《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

[2630685712]

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

[809585871]

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。

[1198927060]

@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

[1198927060]

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

[1198927060]

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

[1198927060]

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

[750862139]

[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。

[2838896053]

@小鱼 鱼哥这是这是内存不足导致的吗

[wuyanzu]

@2838896053 https://clinux.blog.csdn.net/article/details/153775565?spm=1001.2101.3001.6650.4&utm_medium=distribute.pc_relevant.none-task-blog-2~default~YuanLiJiHua~Position-4-153775565-blog-149640781.235^v43^pc_blog_bottom_relevance_base7&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2~default~YuanLiJiHua~Position-4-153775565-blog-149640781.235^v43^pc_blog_bottom_relevance_base7&utm_relevant_index=9试试这个

[2731464075]

[INFO] [launch]: All log files can be found below /home/fjh/.ros/log/2025-12-13-22-49-13-668920-fjh-53674
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [moveit_setup_assistant-1]: process started with pid [53676]
[moveit_setup_assistant-1] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[moveit_setup_assistant-1] [INFO] [1765637363.561557471] [moveit_setup_assistant.urdf]: Loaded ur5e_gripper robot model.
[moveit_setup_assistant-1] [INFO] [1765637363.561725832] [moveit_robot_model.robot_model]: Loading robot model 'ur5e_gripper'...
[moveit_setup_assistant-1] [INFO] [1765637363.561744819] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [INFO] [1765637366.201287180] [moveit_setup_assistant.urdf]: Loaded ur5e_gripper robot model.
[moveit_setup_assistant-1] [INFO] [1765637366.201349086] [moveit_robot_model.robot_model]: Loading robot model 'ur5e_gripper'...
[moveit_setup_assistant-1] [INFO] [1765637366.201365584] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [INFO] [1765637366.415226604] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00154965 seconds
[moveit_setup_assistant-1] [INFO] [1765637366.415244828] [moveit_robot_model.robot_model]: Loading robot model 'ur5e_gripper'...
[moveit_setup_assistant-1] [INFO] [1765637366.415248651] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [rviz_common:error] The link robotiq_85_left_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[moveit_setup_assistant-1] , at ./src/rviz_default_plugins/robot/robot_link.cpp:890
[moveit_setup_assistant-1] [rviz_common:error] The link robotiq_85_right_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[moveit_setup_assistant-1] , at ./src/rviz_default_plugins/robot/robot_link.cpp:890
[moveit_setup_assistant-1] [INFO] [1765637366.760641963] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00167839 seconds
[moveit_setup_assistant-1] [INFO] [1765637366.760658039] [moveit_robot_model.robot_model]: Loading robot model 'ur5e_gripper'...
[moveit_setup_assistant-1] [INFO] [1765637366.760661861] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[moveit_setup_assistant-1] [rviz_common:error] The link robotiq_85_left_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[moveit_setup_assistant-1] , at ./src/rviz_default_plugins/robot/robot_link.cpp:890
[moveit_setup_assistant-1] [rviz_common:error] The link robotiq_85_right_knuckle_link is has unrealistic inertia, so the equivalent inertia box will not be shown.
[moveit_setup_assistant-1] , at ./src/rviz_default_plugins/robot/robot_link.cpp:890
[moveit_setup_assistant-1] Stack trace (most recent call last):
[moveit_setup_assistant-1] #31 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e69762b7, in
[moveit_setup_assistant-1] #30 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e6920d3a, in g_main_context_dispatch
[moveit_setup_assistant-1] #29 Object "/usr/lib/x86_64-linux-gnu/libQt5XcbQpa.so.5.15.3", at 0x7682dc171d6d, in
[moveit_setup_assistant-1] #28 Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.3", at 0x7682e8516a2b, in QWindowSystemInterface::sendWindowSystemEvents(QFlagsQEventLoop::ProcessEventsFlag)
[moveit_setup_assistant-1] #27 Object "/usr/lib/x86_64-linux-gnu/libQt5Gui.so.5.15.3", at 0x7682e8541306, in QGuiApplicationPrivate::processMouseEvent(QWindowSystemInterfacePrivate::MouseEvent*)
[moveit_setup_assistant-1] #26 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80b9e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #25 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d6c712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #24 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8dcbfd4, in
[moveit_setup_assistant-1] #23 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8dc8d3f, in
[moveit_setup_assistant-1] #22 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d72e46, in QApplicationPrivate::sendMouseEvent(QWidget*, QMouseEvent*, QWidget*, QWidget*, QWidget**, QPointer<QWidget>&, bool, bool)
[moveit_setup_assistant-1] #21 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80b9e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #20 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d74363, in QApplication::notify(QObject*, QEvent*)
[moveit_setup_assistant-1] #19 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d6c712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #18 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8daf4ed, in QWidget::event(QEvent*)
[moveit_setup_assistant-1] #17 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8e641e6, in QAbstractButton::mouseReleaseEvent(QMouseEvent*)
[moveit_setup_assistant-1] #16 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8e63fc3, in
[moveit_setup_assistant-1] #15 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8e6239d, in
[moveit_setup_assistant-1] #14 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8e62115, in QAbstractButton::clicked(bool)
[moveit_setup_assistant-1] #13 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80f17c7, in
[moveit_setup_assistant-1] #12 Object "/home/fjh/moveit2_ws/install/moveit_setup_core_plugins/lib/libmoveit_setup_core_plugins.so", at 0x7682c63dd9c9, in moveit_setup::core::StartScreenWidget::loadFilesClick()
[moveit_setup_assistant-1] #11 Object "/home/fjh/moveit2_ws/install/moveit_setup_core_plugins/lib/libmoveit_setup_core_plugins.so", at 0x7682c63dd45c, in moveit_setup::core::StartScreenWidget::loadNewFiles()
[moveit_setup_assistant-1] #10 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e8113111, in QEventDispatcherGlib::processEvents(QFlagsQEventLoop::ProcessEventsFlag)
[moveit_setup_assistant-1] #9 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e691e3e2, in g_main_context_iteration
[moveit_setup_assistant-1] #8 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e69762b7, in
[moveit_setup_assistant-1] #7 Object "/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.7200.4", at 0x7682e6920d3a, in g_main_context_dispatch
[moveit_setup_assistant-1] #6 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e8113a66, in
[moveit_setup_assistant-1] #5 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80bcf26, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
[moveit_setup_assistant-1] #4 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80b9e39, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
[moveit_setup_assistant-1] #3 Object "/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.15.3", at 0x7682e8d6c712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
[moveit_setup_assistant-1] #2 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80e741d, in QObject::event(QEvent*)
[moveit_setup_assistant-1] #1 Object "/opt/ros/humble/lib/librviz_common.so", at 0x7682e971db12, in rviz_common::properties::PropertyTreeModel::propertyHiddenChanged(rviz_common::properties::Property const*)
[moveit_setup_assistant-1] #0 Object "/usr/lib/x86_64-linux-gnu/libQt5Core.so.5.15.3", at 0x7682e80f12a8, in
[moveit_setup_assistant-1] 段错误 (地址没有映射到对象 [0x100000025])
[ERROR] [moveit_setup_assistant-1]: process has died [pid 53676, exit code -11, cmd '/home/fjh/moveit2_ws/install/moveit_setup_assistant/lib/moveit_setup_assistant/moveit_setup_assistant --ros-args'].