基于Ubuntu 16.04和ros kinetc平台源码编译安装moveit和ompl及编译警告的解决方法
安装依赖项
rosdep update
sudo apt-get update
sudo apt-get dist-upgrade
sudo apt-get install python-wstool python-catkin-tools clang-format-3.9
下载moveit的源码
mkdir -p ~/ws_moveit/src
cd ~/ws_moveit
source /opt/ros/kinetic/setup.bash
wstool init src
wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/kinetic-devel/moveit.rosinstall
wstool update -t src
下载ompl源码
cd ~/ws_moveit/src
git clone -b kinetic-devel https://github.com/ompl/ompl.git
下载由catkin build编译ompl需要的package.xml文件
cd ~/ws_moveit/src/ompl
wget https://raw.githubusercontent.com/ros-gbp/ompl-release/debian/kinetic/xenial/ompl/package.xml
修改moveit_planners的CMakeLists.txt文件
gedit ~/ws_moveit/src/moveit/moveit_planners/ompl/CMakeLists.txt #找到include_directories的位置并互换${OMPL_INCLUDE_DIRS} 和 ${catkin_INCLUDE_DIRS}的位置, 让${OMPL_INCLUDE_DIRS}变量出现在${catkin_INCLUDE_DIRS}变量之前
#安装依赖
cd ~/ws_moveit/src
rosdep install -y --from-paths . --ignore-src --rosdistro kinetic
#开始编译ompl和moveit
cd ~/ws_moveit
catkin config --extend /opt/ros/kinetic --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build
上述过程主要参考了官网教程，部分结合了知乎上的相关经验。
如果一切顺利的话，可能没有警告，编译一次通过。
但是，我在编译的过程中出现了一次错误，一次警告
错误的原因可能是没有指定ompl版本：
#通过添加 -b kinetic-devel解决版本问题
git clone -b kinetic-devel https://github.com/ompl/ompl.git
警告的原因确定是CMake版本导致的，我尝试过多个CMake版本，包括cmake3.13.2和cmake3.13.4都出现严重的编译错误：
liuqiang@liuqiang-Vulcan-JINGANG-GTSeries:~/ws_moveit$ catkin build
-------------------------------------------------------------
Profile: default
Extending: [explicit] /opt/ros/kinetic
Workspace: /home/liuqiang/ws_moveit
-------------------------------------------------------------
Source Space: [exists] /home/liuqiang/ws_moveit/src
Log Space: [exists] /home/liuqiang/ws_moveit/logs
Build Space: [exists] /home/liuqiang/ws_moveit/build
Devel Space: [exists] /home/liuqiang/ws_moveit/devel
Install Space: [unused] /home/liuqiang/ws_moveit/install
DESTDIR: [unused] None
-------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
-------------------------------------------------------------
Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
-------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
-------------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------------
[build] Found '33' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> geometric_shapes
Starting >>> moveit_experimental
Starting >>> moveit_msgs
Starting >>> moveit_resources
Starting >>> srdfdom
Finished <<< moveit_resources [ 0.1 seconds ]
Finished <<< geometric_shapes [ 0.1 seconds ]
Finished <<< srdfdom [ 0.2 seconds ]
Finished <<< moveit_experimental [ 0.2 seconds ]
Finished <<< moveit_msgs [ 1.0 seconds ]
Starting >>> moveit_core
Finished <<< moveit_core [ 0.4 seconds ]
Starting >>> chomp_motion_planner
Starting >>> moveit_controller_manager_example
Starting >>> moveit_ros_perception
Starting >>> moveit_simple_controller_manager
___________________________________________________________________________________________________________________________________________________________________________________________________________
Errors << moveit_controller_manager_example:cmake /home/liuqiang/ws_moveit/logs/moveit_controller_manager_example/build.cmake.002.log
CMake Error at /home/liuqiang/ws_moveit/devel/share/moveit_core/cmake/moveit_coreConfig.cmake:148 (message):
Project 'moveit_controller_manager_example' tried to find library
'-lpthread'. The library is neither a target nor built/installed properly.
Did you compile project 'moveit_core'? Did you find_package() it before the
subdirectory containing its code is included?
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
CMakeLists.txt:13 (find_package)
cd /home/liuqiang/ws_moveit/build/moveit_controller_manager_example; catkin build --get-env moveit_controller_manager_example | catkin env -si /opt/cmake-3.13.4-Linux-x86_64/bin/cmake /home/liuqiang/ws_moveit/src/moveit/moveit_plugins/moveit_controller_manager_example --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/liuqiang/ws_moveit/devel/.private/moveit_controller_manager_example -DCMAKE_INSTALL_PREFIX=/home/liuqiang/ws_moveit/install -DCMAKE_BUILD_TYPE=Release; cd -
...........................................................................................................................................................................................................
Failed << moveit_controller_manager_example:cmake [ Exited with code 1 ]
Failed <<< moveit_controller_manager_example [ 0.5 seconds ]
Abandoned <<< moveit_commander [ Unrelated job failed ]
Abandoned <<< moveit_chomp_optimizer_adapter [ Unrelated job failed ]
Abandoned <<< moveit_ros_planning [ Unrelated job failed ]
Abandoned <<< moveit_fake_controller_manager [ Unrelated job failed ]
Abandoned <<< moveit_kinematics [ Unrelated job failed ]
Abandoned <<< moveit_planners_ompl [ Unrelated job failed ]
Abandoned <<< moveit_ros_move_group [ Unrelated job failed ]
Abandoned <<< moveit_ros_manipulation [ Unrelated job failed ]
Abandoned <<< moveit_ros_robot_interaction [ Unrelated job failed ]
Abandoned <<< moveit_ros_warehouse [ Unrelated job failed ]
Abandoned <<< moveit_ros_benchmarks [ Unrelated job failed ]
Abandoned <<< moveit_ros_planning_interface [ Unrelated job failed ]
Abandoned <<< moveit_planners_chomp [ Unrelated job failed ]
Abandoned <<< moveit_ros_visualization [ Unrelated job failed ]
Abandoned <<< moveit_setup_assistant [ Unrelated job failed ]
Abandoned <<< moveit_ros_control_interface [ Unrelated job failed ]
Abandoned <<< moveit_visual_tools [ Unrelated job failed ]
Abandoned <<< moveit_tutorials [ Unrelated job failed ]
___________________________________________________________________________________________________________________________________________________________________________________________________________
Errors << chomp_motion_planner:cmake /home/liuqiang/ws_moveit/logs/chomp_motion_planner/build.cmake.002.log
CMake Error at /home/liuqiang/ws_moveit/devel/share/moveit_core/cmake/moveit_coreConfig.cmake:148 (message):
Project 'chomp_motion_planner' tried to find library '-lpthread'. The
library is neither a target nor built/installed properly. Did you compile
project 'moveit_core'? Did you find_package() it before the subdirectory
containing its code is included?
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
CMakeLists.txt:6 (find_package)
cd /home/liuqiang/ws_moveit/build/chomp_motion_planner; catkin build --get-env chomp_motion_planner | catkin env -si /opt/cmake-3.13.4-Linux-x86_64/bin/cmake /home/liuqiang/ws_moveit/src/moveit/moveit_planners/chomp/chomp_motion_planner --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/liuqiang/ws_moveit/devel/.private/chomp_motion_planner -DCMAKE_INSTALL_PREFIX=/home/liuqiang/ws_moveit/install -DCMAKE_BUILD_TYPE=Release; cd -
...........................................................................................................................................................................................................
Failed << chomp_motion_planner:cmake [ Exited with code 1 ]
Failed <<< chomp_motion_planner [ 0.6 seconds ]
___________________________________________________________________________________________________________________________________________________________________________________________________________
Errors << moveit_simple_controller_manager:cmake /home/liuqiang/ws_moveit/logs/moveit_simple_controller_manager/build.cmake.002.log
CMake Error at /home/liuqiang/ws_moveit/devel/share/moveit_core/cmake/moveit_coreConfig.cmake:148 (message):
Project 'moveit_simple_controller_manager' tried to find library
'-lpthread'. The library is neither a target nor built/installed properly.
Did you compile project 'moveit_core'? Did you find_package() it before the
subdirectory containing its code is included?
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
CMakeLists.txt:12 (find_package)
cd /home/liuqiang/ws_moveit/build/moveit_simple_controller_manager; catkin build --get-env moveit_simple_controller_manager | catkin env -si /opt/cmake-3.13.4-Linux-x86_64/bin/cmake /home/liuqiang/ws_moveit/src/moveit/moveit_plugins/moveit_simple_controller_manager --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/liuqiang/ws_moveit/devel/.private/moveit_simple_controller_manager -DCMAKE_INSTALL_PREFIX=/home/liuqiang/ws_moveit/install -DCMAKE_BUILD_TYPE=Release; cd -
...........................................................................................................................................................................................................
Failed << moveit_simple_controller_manager:cmake [ Exited with code 1 ]
Failed <<< moveit_simple_controller_manager [ 0.5 seconds ]
___________________________________________________________________________________________________________________________________________________________________________________________________________
Errors << moveit_ros_perception:cmake /home/liuqiang/ws_moveit/logs/moveit_ros_perception/build.cmake.002.log
CMake Error at /home/liuqiang/ws_moveit/devel/share/moveit_core/cmake/moveit_coreConfig.cmake:148 (message):
Project 'moveit_ros_perception' tried to find library '-lpthread'. The
library is neither a target nor built/installed properly. Did you compile
project 'moveit_core'? Did you find_package() it before the subdirectory
containing its code is included?
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
CMakeLists.txt:27 (find_package)
cd /home/liuqiang/ws_moveit/build/moveit_ros_perception; catkin build --get-env moveit_ros_perception | catkin env -si /opt/cmake-3.13.4-Linux-x86_64/bin/cmake /home/liuqiang/ws_moveit/src/moveit/moveit_ros/perception --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/liuqiang/ws_moveit/devel/.private/moveit_ros_perception -DCMAKE_INSTALL_PREFIX=/home/liuqiang/ws_moveit/install -DCMAKE_BUILD_TYPE=Release; cd -
...........................................................................................................................................................................................................
Failed << moveit_ros_perception:cmake [ Exited with code 1 ]
Failed <<< moveit_ros_perception [ 0.6 seconds ]
[build] Summary: 6 of 28 packages succeeded.
[build] Ignored: 5 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: 18 packages were abandoned.
[build] Failed: 4 packages failed.
[build] Runtime: 2.7 seconds total.
总是提示无法找到lpthread线程库，最后我在这个网页：https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=915148
确定是cmake版本的问题。
当前只有Cmake3.12.4能够完美编译：
之前我用的是cmake3.10.2，出现了警告，后来我换成了cmake3.12.4版本后，没有了警告
我是通过上述两步解决了编译过程中遇到的所有问题。
添加环境变量
gedit ~/.bashrc
#在文件的末尾添加类似如下的一行，注意要把家路径换成你自己电脑上的路径
source /home/liuqiang/ws_moveit/devel/setup.bash
#保存并关闭.bashrc文件，在终端执行命令：source ~/.bashrc