《动手学Moveit2》3.安装Moveit2测试
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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
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@Karos 好的，我测试下，然后更新下文档。
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此回复已被删除！ -
此回复已被删除！ -
@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]
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@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
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@小鱼 好的鱼哥，感谢
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小 小鱼 在 中 引用了 这个主题
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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
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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。
