ROS移植机器人小车:catkin_make过程中碰到的各种小问题

Posted SpaceVision

tags:

篇首语:本文由小常识网(cha138.com)小编为大家整理,主要介绍了ROS移植机器人小车:catkin_make过程中碰到的各种小问题相关的知识,希望对你有一定的参考价值。


接前面的贴子:

============================

[  1%] Building CXX object clbrobot_project/clb_pid/CMakeFiles/pid_listen.dir/src/clbrobot_pid_core.cpp.o
In file included from /home/ubuntu/noetic/catkin_ws/src/clbrobot_project/clb_pid/src/clbrobot_pid_core.cpp:1:
/home/ubuntu/noetic/catkin_ws/src/clbrobot_project/clb_pid/include/clbrobot_pid/clbrobot_pid_core.h:8:10: fatal error: clb_msgs/PID.h: No such file or directory
8 | #include "clb_msgs/PID.h"
| ^~~~~~~~~~~~~~~~
compilation terminated.

说明:这个PID.h是由clb_msgs项目生成的,如果这个项目没有在clb_pid项目前编译,就会出现这个问题。

解决办法:

首先单独编译这个包,

catkin_make -DCATKIN_WHITELIST_PACKAGES="clb_msgs"

然后再编译全部的包,

catkin_make -DCATKIN_WHITELIST_PACKAGES=""

这样,程序就能正确链接了。

============================

packet_write_wait: Connection to 192.168.3.93 port 22: Broken pipe

进入服务器,

sudo vim /etc/ssh/sshd_config

将下面的参数修改一下,

ClientAliveInterval 60

重启一下,

systemctl restart sshd

完成。

============================

下面这个问题参考这位小哥的贴子:

​编译ros_astra_camera 出现找不到libucv问题,已经解决_顺德龙卷风的博客-CSDN博客​

除了问题报错,基本照抄,如下,

编译ros_astra_camera 包的时候会出现一大段报错问题,这样的一堆…

[ 88%] Linking CXX executable /home/ubuntu/noetic/catkin_ws/devel/lib/astra_camera/camera_node

/usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o: in function `_start:

(.text+0x18): undefined reference to `main

/usr/bin/ld: (.text+0x1c): undefined reference to `main

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::~CameraDriver():

camera_driver.cpp:(.text+0xb98): undefined reference to `uvc_free_frame

/usr/bin/ld: camera_driver.cpp:(.text+0xbb4): undefined reference to `uvc_exit

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::getUVCExposureCb(astra_camera::GetUVCExposureRequest_<std::allocator<void> >&, astra_camera::GetUVCExposureResponse_<std::allocator<void> >&):

camera_driver.cpp:(.text+0xd1c): undefined reference to `uvc_get_exposure_abs

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::setUVCExposureCb(astra_camera::SetUVCExposureRequest_<std::allocator<void> >&, astra_camera::SetUVCExposureResponse_<std::allocator<void> >&):

camera_driver.cpp:(.text+0xdbc): undefined reference to `uvc_set_ae_mode

/usr/bin/ld: camera_driver.cpp:(.text+0xdd4): undefined reference to `uvc_set_ae_mode

/usr/bin/ld: camera_driver.cpp:(.text+0xf30): undefined reference to `uvc_set_exposure_abs

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::getUVCGainCb(astra_camera::GetUVCGainRequest_<std::allocator<void> >&, astra_camera::GetUVCGainResponse_<std::allocator<void> >&):

camera_driver.cpp:(.text+0xfdc): undefined reference to `uvc_get_gain

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::setUVCGainCb(astra_camera::SetUVCGainRequest_<std::allocator<void> >&, astra_camera::SetUVCGainResponse_<std::allocator<void> >&):

camera_driver.cpp:(.text+0x1064): undefined reference to `uvc_set_gain

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::getUVCWhiteBalanceCb(astra_camera::GetUVCWhiteBalanceRequest_<std::allocator<void> >&, astra_camera::GetUVCWhiteBalanceResponse_<std::allocator<void> >&):

camera_driver.cpp:(.text+0x10bc): undefined reference to `uvc_get_white_balance_temperature

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::setUVCWhiteBalanceCb(astra_camera::SetUVCWhiteBalanceRequest_<std::allocator<void> >&, astra_camera::SetUVCWhiteBalanceResponse_<std::allocator<void> >&):

camera_driver.cpp:(.text+0x1144): undefined reference to `uvc_set_white_balance_temperature_auto

/usr/bin/ld: camera_driver.cpp:(.text+0x115c): undefined reference to `uvc_set_white_balance_temperature_auto

/usr/bin/ld: camera_driver.cpp:(.text+0x117c): undefined reference to `uvc_set_white_balance_temperature

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::Start():

camera_driver.cpp:(.text+0x1204): undefined reference to `uvc_init

/usr/bin/ld: camera_driver.cpp:(.text+0x1224): undefined reference to `uvc_perror

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::Stop():

camera_driver.cpp:(.text+0x13c4): undefined reference to `uvc_exit

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::ReconfigureCallback(libuvc_camera::UVCCameraConfig&, unsigned int):

camera_driver.cpp:(.text+0x1534): undefined reference to `uvc_set_scanning_mode

/usr/bin/ld: camera_driver.cpp:(.text+0x16c4): undefined reference to `uvc_set_ae_mode

/usr/bin/ld: camera_driver.cpp:(.text+0x184c): undefined reference to `uvc_set_ae_priority

/usr/bin/ld: camera_driver.cpp:(.text+0x19e4): undefined reference to `uvc_set_exposure_abs

/usr/bin/ld: camera_driver.cpp:(.text+0x1b84): undefined reference to `uvc_set_focus_auto

/usr/bin/ld: camera_driver.cpp:(.text+0x1d10): undefined reference to `uvc_set_focus_abs

/usr/bin/ld: camera_driver.cpp:(.text+0x1e98): undefined reference to `uvc_set_gain

/usr/bin/ld: camera_driver.cpp:(.text+0x2024): undefined reference to `uvc_set_iris_abs

/usr/bin/ld: camera_driver.cpp:(.text+0x21ac): undefined reference to `uvc_set_brightness

/usr/bin/ld: camera_driver.cpp:(.text+0x2350): undefined reference to `uvc_set_pantilt_abs

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::ImageCallback(uvc_frame*):

camera_driver.cpp:(.text+0x2954): undefined reference to `uvc_yuyv2bgr

/usr/bin/ld: camera_driver.cpp:(.text+0x2974): undefined reference to `uvc_perror

/usr/bin/ld: camera_driver.cpp:(.text+0x29fc): undefined reference to `uvc_mjpeg2rgb

/usr/bin/ld: camera_driver.cpp:(.text+0x2a1c): undefined reference to `uvc_perror

/usr/bin/ld: camera_driver.cpp:(.text+0x2a94): undefined reference to `uvc_any2bgr

/usr/bin/ld: camera_driver.cpp:(.text+0x2ab4): undefined reference to `uvc_perror

/usr/bin/ld: camera_driver.cpp:(.text+0x2e3c): undefined reference to `astraWithUVC(OB_DEVICE_NO)

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::OpenCamera(libuvc_camera::UVCCameraConfig&):

camera_driver.cpp:(.text+0x3cec): undefined reference to `uvc_find_devices

/usr/bin/ld: camera_driver.cpp:(.text+0x3d0c): undefined reference to `uvc_perror

/usr/bin/ld: camera_driver.cpp:(.text+0x3d84): undefined reference to `uvc_unref_device

/usr/bin/ld: camera_driver.cpp:(.text+0x3ef8): undefined reference to `uvc_open

/usr/bin/ld: camera_driver.cpp:(.text+0x4024): undefined reference to `uvc_get_bus_number

/usr/bin/ld: camera_driver.cpp:(.text+0x4038): undefined reference to `uvc_get_device_address

/usr/bin/ld: camera_driver.cpp:(.text+0x4184): undefined reference to `uvc_get_bus_number

/usr/bin/ld: camera_driver.cpp:(.text+0x4198): undefined reference to `uvc_get_device_address

/usr/bin/ld: camera_driver.cpp:(.text+0x41a8): undefined reference to `uvc_strerror

/usr/bin/ld: camera_driver.cpp:(.text+0x4208): undefined reference to `uvc_unref_device

/usr/bin/ld: camera_driver.cpp:(.text+0x4228): undefined reference to `uvc_set_status_callback

/usr/bin/ld: camera_driver.cpp:(.text+0x4290): undefined reference to `uvc_get_stream_ctrl_format_size

/usr/bin/ld: camera_driver.cpp:(.text+0x42b8): undefined reference to `uvc_perror

/usr/bin/ld: camera_driver.cpp:(.text+0x42c4): undefined reference to `uvc_close

/usr/bin/ld: camera_driver.cpp:(.text+0x42d0): undefined reference to `uvc_unref_device

/usr/bin/ld: camera_driver.cpp:(.text+0x4408): undefined reference to `uvc_print_diag

/usr/bin/ld: camera_driver.cpp:(.text+0x4430): undefined reference to `uvc_start_streaming

/usr/bin/ld: camera_driver.cpp:(.text+0x4450): undefined reference to `uvc_perror

/usr/bin/ld: camera_driver.cpp:(.text+0x445c): undefined reference to `uvc_close

/usr/bin/ld: camera_driver.cpp:(.text+0x4468): undefined reference to `uvc_unref_device

/usr/bin/ld: camera_driver.cpp:(.text+0x4488): undefined reference to `uvc_free_frame

/usr/bin/ld: camera_driver.cpp:(.text+0x44b0): undefined reference to `uvc_allocate_frame

/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::CloseCamera():

camera_driver.cpp:(.text+0x4644): undefined reference to `uvc_close

/usr/bin/ld: camera_driver.cpp:(.text+0x4658): undefined reference to `uvc_unref_device

collect2: error: ld returned 1 exit status

make[2]: *** [depth_camera/ros_astra_camera/CMakeFiles/camera_node.dir/build.make:150: /home/ubuntu/noetic/catkin_ws/devel/lib/astra_camera/camera_node] Error 1

make[1]: *** [CMakeFiles/Makefile2:4581: depth_camera/ros_astra_camera/CMakeFiles/camera_node.dir/all] Error 2

make[1]: *** Waiting for unfinished jobs....

看一下就是找不到库的问题,解决这个问题的方法是修改ros_astra_camera的CmakeList.txt文件。(入行小白一开始很头大,因为不熟悉Cmake语法,后来看了几天之后凭感觉学会了,我真是个天才,哈哈飘了)咳咳,直接关注问题本身。

Cmakelist中的添加libuvc是通过find_package(libuvc REQUIRED) 寻找库的,但是新安装的libuvc 0.0.6 没有生成 libuvc.cmake文件(不知道原因),所以编译时libuvc_INCLUDE_DIRS、libuvc_LIBRARIES 都是空的!!! 所以编译才找不到对应的库!

解决办法:在ros_astra_camera的CmakeList.txt文件的find_package(libuvc REQUIRED)下方添加两条语句(根据你libuvc安装的地址修改),编译就OK了

set(libuvc_INCLUDE_DIRS “/usr/local/include/libuvc”)

set(libuvc_LIBRARIES “/usr/local/lib/libuvc.so”)

find_package(libuvc REQUIRED) #原因是libuvc库存在问题,没有libuvc.cmake文件,find_package()无法找到libuvc库文件
#解决办法手动添加库文件位置
set(libuvc_INCLUDE_DIRS "/usr/local/include/libuvc")
set(libuvc_LIBRARIES "/usr/local/lib/libuvc.so")

解决此问题后还有一个无法看在 rviz 中看到 RGB图像的问题,参考这位小哥的博客他找到了bug并解决了(官方驱动包有问题)

​​

============================

本文结束


以上是关于ROS移植机器人小车:catkin_make过程中碰到的各种小问题的主要内容,如果未能解决你的问题,请参考以下文章

在 ROS 工作空间中使用 catkin_make 时 Qt 出现的问题

ROS catkin_make:重建包

ros学习-从零开始搭建一台ros小车

ros学习-从零开始搭建一台ros小车

ROS学习记录12SLAM仿真学习1——ROS Control

ROS学习记录12SLAM仿真学习1——ROS Control