构建 Catkin (ROS) 失败
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【中文标题】构建 Catkin (ROS) 失败【英文标题】：Building Catkin (ROS) failed 【发布时间】：2018-10-14 23:38:10 【问题描述】：我正在尝试在我的 Ubuntu 16.04 上安装 ROS 以使用模拟器 Gazebo。首先，我尝试运行一个安装所有内容的脚本，然后在它的末尾出现错误。 所以我决定直接按照他们网站上的说明安装 ROS，但我得到了同样的错误。 然后我按照其他教程，试图找到有同样问题但没有办法的人！ 我最后的机会来了。。 我猜出了 CMake 的问题，我使用 python3 并安装了所有必要的库。
sudo catkin build
---------------------------------------------------
Profile: default
Extending: None
Workspace: /home/stribuda
---------------------------------------------------
Build Space: [exists] /home/stribuda/build
Devel Space: [exists] /home/stribuda/devel
Install Space: [unused] /home/stribuda/install
Log Space: [exists] /home/stribuda/logs
Source Space: [exists] /home/stribuda/src
DESTDIR: [unused] None
---------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
---------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
---------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
---------------------------------------------------
NOTE: Forcing CMake to run for each package.
---------------------------------------------------
---------------------------------------------------
WARNING: Your workspace is not extending any other
result space, but it is set to use a `linked`
devel space layout. This requires the `catkin`
CMake package in your source space in order to be
built.
---------------------------------------------------
[build] Found '1' packages in 0.0 seconds.
[build] Package table is up to date.
Warning: generated devel space setup files have been deleted.
Starting >>> catkin_tools_prebuild
______________________________________________________________________________________________________________________________________________________________________________
Errors << catkin_tools_prebuild:cmake /home/stribuda/logs/catkin_tools_prebuild/build.cmake.013.log
CMake Error at /home/stribuda/build/catkin_tools_prebuild/CMakeLists.txt:12 (message):
The catkin CMake module was not found, but it is required to build a linked
workspace. To resolve this, please do one of the following, and try
building again.
1. Source the setup.sh file from an existing catkin workspace:
source SETUP_FILE
2. Extend another catkin workspace's result (install or devel) space:
catkin config --extend RESULT_SPACE
3. Set `catkin_DIR` to the directory containing `catkin-config.cmake`:
catkin config --cmake-args -Dcatkin_DIR=CATKIN_CMAKE_CONFIG_PATH
4. Add the catkin source package to your workspace's source space:
cd SOURCE_SPACE && git clone https://github.com/ros/catkin.git
cd /home/stribuda/build/catkin_tools_prebuild; catkin build --get-env catkin_tools_prebuild | catkin env -si /usr/bin/cmake /home/stribuda/build/catkin_tools_prebuild --no-warn- unused-cli -DCATKIN_DEVEL_PREFIX=/home/stribuda/devel/.private/catkin_tools_prebuild -DCMAKE_INSTALL_PREFIX=/home/stribuda/install; cd -
....................................................................................................................................................................
Failed << catkin_tools_prebuild:cmake [ Exited with code 1 ]
Failed <<< catkin_tools_prebuild [ 0.0 seconds ]
Abandoned <<< px4 [ Unrelated job failed ]
[build] Summary: 0 of 2 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 1 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 0.1 seconds total
如果有人可以提供帮助，那将非常有帮助！谢谢
更新：
环境 | grep -i ros
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
LD_LIBRARY_PATH=/opt/ros/kinetic/lib:/opt/ros/kinetic/lib/x86_64-linux-gnu
PATH=/opt/ros/kinetic/bin:/home/stribuda/gcc-arm-none-eabi-7-2017-q4-major/bin:/home/stribuda/bin:/home/stribuda/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=kinetic
PYTHONPATH=/opt/ros/kinetic/lib/python2.7/dist-packages
PKG_CONFIG_PATH=/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig
CMAKE_PREFIX_PATH=/opt/ros/kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros
第二次更新： 我重新安装了 ubuntu，我像往常一样按照说明进行操作，在输入 catkin build
后得到了这个--------------------------------------------------------------
Profile: default
Extending: [cached] /opt/ros/kinetic
Workspace: /home/stribudax/catkin_ws
--------------------------------------------------------------
Source Space: [exists] /home/stribudax/catkin_ws/src
Log Space: [exists] /home/stribudax/catkin_ws/logs
Build Space: [exists] /home/stribudax/catkin_ws/build
Devel Space: [exists] /home/stribudax/catkin_ws/devel
Install Space: [unused] /home/stribudax/catkin_ws/install
DESTDIR: [unused] None
--------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
--------------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
--------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
--------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------
[build] Found '19' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> mav_msgs
Starting >>> mavlink
Starting >>> mavros_msgs
Starting >>> rotors_comm
Finished <<< rotors_comm [ 0.6 seconds ]
Finished <<< mav_msgs [ 0.8 seconds ]
Starting >>> rotors_description
Finished <<< mavlink [ 1.0 seconds ]
Finished <<< rotors_description [ 0.1 seconds ]
Starting >>> rotors_evaluation
Finished <<< rotors_evaluation [ 0.2 seconds ]
Starting >>> mav_planning_msgs
Starting >>> rotors_control
Starting >>> rotors_joy_interface
Finished <<< mavros_msgs [ 1.9 seconds ]
Finished <<< rotors_joy_interface [ 0.6 seconds ]
Finished <<< rotors_control [ 0.8 seconds ]
Starting >>> libmavconn
Finished <<< mav_planning_msgs [ 0.8 seconds ]
Starting >>> rqt_rotors
Starting >>> rotors_gazebo_plugins
Finished <<< libmavconn [ 0.2 seconds ]
Starting >>> mavros
Finished <<< rqt_rotors [ 0.1 seconds ]
__________________________________________________________________________________________________________________________________________________________________________________________________________
Errors << mavros:cmake /home/stribudax/catkin_ws/logs/mavros/build.cmake.001.log
CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
Could NOT find GeographicLib (missing: GeographicLib_LIBRARIES
GeographicLib_INCLUDE_DIRS)
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE)
/home/stribudax/catkin_ws/src/mavros/libmavconn/cmake/Modules/FindGeographicLib.cmake:14 (find_package_handle_standard_args)
CMakeLists.txt:42 (find_package)
cd /home/stribudax/catkin_ws/build/mavros; catkin build --get-env mavros | catkin env -si /usr/bin/cmake /home/stribudax/catkin_ws/src/mavros/mavros --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/stribudax/catkin_ws/devel/.private/mavros -DCMAKE_INSTALL_PREFIX=/home/stribudax/catkin_ws/install; cd -
..........................................................................................................................................................................................................
Failed << mavros:cmake [ Exited with code 1 ]
Failed <<< mavros [ 0.8 seconds ]
Abandoned <<< mavros_extras [ Unrelated job failed ]
Abandoned <<< rotors_gazebo [ Unrelated job failed ]
Abandoned <<< rotors_hil_interface [ Unrelated job failed ]
Abandoned <<< test_mavros [ Unrelated job failed ]
__________________________________________________________________________________________________________________________________________________________________________________________________________
Warnings << rotors_gazebo_plugins:cmake /home/stribudax/catkin_ws/logs/rotors_gazebo_plugins/build.cmake.000.log
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'eigen' but neither 'eigen_INCLUDE_DIRS' nor
'eigen_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:198 (catkin_package)
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor
'gazebo_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:198 (catkin_package)
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'octomap' but neither 'octomap_INCLUDE_DIRS'
nor 'octomap_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:198 (catkin_package)
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'opencv' but neither 'opencv_INCLUDE_DIRS' nor
'opencv_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:198 (catkin_package)
cd /home/stribudax/catkin_ws/build/rotors_gazebo_plugins; catkin build --get-env rotors_gazebo_plugins | catkin env -si /usr/bin/cmake /home/stribudax/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/stribudax/catkin_ws/devel/.private/rotors_gazebo_plugins -DCMAKE_INSTALL_PREFIX=/home/stribudax/catkin_ws/install; cd -
..........................................................................................................................................................................................................
__________________________________________________________________________________________________________________________________________________________________________________________________________
Warnings << rotors_gazebo_plugins:make /home/stribudax/catkin_ws/logs/rotors_gazebo_plugins/build.make.000.log
[libprotobuf WARNING google/protobuf/descriptor.cc:5411] Warning: Unused import: "MagneticField.proto" imports "quaternion.proto" which is not used.
/home/stribudax/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins/src/external/gazebo_geotagged_images_plugin.cpp: In member function ‘virtual void gazebo::GeotaggedImagesPlugin::Load(gazebo::sensors::SensorPtr, sdf::ElementPtr)’:
/home/stribudax/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins/src/external/gazebo_geotagged_images_plugin.cpp:83:39: warning: ‘gazebo::common::Time gazebo::rendering::Scene::GetSimTime() const’ is deprecated [-Wdeprecated-declarations]
lastImageTime_ = scene_->GetSimTime();
^
In file included from /usr/include/gazebo-7/gazebo/rendering/rendering.hh:40:0,
from /home/stribudax/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/external/gazebo_geotagged_images_plugin.h:30,
from /home/stribudax/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins/src/external/gazebo_geotagged_images_plugin.cpp:18:
/usr/include/gazebo-7/gazebo/rendering/Scene.hh:639:28: note: declared here
public: common::Time GetSimTime() const GAZEBO_DEPRECATED(7.0);
^
/home/stribudax/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins/src/external/gazebo_geotagged_images_plugin.cpp: In member function ‘void gazebo::GeotaggedImagesPlugin::OnNewFrame(const unsigned char*)’:
/home/stribudax/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins/src/external/gazebo_geotagged_images_plugin.cpp:161:49: warning: ‘gazebo::common::Time gazebo::rendering::Scene::GetSimTime() const’ is deprecated [-Wdeprecated-declarations]
common::Time currentTime = scene_->GetSimTime();
^
In file included from /usr/include/gazebo-7/gazebo/rendering/rendering.hh:40:0,
from /home/stribudax/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/external/gazebo_geotagged_images_plugin.h:30,
from /home/stribudax/catkin_ws/src/rotors_simulator/rotors_gazebo_plugins/src/external/gazebo_geotagged_images_plugin.cpp:18:
/usr/include/gazebo-7/gazebo/rendering/Scene.hh:639:28: note: declared here
public: common::Time GetSimTime() const GAZEBO_DEPRECATED(7.0);
^
cd /home/stribudax/catkin_ws/build/rotors_gazebo_plugins; catkin build --get-env rotors_gazebo_plugins | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
..........................................................................................................................................................................................................
Finished <<< rotors_gazebo_plugins [ 53.1 seconds ]
[build] Summary: 12 of 17 packages succeeded.
[build] Ignored: 2 packages were skipped or are blacklisted.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: 4 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 56.0 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
【问题讨论】：
只是出于好奇的一些问题：你为什么要构建catkin，而你可以在Ubuntu下安装它？你为什么尝试通过 catkin 构建 catkin（我假设 sudo catkin build 是你的 vuild 命令）？
是的，所以为了安装 ROS，我必须安装 catkin，当然还要构建它才能使用 ROS。属于安装步骤！
如果你只是想安装ROS，按照these的步骤，你不需要在Ubuntu下从头开始构建任何东西！那你为什么要建造它呢？
我想在 Gazebo (github.com/intel-aero/meta-intel-aero/wiki/…) 中安装“Intel Aero 模型”，要求按照我发现 catkin build 的说明 (github.com/ethz-asl/rotors_simulator/blob/master/README.md)！
但是你不需要从字面上构建catkin。您只需要按照here 中列出的 1. 和 2. 中的步骤进行操作。然后在你的 catkin 工作区执行catkin_make。
【参考方案1】：
在第二个更新中，您的问题是编译需要您没有的库的 Mavros 和凉亭。
在 mavros 文件夹中应该有一个名为 install_GeographicLib.sh 的脚本（或类似的东西）
如果您不想编辑mavros或凉亭的来源，那么我建议使用apt-get安装mavros和凉亭
【讨论】：
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