源码安装 MoveIt!2

字数

915 字

阅读时间

5 分钟

1. 参考教程 [Humble, Jazzy -stable]

• 鱼香ROS社区《动手学MoveIt2》
• MoveIt2官方教程
• TRAC-IK安装

2. 源码安装Moveit!2

• 创建 colcon 工作区

  export COLCON_WS=~/ws_moveit2/
  mkdir -p $COLCON_WS/src
  cd $COLCON_WS/src

• 下载源码到工作区

  • Humble, Jazzy-stable

    git clone https://github.com/moveit/moveit2.git -b $ROS_DISTRO
    for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done
    rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

  • Rolling, Jazzy, Humble-unstable

    git clone https://github.com/moveit/moveit2.git -b main
    for repo in moveit2/moveit2.repos $(f="moveit2/moveit2_$ROS_DISTRO.repos"; test -r $f && echo $f); do vcs import < "$repo"; done
    rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

• 从源码构建MoveIt2

  cd $COLCON_WS
  colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release

  • --event-handlers: colcon的一个选项，用于指定事件处理器（event handlers）

  • desktop_notification-: 表示禁用桌面通知（默认在构建完成时会弹出桌面通知）

  • status-: 表示禁用终端构建显示（默认会显示每个包的构建进度，建议打开）

    ⚠️注意：desktop_notification-和status-后的-表示禁用，+表示启用

  • --cmake-args: 表示把后面的参数直接传给CMake

  • -DCMAKE_BUILD_TYPE=Release: CMake 参数，用来指定构建类型为 Release

    • Release: 优化过的可执行文件，运行速度快，但没有调试信息
    • Debug: 带有调试信息，方便调试，但是运行速度慢
    • RelWithDebInfo: 带优化同时保留调试信息
    • MinSizeRel: 优化体积最小

• source工作空间

  # bash
  source $COLCON_WS/install/setup.bash
  
  # zsh
  source $COLCON_WS/install/setup.zsh

3. 源码安装TRAC-IK

• 下载并安装NLopt library

  • NLopt Documentation

• 下载TRAC-IK源码

  git clone -b ros2_plugin https://github.com/ravnicas/trac_ik.git

• 将下载的源码放到项目所在的工作空间中的src文件夹

  cd colcon_ws/src

• 编译源码

  colcon build

  • 报错问题

    --- stderr: trac_ik_kinematics trac_ik_kinematics: You did not request a specific build type: Choosing 'Release' for maximum performance In file included from /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/include/trac_ik_kinematics_plugin/trac_ik_kinematics_plugin.h:45, from /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:47: /home/tong/ws_moveit2/install/moveit_core/include/moveit_core/moveit/kinematics_base/kinematics_base.h:50:77: note: ‘#pragma message: .h header is obsolete. Please use the .hpp header instead.’ 50 | ".h header is obsolete. Please use the .hpp header instead.") | ^ In file included from /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/include/trac_ik_kinematics_plugin/trac_ik_kinematics_plugin.h:47, from /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:47: /home/tong/ws_moveit2/install/moveit_core/include/moveit_core/moveit/robot_model/robot_model.h:51:77: note: ‘#pragma message: .h header is obsolete. Please use the .hpp header instead.’ 51 | ".h header is obsolete. Please use the .hpp header instead.") | ^ In file included from /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/include/trac_ik_kinematics_plugin/trac_ik_kinematics_plugin.h:48, from /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:47: /home/tong/ws_moveit2/install/moveit_core/include/moveit_core/moveit/robot_state/robot_state.h:51:77: note: ‘#pragma message: .h header is obsolete. Please use the .hpp header instead.’ 51 | ".h header is obsolete. Please use the .hpp header instead.") | ^ /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp: In member function ‘virtual bool trac_ik_kinematics_plugin::TRAC_IKKinematicsPlugin::initialize(const SharedPtr&, const moveit::core::RobotModel&, const string&, const string&, const std::vector<std::__cxx11::basic_string<char> >&, double)’: /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:151:5: error: ‘lookupParam’ was not declared in this scope 151 | lookupParam(node_, "position_only_ik", position_ik_, false); | ^~~~~~~~~~~ /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp: In member function ‘int trac_ik_kinematics_plugin::TRAC_IKKinematicsPlugin::getKDLSegmentIndex(const string&) const’: /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:161:43: warning: use of old-style cast to ‘int’ [-Wold-style-cast] 161 | while (i < (int)chain.getNrOfSegments()) | ^ | ----- | static_cast<int> ( ) In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40, from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24, from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18, from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20, from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37, from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25, from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21, from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155, from /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:32: /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp: In member function ‘bool trac_ik_kinematics_plugin::TRAC_IKKinematicsPlugin::searchPositionIK(const Pose&, const std::vector<double, std::allocator<double> >&, double, std::vector<double, std::allocator<double> >&, const IKCallbackFn&, moveit_msgs::msg::MoveItErrorCodes&, const std::vector<double, std::allocator<double> >&, const kinematics::KinematicsQueryOptions&) const’: /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:397:32: warning: format ‘%i’ expects argument of type ‘int’, but argument 5 has type ‘moveit_msgs::msg::MoveItErrorCodes’ {aka ‘moveit_msgs::msg::MoveItErrorCodes_<std::allocator<void> >’} [-Wformat=] 397 | RCLCPP_DEBUG(LOGGER, "Solution has error code %i", error_code); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:397:58: note: format string is defined here 397 | RCLCPP_DEBUG(LOGGER, "Solution has error code %i", error_code); | ~^ | | | int /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:320:77: warning: unused parameter ‘consistency_limits’ [-Wunused-parameter] 320 | const std::vector<double> &consistency_limits, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~ /home/tong/colcon_ws/src/trac_ik_kinematics/trac_ik_kinematics_plugin/src/trac_ik_kinematics_plugin.cpp:321:92: warning: unused parameter ‘options’ [-Wunused-parameter] 321 | const kinematics::KinematicsQueryOptions &options) const | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~ gmake[2]: *** [trac_ik_kinematics_plugin/CMakeFiles/moveit_trac_ik_kinematics_plugin.dir/build.make:76：trac_ik_kinematics_plugin/CMakeFiles/moveit_trac_ik_kinematics_plugin.dir/src/trac_ik_kinematics_plugin.cpp.o] 错误 1 gmake[1]: *** [CMakeFiles/Makefile2:152：trac_ik_kinematics_plugin/CMakeFiles/moveit_trac_ik_kinematics_plugin.dir/all] 错误 2 gmake: *** [Makefile:146：all] 错误 2 --- Failed <<< trac_ik_kinematics [5.16s, exited with code 2]

    • 解决方法

      修改trac_ik_kinematics_plugin.cpp文件：

      找到：

      lookupParam(node_, "position_only_ik", position_ik_, false);
      lookupParam(node_, "solve_type", position_ik_, false);

      修改为：

      node_->get_parameter_or("position_only_ik", position_ik_, false);
      node_->get_parameter_or("solve_type", position_ik_, false);

      ⚙️检查插件声明文件

      确保trac_ik_kinematics_plugin_description.xml中插件名称与配置一致

      <library path="moveit_trac_ik_kinematics_plugin">
        <class name="trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin" type="trac_ik_kinematics_plugin::TRAC_IKKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
          <description>
            A implementation of kinematics as a plugin based on TRAC-IK.
          </description>
        </class>
      </library>

  • 再次编译即可

    colcon build

• 修改kinematics.yaml文件

  manipulator:
    kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
    kinematics_solver_search_resolution: 0.005
    kinematics_solver_timeout: 0.005
    goal_joint_tolerance: 0.0001
    goal_position_tolerance: 0.0001
    goal_orientation_tolerance: 0.001

贡献者

shine-tong

文件历史

最后编辑于 20 分钟前查看完整历史

c453a-update