，不知道怎么搞了