Ubuntu18.04编译安装ROS工具包MoveIt

官方安装教程请点击https://moveit.ros.org/install/source/

最简单的安装方式是apt安装

sudo apt install ros-melodic-moveit

编译安装时，笔者在这一步遇到问题，

sudo apt install python3-wstool python3-catkin-tools clang-format-10 python3-rosdep

出现如下报错

The following packages have unmet dependencies:
 python3-rosdep : Depends: python3-catkin-pkg but it is not going to be installed
                  Depends: python3-rosdistro but it is not going to be installed
                  Depends: python3-rospkg but it is not going to be installed
                  Depends: python3-rosdep-modules (>= 0.21.0) but it is not going to be installed

用apt安装python3-catkin-pkg时，会卸载掉很多ros包，原因好像是python2和python3的冲突问题。于是跳过了这条命令，一直到catkin build，在catkin build的过程中，报了很多依赖问题

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "warehouse_ros"
  with any of the following names:

    warehouse_rosConfig.cmake
    warehouse_ros-config.cmake

  Add the installation prefix of "warehouse_ros" to CMAKE_PREFIX_PATH or set
  "warehouse_ros_DIR" to a directory containing one of the above files.  If
  "warehouse_ros" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:6 (find_package)

笔者一条条解决，最终编译通过，将其中所需的ros包汇总如下

sudo apt install ros-melodic-eigen-stl-containers ros-melodic-object-recognition-msgs ros-melodic-random-numbers* ros-melodic-octomap-msgs ros-melodic-graph-msgs ros-melodic-pybind11-catkin ros-melodic-ompl* ros-melodic-warehouse-ros ros-melodic-eigenpy ros-melodic-rosparam-shortcuts

即在catkin build前安装上述这些包

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