《动手学Moveit2》3.安装Moveit2测试
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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？
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@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 -
@小鱼 好的，谢谢您，我一会试一下
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@小鱼 尝试了 ，还是闪退了
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@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
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@小鱼 Ubuntu22.04，ros是humble，没有装容器
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@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
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@小鱼 虚拟机的
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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!
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@笨笨洋 这个没关系,不用管,不应影响
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Y young 在 中固定了该主题
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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 -
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@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 -
@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
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@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！
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@小鱼 ros2需要更新到哪个版本，最新版本不就是humble吗？
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@1522346936 相同版本但某个包的api接口不一定不变，小版本还是在更新，humble只是一个维护的大版本代称
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@小鱼 鱼哥我也遇到了一样的问题，版本是双系统ubuntu22.04 humble，完全按照步骤来的，然后最后一步出现了一模一样的问题
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@小鱼 https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html 鱼哥看看这个，好像是因为多了一个vcstool的安装，我按照这个来的很顺利
