ROS问题总结一

问题一:在创建工作空间时,在运行$catkin_make后出现:

CMake Error at/opt/ros/indigo/share/catkin/cmake/safe_execute_process.cmake:11 (message):

 

  execute_process(/home/cookie/dev/catkin_ws/build/catkin_generated/env_cached.sh

  "/usr/bin/python""/usr/bin/empy" "--raw-errors" "-F"

  "/home/cookie/dev/catkin_ws/build/catkin_generated/order_packages.py""-o"

  "/home/cookie/dev/catkin_ws/build/catkin_generated/order_packages.cmake"

  "/opt/ros/indigo/share/catkin/cmake/em/order_packages.cmake.em")returned

  error code 1

Call Stack (most recent call first):

 /opt/ros/indigo/share/catkin/cmake/em_expand.cmake:25(safe_execute_process)

 /opt/ros/indigo/share/catkin/cmake/catkin_workspace.cmake:35 (em_expand)

 CMakeLists.txt:63 (catkin_workspace)

-- Configuring incomplete, errors occurred!

See also"/home/cookie/dev/catkin_ws/build/CMakeFiles/CMakeOutput.log".

See also"/home/cookie/dev/catkin_ws/build/CMakeFiles/CMakeError.log".

Invoking"cmake" failed

解决办法:

卸载ros:

http://blog.csdn.net/yeluohanchan/article/details/75578268

重新安装:

http://wiki.ros.org/cn/indigo/Installation/Ubuntu

重新建立工作目录:

http://wiki.ros.org/cn/ROS/Tutorials/InstallingandConfiguringROSEnvironment

mkdir -p ~/[工作目录路径][如/dev/catkin_ws/src]

cd ~/dev/catkin_ws/src[到新建的目录下]

catkin_init_workspace

新建端口

source ~/dev/catkin_ws/devel/setup.bash

 echo "source ~/dev/catkin_ws/devel/setup.bash">> ~/.bashrc

cd ~/dev/catkin_ws[到工作空间文件夹]

catkin_make

若显示:

-- +++ processing catkin package:'chapter2_tutorials'

-- ==>add_subdirectory(chapter2_tutorials)

-- Configuring done

-- Generating done

-- Build files have been written to:/home/cookie/dev/catkin_ws/build

####

#### Running command: "make -j8-l8" in "/home/cookie/dev/catkin_ws/build"

####

cookie@cookie909:~/dev/catkin_ws$ sourcedevel/setup.bash

则说明编译完成

检查:新端口下

cat ~/.bashrc

显示

source /opt/ros/indigo/setup.bash

source ~/catkin_ws/devel/setup.bash

source ~/dev/catkin_ws/devel/setup.bash

成功添加环境变量

问题二:运行roslaunch时出现

[start_demo.launch] is neither a launchfile in package [learning_tf] nor is [learning_tf] a launch file name

The traceback for the exception was writtento the log file

 

解决办法:

在之前将devel文件至于当前环境变量中,即

$cd ~/catkin_ws

$source devel/setup.bash

 

 

问题三:

 $rosrunxacro xacro.py `rospack /robots/pr2.urdf.xacro > pr2.urdf

出现

rospkg.common.ResourceNotFound:pr2_description

ROS path [0]=/opt/ros/indigo/share/ros

ROS path [1]=/home/cookie/catkin_ws/src

ROS path [2]=/opt/ros/indigo/share

ROS path [3]=/opt/ros/indigo/stacks

解决:此xacro不在ROS_PACKAGE_PATH路径中可看到

问题:http://blog.csdn.net/ppp2006/article/details/21456469

 

 

问题四:在运行catkin_make,后出现:

you either need to install the package withthe same name or change your environment so that it can be found.\

 

 Could not find a package configuration fileprovided by "convex_decomposition" with any of the following names:

Add the installation prefix of"convex_decomposition" to CMAKE_PREFIX_PATH or set"convex_decomposition_DIR" to a directory containing one of the abovefiles.  If"convex_decomposition" provides a separate development   package or SDK, be sure it has beeninstalled.

 

Specifies a path which will be used by theFIND_XXX() commands. It contains the “base” directories, the FIND_XXX()commands append appropriate subdirectories to the base directories. SoFIND_PROGRAM() adds /bin to each of the directories in the path, FIND_LIBRARY()appends /lib to each of the directories, and FIND_PATH() and FIND_FILE() append/include . By default it is empty, it is intended to be set by the project. Seealso CMAKE_SYSTEM_PREFIX_PATH, CMAKE_INCLUDE_PATH, CMAKE_LIBRARY_PATH,CMAKE_PROGRAM_PATH.\

 解析:无法找到具有以下任何名称的“convex_decomposition”提供的程序包配置文件：

可能原因:不小心删除了urdf_tutoorial 下的launch文件,导致某型包无法调用,也可能是使用了rosdep安装了包,查阅网上有以下说法:

不要使用rosdep来安装你感兴趣的包。这不是它的目的。它只处理依赖关系。

解决办法:安装对应的包

$sudo apt-get installros-indigo-convex-decomposition

后显示缺少ivcon包,

$sudo apt-get install ros-indigo-ivcon

显示编译成功,

 

问题五:

在catkin_ws下编译

$catkin_make

显示:Linking CXX executable /home/cookie/catkin_ws/devel/lib/beginner_tutorials/talker

Linking CXX executable/home/cookie/catkin_ws/devel/lib/beginner_tutorials/listener

Linking CXX executable/home/cookie/catkin_ws/devel/lib/testbot_description/parser

 

解决办法:

在编译前运行:

$source devel/setup.bash

解决问题

 

问题六.

运行control.launch时出现

[ WARN] [1521073681.464035103]: The rootlink base_stander has an inertia specified in the URDF, but KDL does notsupport a root link with an inertia.  Asa workaround, you can add an extra dummy link to your URDF.