如何在Ubuntu 16.04上安装humanoid_navigation ROS kinetic？

Question

在安装ROS Kinetic软件包（Ubuntu 16.04）时，特别是 humanoid_navigation 时，在执行 catkin_make 时会出现错误。没有这个软件包，catkin_make 运行不会出错。一切都按照说明书 https://emanual.robotis.com/docs/en/platform/op3/recovery/#op3-manual-installation 进行。

[ 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

在出现这个错误后，从githubhttps://github.com/PointCloudLibrary/pcl安装了pcl到src目录，运行catkin make，结果出错。

/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！

- Артём Картавых

Answer 1

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>

然后使用 cd ~/catkin_ws && catkin_make 命令运行 catkin_make。

现在应该可以无错误地工作了。

- Micha93

Answer 2

你最近终止或中断了任何构建吗？这可能是因为目标代码未成功生成。一种方法是清理与包相关的构建和开发文件夹的关联内容，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。在我的情况下，我遇到了ros_control包和pcl的问题。现在它可以工作了。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

- aadimishra

---

我已经删除了build和devel文件夹，但没有帮助。我不知道该怎么办了。 - Артём Картавых

make[1]: *** 等待未完成的任务.... 这个错误通常是由于在 catkin_make 过程中过早终止而导致构建未完成所引起的。 - aadimishra

Answer 3

问题在于PCL 1.7.2中，UniformSampling位于“keypoints”模块中，而在1.8.0中，它已经移动到“filters”模块中。

请检查您的PCL版本。

- Arjun Kumar

---

需要哪个版本呢？PCL 1.7.2吗？ - Micha93

@Micha93 PCL 1.8.0 - Arjun Kumar

Answer 4

您可以尝试以下内容。

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

如果您之前安装过另一个PCL版本，请前往此库并输入。

sudo make uninstall
make uninstall

然后删除此目录。

- Micha93