《动手学Moveit2》3.安装Moveit2测试

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？

小鱼

@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

空白

@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

Haha

此回复已被删除！

Karos

@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

小鱼

@Karos 好的，我测试下，然后更新下文档。

吨吨炖丸子

此回复已被删除！

吨吨炖丸子

此回复已被删除！

吨吨炖丸子

@小鱼不好意思鱼哥，我这段时间没上网站，刚看到，我下次会注意。我的系统是22.04,ros2版本是humble，我按照你新发布的安装方法安装成功了，但是在安装过程中出现了以下几处异常的地方，请问有没有影响，该怎么解决？

Starting >>> moveit_resources_pr2_description
--- stderr: launch_param_builder                                    
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
---
Finished <<< launch_param_builder [1.23s]


Starting >>> rosparam_shortcuts
--- stderr: moveit_configs_utils       
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
---
Finished <<< moveit_configs_utils [1.26s]

[Processing: moveit_setup_srdf_plugins]
--- stderr: moveit_setup_srdf_plugins                                          
/home/wadd/moveit2_ws/src/moveit2/moveit_setup_assistant/moveit_setup_srdf_plugins/include/moveit_setup_srdf_plugins/rotated_header_view.hpp:0: Note: No relevant classes found. No output generated.
---

Finished <<< moveit_setup_srdf_plugins [4min 5s]

小鱼

@吨吨炖丸子前两个 SetuptoolsDeprecationWarning 错误之前有发过解决方案，你可以再右上角搜一下。

@小鱼在 [常见问题]Colcon编译 Setuptools DeprecationWarning: setup.py install is deprecated. 中说：

该问题是使用Colcon编译Python功能包出现的。
--- stderr: example_parameters_rclpy
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
warnings.warn(

解决方案如下：
sudo pip install setuptools==58.2.0 --upgrade

至于另外一个错误应该也没关系，只是个warn。

另外下次可以新提一个帖子，这个楼盖的太高了，不好爬~哈

吨吨炖丸子

@小鱼好的鱼哥，感谢

吕树

小鱼如果要控制实际机械臂，但都是launch.py 文件我需要修改哪些东西

Dream's蓝袍

在配置助手生成的功能包里，config文件夹没有 ompl.ymal 的文件，是因为二进制安装的moveit2无法调用ompl库里的其他算法吗。