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    《动手学Moveit2》3.安装Moveit2测试

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    动手学moveit2 moveit2教程
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    • 26306857122
      吕树
      最后由 编辑

      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

      1 条回复 最后回复 回复 引用 0
      • 8095858718
        Dream's蓝袍
        最后由 编辑

        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。

        1 条回复 最后回复 回复 引用 2
        • 降维煎饼兔降
          降维煎饼兔
          最后由 编辑

          1635b45b-616c-4853-ad6c-1b9d78902381-image.png
          小鱼老师，这是什么问题？以前从没出现过。

          1 条回复 最后回复 回复 引用 0
          • 11989270601
            星河 @小鱼
            最后由 编辑

            @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

            1 条回复 最后回复 回复 引用 0
            • 11989270601
              星河
              最后由 编辑

              a5b5639e-52dd-4aaf-8c38-13192bc0e614-image.png
              在克隆moveit2_tutorials.repos的时候出现这么多错误，咋回事，鱼哥

              11989270601 1 条回复 最后回复 回复 引用 0
              • 11989270601
                星河 @1198927060
                最后由 编辑

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

                1 条回复 最后回复 回复 引用 0
                • 11989270601
                  星河
                  最后由 编辑

                  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

                  1 条回复 最后回复 回复 引用 0
                  • 7508621397
                    LZ
                    最后由 编辑

                    替代文字8dd86648-7287-43fc-bb7c-18eaf9b6f0e7-报错1.png

                    1 条回复 最后回复 回复 引用 0
                    • 1
                      1615798592
                      最后由 编辑

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

                      1 条回复 最后回复 回复 引用 0
                      • 1
                        17835397830
                        最后由 编辑

                        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

                        1 条回复 最后回复 回复 引用 0
                        • 3
                          3260005161
                          最后由 编辑

                          小鱼大佬，我第一步就安装不了怎么办，github一直连接不了

                          1 条回复 最后回复 回复 引用 0
                          • C
                            chenxz
                            最后由 编辑

                            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。

                            1 条回复 最后回复 回复 引用 0
                            • 2
                              2838896053 @小鱼
                              最后由 编辑

                              @小鱼 3d313028-a377-42a9-ba00-dbc783ae6d1c-image.png 鱼哥这是这是内存不足导致的吗

                              W 1 条回复 最后回复 回复 引用 0
                              • W
                                wuyanzu @2838896053
                                最后由 编辑

                                @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

                                1 条回复 最后回复 回复 引用 0
                                • 2
                                  2731464075
                                  最后由 编辑

                                  [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'].

                                  1 条回复 最后回复 回复 引用 0
                                  • 2
                                    2273221287
                                    最后由 编辑

                                    collect2: error: ld returned 1 exit status
                                    gmake[2]: *** [ompl_interface/CMakeFiles/test_constrained_planning_state_space.dir/build.make:343：ompl_interface/test_constrained_planning_state_space] 错误 1
                                    gmake[1]: *** [CMakeFiles/Makefile2:350：ompl_interface/CMakeFiles/test_constrained_planning_state_space.dir/all] 错误 2
                                    gmake: *** [Makefile:146：all] 错误 2

                                    Failed <<< moveit_planners_ompl [0.81s, exited with code 2]

                                    Summary: 26 packages finished [7.08s]
                                    1 package failed: moveit_planners_ompl
                                    1 package had stderr output: moveit_planners_ompl
                                    29 packages not processed
                                    显示ompl包没有办法编译怎么办

                                    1 条回复 最后回复 回复 引用 0
                                    • J
                                      Jamezwer @LittleMING
                                      最后由 编辑

                                      @LittleMING 你好你解决了吗？我今天也是编译出问题，我是编译卡死，终端闪退，是电脑内存太小吗？我8g，swap10g

                                      1 条回复 最后回复 回复 引用 0
                                      • Z
                                        zawdaw
                                        最后由 编辑

                                        你好请问一下这种错误是版本不匹配的原因吗？ --- stderr: robotiq_controllers
                                        /home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp: In member function ‘bool robotiq_controllers::RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger_Request_<std::allocator<void> >::SharedPtr, std_srvs::srv::Trigger_Response_<std::allocator<void> >::SharedPtr)’:
                                        /home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp:108:77: error: void value not ignored as it ought to be
                                        108 | resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
                                        | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
                                        /home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp:109:73: error: void value not ignored as it ought to be
                                        109 | resp->success &= command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
                                        | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
                                        /home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp:113:79: error: ‘__gnu_cxx::_alloc_traits<std::allocator<hardware_interface::LoanedCommandInterface>, hardware_interface::LoanedCommandInterface>::value_type’ {aka ‘class hardware_interface::LoanedCommandInterface’} has no member named ‘get_optional’
                                        113 | const auto maybe_value = command_interfaces                                        [REACTIVATE_GRIPPER_RESPONSE].get_optional();
                                        | ^                                        ~
                                        /home/zwt/ros2/moveit_ws/src/ros2_robotiq_gripper/robotiq_controllers/src/robotiq_activation_controller.cpp:122:87: error: ‘__gnu_cxx::_alloc_traits<std::allocator<hardware_interface::LoanedCommandInterface>, hardware_interface::LoanedCommandInterface>::value_type’ {aka ‘class hardware_interface::LoanedCommandInterface’} has no member named ‘get_optional’
                                        122 | resp->success &= static_cast<bool>(command_interfaces                                        [REACTIVATE_GRIPPER_RESPONSE].get_optional().value_or(false));
                                        | ^                                        ~
                                        gmake[2]: *** [CMakeFiles/robotiq_controllers.dir/build.make:76：CMakeFiles/robotiq_controllers.dir/src/robotiq_activation_controller.cpp.o] 错误 1
                                        gmake[1]: *** [CMakeFiles/Makefile2:137：CMakeFiles/robotiq_controllers.dir/all] 错误 2
                                        gmake: *** [Makefile:146：all] 错误 2

                                        Failed <<< robotiq_controllers [7.22s, exited with code 2]
                                        Aborted <<< robotiq_driver [6.43s]
                                        Aborted <<< moveit_msgs [1min 45s]
                                        Aborted <<< kortex_driver [4min 38s]

                                        Summary: 16 packages finished [4min 40s]
                                        1 package failed: robotiq_controllers
                                        3 packages aborted: kortex_driver moveit_msgs robotiq_driver
                                        3 packages had stderr output: robotiq_controllers robotiq_driver rviz_marker_tools
                                        50 packages not processed

                                        code_text
                                        1 条回复 最后回复 回复 引用 0
                                        • P
                                          pqpqpqpqpqp
                                          最后由 编辑

                                          166d7840-9a34-4c35-a518-d312d56a1ca0-image.png
                                          这个怎么办

                                          1 条回复 最后回复 回复 引用 0
                                          • 6
                                            635604570 @LittleMING
                                            最后由 编辑

                                            @LittleMING 我也是，不知道怎么搞了

                                            1 条回复 最后回复 回复 引用 0
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