调用“cmake”失败答案

【问题标题】：Invoking "cmake" failed调用“cmake”失败
【发布时间】：2019-08-15 23:31:12
【问题描述】：

我正在尝试构建 ROS 包“moveit_kinematics”，但出现以下错误：

我运行了find_package(ur3_moveit_plugin REQUIRED)，但出现语法错误。

CmakeLists.txt：

find_package(trac_ik_kinematics_plugin QUIET)
find_package(ur_kinematics QUIET)

find_package(Boost COMPONENTS filesystem program_options REQUIRED)

set(MOVEIT_LIB_NAME moveit_cached_ik_kinematics_base)
add_library(${MOVEIT_LIB_NAME} src/ik_cache.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
target_link_libraries(${MOVEIT_LIB_NAME}
    ${Boost_FILESYSTEM_LIBRARY}
    ${catkin_LIBRARIES})
install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

if(trac_ik_kinematics_plugin_FOUND)
    include_directories(${trac_ik_kinematics_plugin_INCLUDE_DIRS})
endif(trac_ik_kinematics_plugin_FOUND)

set(MOVEIT_LIB_NAME moveit_cached_ik_kinematics_plugin)
add_library(${MOVEIT_LIB_NAME} src/cached_ik_kinematics_plugin.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
target_link_libraries(${MOVEIT_LIB_NAME}
    moveit_cached_ik_kinematics_base
    moveit_kdl_kinematics_plugin
    moveit_srv_kinematics_plugin
    ${catkin_LIBRARIES})
if(trac_ik_kinematics_plugin_FOUND)
    target_link_libraries(${MOVEIT_LIB_NAME} ${trac_ik_kinematics_plugin_LIBRARIES})
    set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_DEFINITIONS "CACHED_IK_KINEMATICS_TRAC_IK")
endif()
install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

# This is just for testing purposes; the arms from Universal Robots have
# analytic solvers, so caching just adds extra overhead.
if(ur_kinematics_FOUND)
    include_directories(${ur_kinematics_INCLUDE_DIRS})
    foreach(UR 3 5 10)
        set(MOVEIT_LIB_NAME moveit_cached_ur${UR}_kinematics_plugin)
        add_library(${MOVEIT_LIB_NAME} src/cached_ur_kinematics_plugin.cpp)
        set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
        find_library(ur${UR}_pluginlib ur${UR}_moveit_plugin PATHS ${ur_kinematics_LIBRARY_DIRS})
        target_link_libraries(${MOVEIT_LIB_NAME}
            moveit_cached_ik_kinematics_base
            ${ur${UR}_pluginlib}
            ${catkin_LIBRARIES})
        install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
    endforeach()
endif()

add_executable(measure_ik_call_cost src/measure_ik_call_cost.cpp)
target_link_libraries(measure_ik_call_cost
    ${catkin_LIBRARIES}
    ${Boost_PROGRAM_OPTIONS_LIBRARY})
install(TARGETS measure_ik_call_cost DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

有人可以帮我找到包裹或指出错误吗？非常感谢您的帮助/建议。

谢谢。

【问题讨论】：

请添加您的CMakeLists.txt
嗨 fruchtzwerg，我添加了 CmakeLists.txt 文件的链接。
github.com/ros-planning/moveit/issues/1415

标签： ros catkin moveit

【解决方案1】：

错误说得很清楚，它找不到ur_moveit_plugin。将其添加到 CMakeLists.txt 的 find_package() 部分。确保在你的 catkin 工作区中安装或克隆了包。您添加了find_package(wr3_moveit_plugin REQUIRED)，但错误是关于ur，但可能是拼写错误。

【讨论】：

【解决方案2】：

所有包含 MoveIt 标头的包都必须使用 C++11 标准进行编译。因此，您需要添加该行

#Enable C++11
add_compile_options(-std=c++11)

在 CMakeLists.txt 的开头。

【讨论】：

加上这些行还是不行。

【解决方案3】：

我在安装catkin_make -j8 时遇到了这个Invoking "cmake" failed 错误，当时我激活了我的虚拟环境。然后你应该尝试在 Python 基础环境中安装它。如果这没有帮助，请按照 Installing OpenCV fails because it cannot find “skbuild” 的想法进行操作，例如重新安装 catkin 或 sudo apt install python-pip。

【讨论】：