配置工作空间环境
Bash
# 初始化工作空间(如果未完成)
cd ~/primitive_ws
catkin_init_workspace # 生成顶层CMakeLists.txt
# 编译工作空间
catkin_make 运行catkin_make输出vae@vae-ASUS-TUF-Gaming-A15-FA507UU-FA507UU:~/primitive_ws$ catkin_make
Base path: /home/vae/primitive_ws
Source space: /home/vae/primitive_ws/src
Build space: /home/vae/primitive_ws/build
Devel space: /home/vae/primitive_ws/devel
Install space: /home/vae/primitive_ws/install
####
#### Running command: "cmake /home/vae/primitive_ws/src -DCATKIN_DEVEL_PREFIX=/home/vae/primitive_ws/devel -DCMAKE_INSTALL_PREFIX=/home/vae/primitive_ws/install -G Unix Makefiles" in "/home/vae/primitive_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/vae/primitive_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Using Debian Python package layout
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/vae/primitive_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Using Python nosetests: /usr/bin/nosetests3
-- catkin 0.8.12
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 19 packages in topological order:
-- ~~ - quadrotor_msgs
-- ~~ - map_generator
-- ~~ - poscmd_2_odom
-- ~~ - pose_utils
-- ~~ - map_server
-- ~~ - manual_take_over
-- ~~ - odom_visualization
-- ~~ - local_sensing_node
-- ~~ - mockamap
-- ~~ - so3_control
-- ~~ - traj_utils
-- ~~ - primitive_planner
-- ~~ - swarm_bridge
-- ~~ - uav_utils
-- ~~ - assign_goals
-- ~~ - random_goals
-- ~~ - so3_quadrotor_simulator
-- ~~ - rviz_plugins
-- ~~ - selected_points_publisher
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'quadrotor_msgs'
-- ==> add_subdirectory(Primitive-Planner/src/Utils/quadrotor_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- quadrotor_msgs: 14 messages, 0 services
-- +++ processing catkin package: 'map_generator'
-- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/map_generator)
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- The imported target "vtkParseOGLExt" references the file
"/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "pvtk" references the file
"/usr/bin/pvtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_APPS
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN
-- +++ processing catkin package: 'poscmd_2_odom'
-- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/fake_drone)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'pose_utils'
-- ==> add_subdirectory(Primitive-Planner/src/Utils/pose_utils)
-- +++ processing catkin package: 'map_server'
-- ==> add_subdirectory(map_server)
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_workspace.cmake:121 (add_subdirectory):
The source directory
/home/vae/primitive_ws/src/map_server
does not contain a CMakeLists.txt file.
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)
-- +++ processing catkin package: 'manual_take_over'
-- ==> add_subdirectory(Primitive-Planner/src/Utils/manual_take_over)
-- +++ processing catkin package: 'odom_visualization'
-- ==> add_subdirectory(Primitive-Planner/src/Utils/odom_visualization)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'local_sensing_node'
-- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/local_sensing)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'Eigen' but neither 'Eigen_INCLUDE_DIRS' nor
'Eigen_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
Primitive-Planner/src/uav_simulator/local_sensing/CMakeLists.txt:72 (catkin_package)
-- +++ processing catkin package: 'mockamap'
-- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/mockamap)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'so3_control'
-- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/so3_control)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'traj_utils'
-- ==> add_subdirectory(Primitive-Planner/src/planner/traj_utils)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- traj_utils: 2 messages, 0 services
-- +++ processing catkin package: 'primitive_planner'
-- ==> add_subdirectory(Primitive-Planner/src/planner/plan_manage)
-- Eigen found (include: /usr/include/eigen3, version: 3.3.7)
-- The imported target "vtkParseOGLExt" references the file
"/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- The imported target "pvtk" references the file
"/usr/bin/pvtk"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
"/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- OpenNI2 found (include: /usr/include/openni2, lib: /usr/lib/libOpenNI2.so)
-- QHULL found (include: /usr/include, lib: optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so)
-- OpenNI found (include: /usr/include/ni, lib: /usr/lib/libOpenNI.so)
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_2D
-- looking for PCL_GEOMETRY
-- looking for PCL_IO
-- looking for PCL_FEATURES
-- looking for PCL_ML
-- looking for PCL_SEGMENTATION
-- looking for PCL_VISUALIZATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_KEYPOINTS
-- looking for PCL_TRACKING
-- looking for PCL_RECOGNITION
-- looking for PCL_STEREO
-- looking for PCL_APPS
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
-- looking for PCL_OUTOFCORE
-- looking for PCL_PEOPLE
-- Found PCL: pcl_common;pcl_kdtree;pcl_octree;pcl_search;pcl_sample_consensus;pcl_filters;pcl_io;pcl_features;pcl_ml;pcl_segmentation;pcl_visualization;pcl_surface;pcl_registration;pcl_keypoints;pcl_tracking;pcl_recognition;pcl_stereo;pcl_apps;pcl_outofcore;pcl_people;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkChartsCore;vtkCommonColor;vtkCommonCore;vtksys;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkCommonExecutionModel;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersCore;vtkInfovisCore;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkFiltersModeling;vtkImagingSources;vtkInteractionStyle;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingColor;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkRenderingAnnotation;vtkRenderingVolume;vtkIOXML;vtkIOCore;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkIOGeometry;vtkIOLegacy;vtkIOPLY;vtkRenderingLOD;vtkViewsContext2D;vtkViewsCore;vtkRenderingContextOpenGL2;vtkRenderingOpenGL2;FLANN::FLANN (Required is at least version "1.7")
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'swarm_bridge'
-- ==> add_subdirectory(Primitive-Planner/src/planner/swarm_bridge)
-- +++ processing catkin package: 'uav_utils'
-- ==> add_subdirectory(Primitive-Planner/src/Utils/uav_utils)
-- +++ processing catkin package: 'assign_goals'
-- ==> add_subdirectory(Primitive-Planner/src/Utils/assign_goals)
-- +++ processing catkin package: 'random_goals'
-- ==> add_subdirectory(Primitive-Planner/src/Utils/random_goals)
-- +++ processing catkin package: 'so3_quadrotor_simulator'
-- ==> add_subdirectory(Primitive-Planner/src/uav_simulator/so3_quadrotor_simulator)
CMake Warning at /opt/ros/noetic/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/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
Primitive-Planner/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt:29 (catkin_package)
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'system_lib' but neither
'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
Primitive-Planner/src/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt:29 (catkin_package)
-- +++ processing catkin package: 'rviz_plugins'
-- ==> add_subdirectory(Primitive-Planner/src/Utils/rviz_plugins)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'system_lib' but neither
'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
Primitive-Planner/src/Utils/rviz_plugins/CMakeLists.txt:12 (catkin_package)
-- Using Qt5 based on the rviz_QT_VERSION: 5.12.8
-- +++ processing catkin package: 'selected_points_publisher'
-- ==> add_subdirectory(Primitive-Planner/src/Utils/selected_points_publisher)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Configuring incomplete, errors occurred!
See also "/home/vae/primitive_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/vae/primitive_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed