如何安装humanoid_navigation ROS kinetic Ubuntu 16.04？答案

【问题标题】：How to install humanoid_navigation ROS kinetic Ubuntu 16.04?如何安装humanoid_navigation ROS kinetic Ubuntu 16.04？
【发布时间】：2021-06-20 22:00:04
【问题描述】：

安装ROS Kinetic包（Ubuntu 16.04），即humanoid_navigation时，执行catkin_make时报错。没有这个包，catkin_make 运行不会出错。一切都按照https://emanual.robotis.com/docs/en/platform/op3/recovery/#op3-manual-installation的指示完成了

[ 97%] Building CXX object humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/src/HumanoidLocalization.cpp.o
/home/user/catkin_ws/src/humanoid_navigation/humanoid_localization/src/HumanoidLocalization.cpp:23:42: fatal error: pcl/filters/uniform_sampling.h: No such file or directory
compilation terminated.
humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/build.make:62: recipe for target 'humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/src/HumanoidLocalization.cpp.o' failed
make[2]: *** [humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/src/HumanoidLocalization.cpp.o] Error 1
CMakeFiles/Makefile2:12108: recipe for target 'humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/all' failed
make[1]: *** [humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 97%] Linking CXX executable /home/user/catkin_ws/devel/lib/footstep_planner/footstep_planner_node
[ 97%] Built target footstep_planner_node
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j2 -l2" failed

出现这个错误后，在src中从githubhttps://github.com/PointCloudLibrary/pcl安装pcl，运行catkin make，报错

/home/user/catkin_ws/src/humanoid_navigation/humanoid_localization/src/HumanoidLocalization.cpp:23:42: fatal error: pcl/filters/uniform_sampling.h: No such file or directory
compilation terminated.
humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/build.make:62: recipe for target 'humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/src/HumanoidLocalization.cpp.o' failed
make[2]: *** [humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/src/HumanoidLocalization.cpp.o] Error 1
CMakeFiles/Makefile2:12108: recipe for target 'humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/all' failed
make[1]: *** [humanoid_navigation/humanoid_localization/CMakeFiles/humanoidlocalization.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

请帮忙！

【问题讨论】：

标签： ubuntu-16.04 ros gazebo-simu

【解决方案1】：

您最近是否终止/中断了任何构建？这可能是因为目标代码没有成功生成。一种方法是清理 build 和 devel 文件夹与包相关的内容，然后重新构建。

更新！！！所以我复制了你的问题并按照我的步骤来解决它们。就我而言，我的 ros_control 包和 pcl 有问题。不是它有效。干杯！！！

[100%] Linking CXX executable 
/home/aadi/catkin_ws/devel/lib/robot_state_publisher/state_publisher
[100%] Built target joint_state_listener
[100%] Built target state_publisher
[100%] Built target robot_state_publisher
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

【讨论】：

我已经删除了 build 和 devel 文件夹，它没有帮助。我不知道该怎么办了
make[1]: *** Waiting for unfinished jobs.... 这个错误是由未完成的构建引起的，通常是由于在 catkin_make 期间提前终止。

【解决方案2】：

问题在于，在 PCL 1.7.2 中，UniformSampling 位于“keypoints”模块中，而在 1.8.0 中，它已移至“filters”模块中。

请检查您的 PCL 版本

【讨论】：

需要哪个版本？ PCL 1.7.2？
@Micha93 PCL 1.8.0

【解决方案3】：

好的，我有一个可行的解决方案：

nano /home/<user>/catkin_ws/src/humanoid_navigation/humanoid_localization/src/HumanoidLocalization.cpp

并更改为以下内容：

//#include <pcl/filters/uniform_sampling.h>
#include <pcl/keypoints/uniform_sampling.h>

然后用cd ~/catkin_ws && catkin_make 运行catkin_make。

它现在应该可以正常工作了。

【讨论】：

【解决方案4】：

你可以试试关注

cd ~/catkin_ws/src
wget https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.8.1.zip
unzip pcl-1.8.1.zip
cd pcl-pcl-1.8.1
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j4
sudo make install -j4
cd ~/catkin_ws && catkin_make

如果你之前安装了另一个pcl版本，进入这个库进入

sudo make uninstall
make uninstall

然后删除这个目录。

【讨论】：