ros2使用colcon编译时，总是报错提示缺少一个包，安装完一个后还有另一个

2519105850

@小鱼确实是我版本号的问题，真是太厉害了！

我运行colon命令，然后提示只要下两个包，下第二个的时候报错了

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

报错内容

CMake Error at CMakeLists.txt:19 (find_package):
  By not providing "Findmoveit_visual_tools.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "moveit_visual_tools", but CMake did not find one.

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

    moveit_visual_toolsConfig.cmake
    moveit_visual_tools-config.cmake

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


---
Failed   <<< moveit2_tutorials [16.1s, exited with code 1]

Summary: 1 package finished [1min 24s]
  1 package failed: moveit2_tutorials
  1 package had stderr output: moveit2_tutorials

是因为我用二进制安装moveit2没成功吗？
运行的这个代码

sudo apt install ros-foxy-moveit
sudo apt install ros-foxy-joint-state-controller

这是结果（没报错吧）

zhong@ubuntu:~$ sudo apt install ros-foxy-moveit
[sudo] zhong 的密码： 
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
ros-foxy-moveit 已经是最新版 (2.2.3-1focal.20220209.173642)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 0 个软件包未被升级。
zhong@ubuntu:~$ sudo apt install ros-foxy-joint-state-controller
正在读取软件包列表... 完成
正在分析软件包的依赖关系树       
正在读取状态信息... 完成       
ros-foxy-joint-state-controller 已经是最新版 (0.7.0-1focal.20220223.161450)。
升级了 0 个软件包，新安装了 0 个软件包，要卸载 0 个软件包，有 0 个软件包未被升级。

然后我就在 https://moveit.ros.org/install-moveit2/source/ 上按照步骤运行

运行到下面这一步时报错了，但是我接着运行后面一步没有管它

zhong@ubuntu:~/ws_moveit2/src$ vcs import < moveit2/moveit2.repos

Command 'vcs' not found, but there are 15 similar ones.

当运行下面这个命令时，

colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

报了这个错误

--- stderr: moveit_planners_ompl
c++: fatal error: 已杀死 signal terminated program cc1plus
compilation terminated.
make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/build.make:284：ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/detail/constrained_sampler.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:187：ompl_interface/CMakeFiles/moveit_ompl_interface.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
---
Failed   <<< moveit_planners_ompl [6min 9s, exited with code 2]
Aborted  <<< moveit_ros_move_group [5min 26s]

Summary: 14 packages finished [8min 33s]
  1 package failed: moveit_planners_ompl
  1 package aborted: moveit_ros_move_group
  1 package had stderr output: moveit_planners_ompl
  10 packages not processed

小鱼

@2519105850 在 ros2使用colcon编译时，总是报错提示缺少一个包，安装完一个后还有另一个中说：

Command 'vcs' not found, but there are 15 similar ones.

你去看一下我的教程，你这个连vcs都没装怎么用

2519105850

@小鱼我现在发现好像是我rosdepc这一步错了导致 colcon错误


rosdepc install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

运行这一步时报了 moveit_visual_tools 相关的错误（之前几次没显示这个错误）

ERROR: the following packages/stacks could not have their rosdepc keys resolved
to system dependencies:
moveit2_tutorials: Cannot locate rosdep definition for [moveit_visual_tools]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

之前就只有成功那句

另外运行这句指令时，报了这个错误


git reset 59cf8c49bb309e2bb7f06e295f87efa36f8bb506 --hard

fatal: 不能解析对象 '59cf8c49bb309e2bb7f06e295f87efa36f8bb506'。

小鱼

@2519105850 在 ros2使用colcon编译时，总是报错提示缺少一个包，安装完一个后还有另一个中说：

moveit_visual_tools

rosdep这个没关系，手动下载一下到src下

git clone https://github.com/ros-planning/moveit_visual_tools.git -b foxy

2519105850

@小鱼感觉又和之前那样

src目录下了moveit_visual_tools包后，再运行下面这个代码

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

提示我graph这个包没有，在 https://github.com/PickNikRobotics/graph_msgs.git 上下载包到src目录下再运行 colcon命令

然后提示缺少catkin

--- stderr: graph_msgs                                         
CMake Error at CMakeLists.txt:7 (find_package):
  By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "catkin", but
  CMake did not find one.

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

    catkinConfig.cmake
    catkin-config.cmake

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

我在 https://index.ros.org/ 搜索 cakin 也没找到foxy下的包，catkin也是ros1的包吧？

小鱼

@2519105850 应该是的，你的代码到底哪来的

2519105850

@小鱼我开始使用的是Ubuntu18.04，然后换了20.04，就按照公众号的这篇文章
https://mp.weixin.qq.com/s/yfMKYtRpRF6xF2PjtGSFzg
（应该是一步步执行的）

会不会是下载ros2的时候一些包没下上，一些需要的包没配置？我同时下了rosfoxy ， noetic，前面由于我打开终端选择的是noetic然后跟着文章执行的时候colcon报了缺少各种包的错；后面我就把moveit2的那个包全删了，打开终端时选择foxy，运行到colcon时显示
[1/2 complete] (我以为这就要成功了，结果显示没那个tool ）

小鱼

@2519105850 你可能下载的某个包并没有切换分支，还在ros上，比如你这个graph_msgs

2519105850

@小鱼我选择了foxy这个后那个终端就没有关了，一直接着后面操作的

我再把这个moveit2包删了，运行一步关闭一个终端选择一次foxy，但愿不报错，报错能解决也行

2519105850

@小鱼您好，我使用

sudo apt-get purge ros-*
sudo apt-get autoremove

卸载foxy 和 neotic
为什么打开终端还有提示让我选择呢，是我没卸载干净吗

安装foxy感觉也没成功

小鱼

@2519105850 在 ros2使用colcon编译时，总是报错提示缺少一个包，安装完一个后还有另一个中说：

卸载foxy 和 neotic
为什么打开终端还有提示让我选择呢，是我没卸载干净吗

卸载干净了，配置没有清除罢了，你先用一键安装继续装，一键安装会帮你配置好的

@小鱼在小鱼的一键安装系列中说：

一键安装指令
wget http://fishros.com/install -O fishros && . fishros

2519105850

@小鱼我从安装foxy开始从头来了一遍，到这个colcon命令这里还是过不去

zhong@ubuntu:~/moveit2/src$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
Starting >>> rviz_visual_tools
Finished <<< rviz_visual_tools [1.43s]                     
Starting >>> moveit_visual_tools
--- stderr: moveit_visual_tools                         
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findcatkin.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "catkin", but
  CMake did not find one.

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

    catkinConfig.cmake
    catkin-config.cmake

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


---
Failed   <<< moveit_visual_tools [1.10s, exited with code 1]

Summary: 1 package finished [3.01s]
  1 package failed: moveit_visual_tools
  1 package had stderr output: moveit_visual_tools
  1 package not processed

小鱼

@2519105850 建议你再等等吧，moveit2太不完善了，我后面会出一期教程讲的。

2519105850

@小鱼好的，感谢感谢