can not be used when making a shared object； recompile with -fPIC的解决方法

在运行

roslaunch moveit_setup_assistant setup_assistant.launch

发现process[moveit_setup_assistant-2]: started with pid [13920]
/opt/ros/noetic/lib/moveit_setup_assistant/moveit_setup_assistant: error while loading shared libraries: libfcl.so.0.6: cannot open shared object file: No such file or directory
缺少libfcl.so.0.6
找到https://github.com/flexible-collision-library/fcl 按照其安装。先安装libccd。

之后的步骤中在make时，出现
relocation R_X86_64_PC32 against symbol
can not be used when making a shared object; recompile with -fPIC
参考https://stackoverflow.com/questions/61652407/linker-error-relocation-r-x86-64-pc32-against-symbol-xmlfree-recompile-w，我们在fcl的目录下，

./configure CFLAGS=-fPIC

即可解决。

在安装libccd时，在/libccd/src下的Makefile中，找到CFLAGS行，在最后添加-fPIC，然后再进行make，和sudo make install