ubuntu18.04+ROS-Melodic 配置moveit
持續更新......
轉載請標明出處！！！
在已經安裝ROS-melodic之後，再進行一下操作。如果你沒有安裝ROS，請務必先安裝。安裝方法可以檢視官網。
link：http://wiki.ros.org/melodic/Installation/Ubuntu
1 安裝moveit
去官網查詢安裝moveit的方式，link：http://moveit.ros.org/install/
選擇的是二進位制安裝方式：
在安裝之前先對安裝好的ROS系統更新一下，使用如下指令：
$ rosdep update $ sudo apt-get update $ sudo apt-get dist-upgrade
然後安裝moveit：
$ sudo apt-get install ros-melodic-moveit2 建立moveit的工作空間
為了區分開ROS的工作空間，新建一個ws_moveit的資料夾，作為moveit的工作空間
$ mkdir -p ws_moveit/src然後下載教程演示的demo包到src資料夾下：
$ cd ws_moveit/src git clone https://github.com/ros-planning/moveit_tutorials.git #moveit_tutorials git clone https://github.com/ros-planning/panda_moveit_config.git #panda_moveit_config模型配置包URDF的xml語法格式
然後按照官網的步驟是，執行一下指令自動配齊依賴包，
rosdep install -y --from-paths . --ignore-src --rosdistro kinetic但是melodic現在沒有完整的這一方面的釋出包，執行會提示類似如下的錯誤資訊：
~/ws_moveit/src$ rosdep install -y --from-paths . --ignore-src --rosdistro melodic
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
panda_moveit_config: Cannot locate rosdep definition for [franka_description]
或者：當我配好franka_description的包後，有提示下面的問題，這樣一直配置下去：
~/ws_moveit/src$ rosdep install -y --from-paths . --ignore-src --rosdistro melodic
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
franka_visualization: Cannot locate rosdep definition for [libfranka]
franka_control: Cannot locate rosdep definition for [libfranka]
franka_hw: Cannot locate rosdep definition for [libfranka]
franka_example_controllers: Cannot locate rosdep definition for [libfranka]
franka_gripper: Cannot locate rosdep definition for [libfranka]
最後，總結：在下載好moveit_tutorials和模型配置包panda_moveit_config後，繼續在github上下載以下幾個包，解壓到src資料夾下，這樣手動配置以下這些melodic沒法自動配置的依賴包，然後繼續執行上面的命令就可以了！！
The following NEW packages will be installed:
ros-melodic-nodelet ros-melodic-nodelet-topic-tools ros-melodic-pcl-ros
0 upgraded, 3 newly installed, 0 to remove and 0 not upgraded.
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Setting up ros-melodic-nodelet (1.9.16-0bionic.20180906.224839) ...
Setting up ros-melodic-nodelet-topic-tools (1.9.16-0bionic.20180906.235625) ...
Setting up ros-melodic-pcl-ros (1.6.2-0bionic.20180907.005643) ...
#All required rosdeps installed successfully
因為配置資訊太長，就直接去最後提示成功的資訊了。
最終src中是這些PKG，按照名字下載即可：
franka_ros: https://github.com/frankaemika/franka_ros
libfranka: https://github.com/frankaemika/libfranka-release/tree/release/kinetic/libfranka
moveit_visual_tools: https://github.com/PickNikRobotics/moveit_visual_tools/tree/melodic-devel
注意一定要配齊每一個包的依賴關係：然後才不會編譯出錯！！！如果不知道怎麼配置每一個包各自的依賴包，請檢視我之前的一片文章學習一下：
link: https://blog.csdn.net/SimileciWH/article/details/81332199
3 開始編譯moveit的包
執行以下指令：
cd ws_moveit
###catkin config --extend /opt/ros/melodic #不要執行官網寫的這一行，下面我會解釋
catkin build###catkin config --extend /opt/ros/melodic這一行是設定catkin編譯構建的環境目錄，對於melodic版本如果使用了，則預設的catkin構建目錄就不在是你ROS的那個工作目錄，全部非二進位制安裝的包，或者你為ROS寫的包，如果在move'it的使用find package去搜這些包，都會找不到，因為這一句講catkin的搜尋目錄設定在了安裝ROS的目錄。當然你可以自己新增，這裡避免不必要的麻煩，我不推薦執行這一句指令！！！
3.1 在執行catkin build時提示，
1）[missing] /home/simileciwh/ws_moveit/logs
2）[missing] /home/simileciwh/ws_moveit/build )
3）[missing] /home/simileciwh/ws_moveit/devel
這是因為我們沒有在工作空間建立Log，Build，Devel三個資料夾，執行這個之後會自動建立，繼續執行build命令
3.2 提示：/ws_moveit/src/moveit_tutorials-kinetic-devel/doc/pick_place/src/pick_place_tutorial.cpp:94:43: error: ‘tf’ has not been declared
點開/ws_moveit/src/moveit_tutorials-kinetic-devel/doc/pick_place/src/pick_place_tutorial.cpp檔案後發現確實沒有加入標頭檔案tf.h所以在檔案開頭，新增即可解決錯誤
include <tf/tf.h>
至此構建成功！！！
~/ws_moveit$ catkin build
---------------------------------------------------------------
Profile: default
Extending: [explicit] /home/simileciwh/catkin_ws/devel
Workspace: /home/simileciwh/ws_moveit
---------------------------------------------------------------
Source Space: [exists] /home/simileciwh/ws_moveit/src
Log Space: [exists] /home/simileciwh/ws_moveit/logs
Build Space: [exists] /home/simileciwh/ws_moveit/build
Devel Space: [exists] /home/simileciwh/ws_moveit/devel
Install Space: [unused] /home/simileciwh/ws_moveit/install
DESTDIR: [unused] None
---------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
---------------------------------------------------------------
Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
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 '12' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> franka_description
Starting >>> franka_msgs
Starting >>> libfranka
Starting >>> moveit_visual_tools
Finished <<< franka_description [ 0.2 seconds ]
Starting >>> panda_moveit_config
Finished <<< moveit_visual_tools [ 0.3 seconds ]
Finished <<< panda_moveit_config [ 0.2 seconds ]
Starting >>> moveit_tutorials
Finished <<< franka_msgs [ 0.6 seconds ]
Finished <<< moveit_tutorials [ 37.9 seconds ]
Finished <<< libfranka [ 4 minutes and 3.4 seconds ]
Starting >>> franka_gripper
Starting >>> franka_hw
Starting >>> franka_visualization
Finished <<< franka_visualization [ 13.2 seconds ]
Finished <<< franka_hw [ 16.0 seconds ]
Finished <<< franka_gripper [ 38.5 seconds ]
Starting >>> franka_control
Finished <<< franka_control [ 22.3 seconds ]
Starting >>> franka_example_controllers
Finished <<< franka_example_controllers [ 38.6 seconds ]
[build] Summary: All 11 packages succeeded!
[build] Ignored: 1 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 5 minutes and 43.1 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
4 將編譯好的包加入到環境中
$ source ~/ws_moveit/devel/setup.bash也可以直接新增到.bashrc檔案中，讓其在開啟新的終端時自動載入環境
$ echo 'source ~/ws_moveit/devel/setup.bash' >> ~/.bashrc
5 執行效果
執行以下命令執行demo：
$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true最終結果，如下所示：
！！！！！在此之前，需要先設定一下RVIZ，否則什麼都不會顯示的！！！！！！
設定如下：
（1）點選開啟的空白rviz視窗左側的add按鈕，找到MotionPlanning，確定。如下圖所示：
設定完成，會看到下圖內容：
繼續設定：
在“Global Options”標籤處，子視窗“Displays”選項卡，設定 Fixed Frame為/panda_link0
然後點選“MotionPlanning”標籤，找到如下顯示的標籤，做修改：
Robot Description---->設定成robot_description
Planning Scene Topic---->設定成/planning_scene
Planning Request---->設定成panda_arm
Planned Path---->設定成/move_group/display_planned_path
完成這些全部設定，就和我的截圖一樣效果了。
可以參考官網繼續完後設計了：
updating