在QT creator中解决ros编译时ompl库找不到

原创已于 2023-11-07 15:29:06 修改 · 404 阅读

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#机器人

于 2023-11-07 15:27:51 首次发布

安装ompl库:(本文使用的是ros-neotic)

sudo apt install ros-noetic-ompl

成功安装之后,编译仍有报错显示:

ompl/base/objectives/PathLengthOptimizationObjective.h : No such file or directory

原因是:ompl库安装的位置一般在

/opt/ros/noetic/include/ompl-1.6/ompl

但是ROS catkin在编译时查找ROS自己的头文件包的路径是:

/opt/ros/noetic/include

解决办法如下:(建立软连接)

sudo ln -s /opt/ros/noetic/include/ompl-1.6/ompl /opt/ros/noetic/include/ompl

再编译的话,就不会再显示头文件报错了.

进行Cmakelist文件配置,不配置的话会出现运行时会出现undifine的错误:

:-1: error: /opt/ros/noetic/include/ompl-1.6/ompl/base/spaces/RealVectorStateSpace.h:103: undefined reference to `vtable for ompl::base::RealVectorStateSpace'

Cmakelist文件:

find_package(catkin REQUIRED COMPONENTS roscpp rviz)
find_package(fcl REQUIRED)
find_package(ompl REQUIRED)
include_directories(${catkin_INCLUDE_DIRS}
${fcl_INCLUDE_DIRS}
${OMPL_INCLUDE_DIRS}
)

catkin_package()

target_link_libraries(package_name_node ${QT_LIBRARIES} ${catkin_LIBRARIES} ${OMPL_LIBRARIES} fcl)

然后就可以使用ompl库和fcl库了.

参考链接:https://blog.youkuaiyun.com/qq_41035283/article/details/120549554