rotors_simulator:catkin build编译报错及问题解决_catkin build报错_夜半__的博客

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系统版本信息：ubuntu 16.04 + gazebo 7 + cmake version 3.13.0
catkin build错误信息：
--------------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/kinetic
Workspace:                   /home/dummy/rotors_simulator_ws
--------------------------------------------------------------------
Build Space:        [exists] /home/dummy/rotors_simulator_ws/build
Devel Space:        [exists] /home/dummy/rotors_simulator_ws/devel
Install Space:      [unused] /home/dummy/rotors_simulator_ws/install
Log Space:         [missing] /home/dummy/rotors_simulator_ws/logs
Source Space:       [exists] /home/dummy/rotors_simulator_ws/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
--------------------------------------------------------------------
Workspace configuration appears valid.
NOTE: Forcing CMake to run for each package.
--------------------------------------------------------------------
[build] Found '16' packages in 0.0 seconds.                                    
[build] Updating package table.                                                
Starting  >>> catkin_tools_prebuild                                            
Finished  <<< catkin_tools_prebuild                 [ 1.7 seconds ]            
Starting  >>> mav_msgs                                                         
Starting  >>> mav_state_machine_msgs                                           
Starting  >>> mav_system_msgs                                                  
Starting  >>> mavlink                                                          
Finished  <<< mav_system_msgs                       [ 7.1 seconds ]            
Finished  <<< mav_state_machine_msgs                [ 7.5 seconds ]            
Finished  <<< mav_msgs                              [ 11.3 seconds ]           
Starting  >>> rotors_comm                                                      
Starting  >>> rotors_description                                               
Starting  >>> rotors_evaluation                                                
Finished  <<< rotors_comm                           [ 7.1 seconds ]            
Starting  >>> rqt_rotors                                                       
Finished  <<< mavlink                               [ 19.7 seconds ]           
Starting  >>> mav_planning_msgs                                                
Finished  <<< rotors_description                    [ 3.2 seconds ]            
Starting  >>> rotors_control                                                   
Finished  <<< rotors_evaluation                     [ 3.8 seconds ]            
Starting  >>> rotors_hil_interface                                             
Finished  <<< rqt_rotors                            [ 3.9 seconds ]            
Starting  >>> rotors_joy_interface                                             
_______________________________________________________________________________
Warnings   << rotors_control:cmake /home/dummy/rotors_simulator_ws/logs/rotors_control/build.cmake.000.log
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'Eigen3' but neither 'Eigen3_INCLUDE_DIRS' nor
  'Eigen3_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  CMakeLists.txt:17 (catkin_package)
cd /home/dummy/rotors_simulator_ws/build/rotors_control; catkin build --get-env rotors_control | catkin env -si  /usr/bin/cmake /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_control --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/dummy/rotors_simulator_ws/devel/.private/rotors_control -DCMAKE_INSTALL_PREFIX=/home/dummy/rotors_simulator_ws/install; cd -
...............................................................................
_______________________________________________________________________________
Warnings   << rotors_hil_interface:cmake /home/dummy/rotors_simulator_ws/logs/rotors_hil_interface/build.cmake.000.log
CMake Warning at /opt/ros/kinetic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
  The FindEigen.cmake Module in the cmake_modules package is deprecated.
  Please use the FindEigen3.cmake Module provided with Eigen.  Change
  instances of find_package(Eigen) to find_package(Eigen3).  Check the
  FindEigen3.cmake Module for the resulting CMake variable names.
Call Stack (most recent call first):
  CMakeLists.txt:30 (find_package)
cd /home/dummy/rotors_simulator_ws/build/rotors_hil_interface; catkin build --get-env rotors_hil_interface | catkin env -si  /usr/bin/cmake /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/dummy/rotors_simulator_ws/devel/.private/rotors_hil_interface -DCMAKE_INSTALL_PREFIX=/home/dummy/rotors_simulator_ws/install; cd -
...............................................................................
Finished  <<< rotors_joy_interface                  [ 9.7 seconds ]            
Finished  <<< mav_planning_msgs                     [ 15.9 seconds ]           
_______________________________________________________________________________
Warnings   << rotors_hil_interface:make /home/dummy/rotors_simulator_ws/logs/rotors_hil_interface/build.make.000.log
/home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp: In constructor ‘rotors_hil::HilInterfaceNode::HilInterfaceNode()’:
/home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp:51:27: warning: ‘template<class> class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
     hil_interface_ = std::auto_ptr<HilSensorLevelInterface>(new HilSensorLevelInterface(q_S_B));
In file included from /usr/include/c++/5/memory:81:0,
                 from /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/include/rotors_hil_interface/hil_interface_node.h:20,
                 from /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp:17:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
   template<typename> class auto_ptr;
/home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp:53:27: warning: ‘template<class> class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]
     hil_interface_ = std::auto_ptr<HilStateLevelInterface>(new HilStateLevelInterface(q_S_B));
In file included from /usr/include/c++/5/memory:81:0,
                 from /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/include/rotors_hil_interface/hil_interface_node.h:20,
                 from /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp:17:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared here
   template<typename> class auto_ptr;
cd /home/dummy/rotors_simulator_ws/build/rotors_hil_interface; catkin build --get-env rotors_hil_interface | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Finished  <<< rotors_hil_interface                  [ 33.5 seconds ]           
Finished  <<< rotors_control                        [ 43.3 seconds ]           
Starting  >>> rotors_gazebo_plugins                                            
_______________________________________________________________________________
Warnings   << rotors_gazebo_plugins:cmake /home/dummy/rotors_simulator_ws/logs/rotors_gazebo_plugins/build.cmake.000.log
CMake Warning at /opt/cmake-3.13.0/share/cmake-3.13/Modules/FindProtobuf.cmake:495 (message):
  Protobuf compiler version doesn't match library version 2.6.1
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:114 (find_package)
  /opt/ros/kinetic/share/gazebo_dev/cmake/gazebo_dev-extras.cmake:2 (find_package)
  /opt/ros/kinetic/share/gazebo_dev/cmake/gazebo_devConfig.cmake:222 (include)
  CMakeLists.txt:125 (find_package)
CMake Warning (dev) at /opt/cmake-3.13.0/share/cmake-3.13/Modules/FindBoost.cmake:1009 (if):
  Policy CMP0054 is not set: Only interpret if() arguments as variables or
  keywords when unquoted.  Run "cmake --help-policy CMP0054" for policy
  details.  Use the cmake_policy command to set the policy and suppress this
  warning.
  Quoted variables like "chrono" will no longer be dereferenced when the
  policy is set to NEW.  Since the policy is not set the OLD behavior will be
  used.
Call Stack (most recent call first):
  /opt/cmake-3.13.0/share/cmake-3.13/Modules/FindBoost.cmake:1673 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:114 (find_package)
  /opt/ros/kinetic/share/gazebo_dev/cmake/gazebo_dev-extras.cmake:2 (find_package)
  /opt/ros/kinetic/share/gazebo_dev/cmake/gazebo_devConfig.cmake:222 (include)
  CMakeLists.txt:125 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.
WARNGAZEBO Version 7.0.0
WARNGAZEBO older than v9 detected. Autobackporting source files
CMake Warning at /opt/cmake-3.13.0/share/cmake-3.13/Modules/FindProtobuf.cmake:495 (message):
  Protobuf compiler version doesn't match library version 2.6.1
Call Stack (most recent call first):
  CMakeLists.txt:189 (find_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:229 (catkin_package)
cd /home/dummy/rotors_simulator_ws/build/rotors_gazebo_plugins; catkin build --get-env rotors_gazebo_plugins | catkin env -si  /usr/bin/cmake /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_gazebo_plugins --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/dummy/rotors_simulator_ws/devel/.private/rotors_gazebo_plugins -DCMAKE_INSTALL_PREFIX=/home/dummy/rotors_simulator_ws/install; cd -
...............................................................................
_______________________________________________________________________________
Errors     << rotors_gazebo_plugins:make /home/dummy/rotors_simulator_ws/logs/rotors_gazebo_plugins/build.make.000.log
CMakeFiles/mav_msgs.dir/build.make:61: *** target pattern contains no '%'.  Stop.
make[1]: *** [CMakeFiles/mav_msgs.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/dummy/rotors_simulator_ws/build/rotors_gazebo_plugins; catkin build --get-env rotors_gazebo_plugins | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed     << rotors_gazebo_plugins:make            [ Exited with code 2 ]     
Failed    <<< rotors_gazebo_plugins                 [ 5.0 seconds ]            
Abandoned <<< rotors_gazebo                         [ Unrelated job failed ]   
[build] Summary: 13 of 15 packages succeeded.                                  
[build]   Ignored:   2 packages were skipped or are blacklisted.               
[build]   Warnings:  3 packages succeeded with warnings.                       
[build]   Abandoned: 1 packages were abandoned.                                
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 1 minute and 11.1 seconds total.                              
[build] Note: Workspace packages have changed, please re-source setup files to use them.
将报错信息Errors发到网上，并没有找到相关报错信息。因此，只能翻找Errors之前的输出信息，锁定到rotors_gazebo_plugins部分的第一个CMake Warning: at /opt/cmake-3.13.0/share/cmake-3.13/Modules/FindProtobuf.cmake:495 (message): Protobuf compiler version doesn't match library version 2.6.1，初步估计可能是protoc版本冲突问题。
 所以，首先查看本机中protoc的版本信息： 
protoc --version
The program 'protoc' is currently not installed. You can install it by typing: sudo apt install protobuf-compiler
但是运行sudo apt install protobuf-compiler发现已经安装，估计是没有加入环境变量，此时解决方法是： 
sudo apt-get remove protobuf-compiler
sudo apt-get install protobuf-compiler
之后，查看protoc版本信息： 
protoc --version
libprotoc 2.6.1
然后重新运行catkin build，发现编译成功。
 总结：出现catkin build错误信息主要是protoc的问题，即上面终端报出的信息Protobuf compiler version doesn't match library version 2.6.1
                                    bicopter_sim
 Desenvolvimento de um bicopter utilizando ROS。 Neste假装可模拟ROS并在凉亭中实现ROS。 Auri sera usada o pacote ROTORS feito pelo time de robotica da zurique Universidade de Zurique（  ）eo教程进行了roboticista Wil Selby（  ）。
乌姆格兰德·德萨菲奥
零度ROS 一本有关如何使用自定义算法的教程。
Capitulo 1-做喜剧
Osistema操作性适足
在Linux发行版Ubuntu上用于ROS的使用说明。
 服务对象之间的联系。 Vocêpode fazer o教程指示ROS实验。
 教程和教程，网址为constructsim（  ），为机器人学提供了Linux教程，并为包含ROSA
                                    在WIN10下生成.sln出现如下错误:
Cmake Error at builders/vpx.cmake:89 Cmake Error at builders/vpx.cmake:88 Cmake Error at builders/vpx.cmake:87 Cmake Error at builders/vpx.cmake:77  file not found WORK/desktop/cmake/windowsenv_libpath.txt WORK/desktop/cmake/windowsenv_lib.txt WORK/desktop/cmake/windowsenv_include.txt WORK/desktop/cmake/windowsenv_path.txt
,下载文件，解压，在linphone-deskto搜索该文件，覆盖原文件。然后清除原来生成的:Python prepare.py -c，再Python prepare.py
                                    一、问题描述
安装ROS环境之后，使用 catkin_make 编译 package 可以运行，但是如果跑 catkin init 或者 catkin build 就会出现 catkin：command not found。
主要原因是 catkin 包默认情况下是没有安装的。
二、解决方法：
直接安装  python-catkin-tools。
sudo apt-get update
sudo apt-get install python-catkin-tools
这样基本就OK了。
如果报错的话，可以
记录我的调试bug历程,
找不到自定义消息类型的文件 bug
找不到.h文件是电脑编译顺序的问题，先把add_executable(swarm_node_v2 src/swarm_node_v2.cpp)以及
target_link_libraries(swarm_node_v2${catkin_LIBRARIES})
注释，重新运行...
                                    这里写自定义目录标题欢迎使用Markdown编辑器新的改变功能快捷键合理的创建标题，有助于目录的生成如何改变文本的样式插入链接与图片
欢迎使用Markdown编辑器
你好！ 这是你第一次使用 Markdown编辑器 所展示的欢迎页。如果你想学习如何使用Markdown编辑器, 可以仔细阅读这篇文章，了解一下Markdown的基本语法知识。
我们对Markdown编辑器进行了一些功能拓展与语法支持，除了标准的Markdown编辑器功能，我们增加了如下几点新功能，帮助你用它写博客：
全新的界面设计 
                                    源网址：https://answers.ros.org/question/207433/catkin-build-gives-command-not-found/问题：'catkin build' gives 'command not found'解决：使用'catkin build'需要安装python-catkin-tools在终端中输入sudo apt-get install python-...
在Ubuntu 下我们经常用 make 编译指令
尤其是在进行ROS开发时 我们经常要用catkin_make工作空间来更新我们的功能包
此时我们可以用 多核    catkin_make     -jx 来加速我们编译过程（x 表示 采用CPU核心书数）
如我的Ubuntu是四核  故采用 -j4来加速
catkin_make -j4
实操图如下
查看Ubuntu CPU核心数
查看Ubuntu可以打开 软件列表 找到一个应用：系统监视器
打开资源就可以看到了 其他有CP