《动手学Moveit2》3.安装Moveit2测试

吨吨炖丸子

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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。

降维煎饼兔

小鱼老师，这是什么问题？以前从没出现过。

星河

@小鱼鱼哥，我的系统是ubuntu20.6，用你的一键安装，里面没有humble版本，只有rolling版本，咋回事

星河

在克隆moveit2_tutorials.repos的时候出现这么多错误，咋回事，鱼哥

星河

@1198927060
目前看到因为：https://ghproxy.com/的原因，不加这个就好了

星河

安装可以打开样例，但是打开官方的样例：ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true的时候报错：Package 'moveit2_tutorials' not found: "package 'moveit2_tutorials' not found, searching: ['/opt/ros/humble']"，咋回事，鱼哥

LZ

1615798592

![04L[BTPED46TOLO]VV%WCI.png

17835397830

colcon build --mixin release
Starting >>> geometric_shapes
Starting >>> moveit_msgs
Starting >>> moveit_common
Starting >>> moveit_resources_panda_description
Starting >>> launch_param_builder
Starting >>> moveit_resources_fanuc_description
Starting >>> moveit_resources_pr2_description
Starting >>> moveit_resources_prbt_support
Starting >>> rviz_visual_tools
--- stderr: geometric_shapes
CMake Error at CMakeLists.txt:54 (find_package):
By not providing "Findeigen_stl_containers.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"eigen_stl_containers", but CMake did not find one.

Could not find a package configuration file provided by
"eigen_stl_containers" with any of the following names:

eigen_stl_containersConfig.cmake
eigen_stl_containers-config.cmake

Add the installation prefix of "eigen_stl_containers" to CMAKE_PREFIX_PATH
or set "eigen_stl_containers_DIR" to a directory containing one of the
above files. If "eigen_stl_containers" provides a separate development
package or SDK, be sure it has been installed.

Failed <<< geometric_shapes [0.98s, exited with code 1]
Aborted <<< moveit_resources_panda_description [0.94s]
Aborted <<< moveit_common [0.95s]
Aborted <<< moveit_resources_fanuc_description [0.94s]
Aborted <<< moveit_resources_prbt_support [0.93s]
Aborted <<< moveit_resources_pr2_description [0.95s]
Aborted <<< moveit_msgs [1.14s]
Aborted <<< launch_param_builder [1.62s]
Aborted <<< rviz_visual_tools [2.55s]

Summary: 0 packages finished [3.77s]
1 package failed: geometric_shapes
8 packages aborted: launch_param_builder moveit_common moveit_msgs moveit_resources_fanuc_description moveit_resources_panda_description moveit_resources_pr2_description moveit_resources_prbt_support rviz_visual_tools
3 packages had stderr output: geometric_shapes moveit_msgs rviz_visual_tools
36 packages not processed
这个错误怎么处理，一堆依赖问题，手动安装也安装不了

3260005161

小鱼大佬，我第一步就安装不了怎么办，github一直连接不了

chenxz

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。