github下載地址：https://github.com/gt-ros-pkg/hrl-kdl.git
包名：hrl-kdl
1纷妆、工作空間
1.1 新建工作空間：
mkdir -p ~/cakin_ws/src
cd ~/catkin_ws/
catkin_make #初始化工作空間
1.2 已有工作空間
2、 將包下載到工作空間的src下
cd cakin_ws/src
git clone https://github.com/gt-ros-pkg/hrl-kdl.git
cd ..
catkin_make #編譯包逊拍，依照.xml
3际邻、 安裝pykdl_utils
cd hrl-kdl/pykdl_utils
python setup.py #無法找到包
若顯示
usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...]
or: setup.py --help [cmd1 cmd2 ...]
or: setup.py --help-commands
or: setup.py cmd --help
error: no commands supplied
上述python無法定位到下載的包，進(jìn)行下列操作
python setup.py build
sudo python setup.py install
安裝完成后顯示
running install
running build
running build_py
running install_lib
creating /usr/local/lib/python2.7/dist-packages/pykdl_utils
copying build/lib.linux-x86_64-2.7/pykdl_utils/kdl_parser.py -> /usr/local/lib/python2.7/dist-packages/pykdl_utils
copying build/lib.linux-x86_64-2.7/pykdl_utils/joint_kinematics.py -> /usr/local/lib/python2.7/dist-packages/pykdl_utils
copying build/lib.linux-x86_64-2.7/pykdl_utils/__init__.py -> /usr/local/lib/python2.7/dist-packages/pykdl_utils
copying build/lib.linux-x86_64-2.7/pykdl_utils/kdl_kinematics.py -> /usr/local/lib/python2.7/dist-packages/pykdl_utils
byte-compiling /usr/local/lib/python2.7/dist-packages/pykdl_utils/kdl_parser.py to kdl_parser.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/pykdl_utils/joint_kinematics.py to joint_kinematics.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/pykdl_utils/__init__.py to __init__.pyc
byte-compiling /usr/local/lib/python2.7/dist-packages/pykdl_utils/kdl_kinematics.py to kdl_kinematics.pyc
running install_egg_info
Writing /usr/local/lib/python2.7/dist-packages/pykdl_utils-0.1.0.egg-info
4、 檢測(cè)是否安裝成功
python
from pykdl_utils.kdl_kinematics import KDLKinematics #若無報(bào)錯(cuò)，則成功安裝
5岭佳、 一般錯(cuò)誤是catkin_make找不到該包萧锉，因此import不成功
- 若 4 步驟在python中
import不成功，則返回 2 步驟叶洞，在工作空間中
cd catkin_ws
catkin_make clean #清除catkin_make
catkin_make #重新編譯
6禀崖、 查看指令幫助
python setup.py --help-commands
