遨博機(jī)械臂提供的ros包 aubo_robot目前只支持ROS Kinetic版本倦春，如果使用Ubuntu18.04 ROS Melodic版本洽胶，編譯會(huì)出現(xiàn)錯(cuò)誤
- fatal error: Eigen/Geometry: 沒(méi)有那個(gè)文件或目錄
修改aubo_robot/aubo_planner/CMakeLists.txt
if("$ENV{ROS_DISTRO}" STREQUAL "melodic")
find_package(Eigen3 REQUIRED)
Message(STATUS "<<<<<<<<<<<<<<<<<<<<<<<<<Note: Find Eigen3 Package in aubo_planner for melodic")
endif()
if("$ENV{ROS_DISTRO}" STREQUAL "melodic")
include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS})
Message(STATUS "<<<<<<<<<<<<<<<<<<<<<<<<<Note: Find EIGEN3_INCLUDE_DIRS Package in aubo_planner for melodic")
endif()
- error: no match for call to ‘(boost::mfi::mf1<void, industrial_robot_client::joint_trajectory_action::JointTrajectoryAction, actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction<std::allocator<void> > >&>) (industrial_robot_client::joint_trajectory_action::JointTrajectoryAction*&, actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >)’
修改aubo_robot/aubo_controller/src/joint_trajectory_action.cpp 和 aubo_robot/aubo_controller/include/joint_trajectory_action.h，將
void JointTrajectoryAction::goalCB(JointTractoryActionServer::GoalHandle& gh)
void JointTrajectoryAction::cancelCB(JointTractoryActionServer::GoalHandle& gh)
改為
void JointTrajectoryAction::goalCB(JointTractoryActionServer::GoalHandle gh)
void JointTrajectoryAction::cancelCB(JointTractoryActionServer::GoalHandle gh)
改后的代碼見(jiàn) aubo_robot: for melodic
