学习记录3--UR10+大寰AG95复现
说明：主要是记录些存在的问题，Ubuntu1804
错误1
描述：vtk-6.3/vtkAtomic.h:358:11: error: reference to ‘detail’ is ambiguous type
原因：在vtkAtomic.h文件里定义了detail命名空间，同时又导入了包含detail名称的其他文件，因此detail含义不明；
参考博客：原文链接：https://blog.csdn.net/zfjBIT/article/details/101055525
解决办法：
修改vtkAtomic.h中的
typedef detail::AtomicOps<...> ...
修改为：
typedef ::detail::AtomicOps<...> ...
实例：
// typedef detail::AtomicOps Impl;
typedef::detail::AtomicOps<sizeof(T*)> Impl;
错误2
描述： Built target tf_example In file included from /home/r418/catkin_ws/src/ur5-gazebo-grasping/ur5-gazebo-grasping/gazebo_grasp_plugin/src/GazeboGraspFix.cpp:9:0: /home/r418/catkin_ws/src/ur5-gazebo-grasping/ur5-gazebo-grasping/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspFix.h:156:38: error: ‘math’ was not declared in this scope bool checkGrip(const std::vector
解决方法：用melodic版本包替换，链接如下
https://github.com/ros-simulation/gazebo_ros_pkgs
参考博客：https://blog.csdn.net/Mike_69/article/details/117479477
错误3
描述：event::Events::DisconnectWorldUpdateBegin 没有
原因：程序调用的时Gazebo7中的 API，而gazebo9（melodic版本）中的函数已经改写，有的函数不存在。
解决方法：在ROS官网搜roboticsgroup_gazebo_plugins可以找打Gazebo>=8的版本，下载替换掉原来的文件即可。
我采用的方法：直接用下面这个链接下载，替换掉之前的文件即可
https://github.com/LCAS/roboticsgroup_gazebo_plugins/blob/master/src/mimic_joint_plugin.cpp
参考博客：https://blog.csdn.net/Mike_69/article/details/117479477
错误4
描述：[ERROR] [1629531348.197830717]: The kinematics plugin (manipulator) failed to load.
具体：[ERROR] [1629531348.197830717]: The kinematics plugin (manipulator) failed to load. Error: According to the loaded plugin descriptions the class trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin with base class type kinematics::KinematicsBase does not exist. Declared types are cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin cached_ik_kinematics_plugin/CachedSrvKinematicsPlugin kdl_kinematics_plugin/KDLKinematicsPlugin lma_kinematics_plugin/LMAKinematicsPlugin pr2_arm_kinematics/PR2ArmKinematicsPlugin prbt_manipulator/IKFastKinematicsPlugin srv_kinematics_plugin/SrvKinematicsPlugin ur_kinematics/UR10KinematicsPlugin ur_kinematics/UR3KinematicsPlugin ur_kinematics/UR5KinematicsPlugin
[ERROR] [1629531348.197864860]: Kinematics solver could not be instantiated for joint group manipulator.
解决方法：
sudo apt-get install ros-melodic-trac-ik-kinematics-plugin
cakin_make
参考连接：https://answers.ros.org/question/307850/the-kinematics-plugin-arm-failed-to-load-and-kinematics-solver-could-not-be-instantiated-for-joint-group-arm/
错误5
描述：#include
具体：ur3_ag95_ws/src/robot_sim/experiment/hand_eye_calibration/src/reset_robot_pose.cpp:11:10: fatal error: moveit/move_group_interface/move_group.h: 没有那个文件或目录
#include
解决方法：#include
后面具体代码报错：改
moveit::planning_interface::MoveGroupInterface::Plan my_plan; //进行运动规划，计算机器人移动到目标的运动轨迹，对应moveit中的plan按钮
.....
bool success = group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS;
moveit::planning_interface::MoveGroupInterface group("manipulator"); //ur5对应moveit中选择的规划部分
错误6
描述：tf::Quaternion Q不存在等等；
解决方法：添加头文件（不一定全加）
#include