moveit 2源码编译

前言

本文用来记录moveit 2从源码编译的全流程。
本机环境：
系统：debian 11
ros版本：ros2 humble
处理器：intel i7
内存：16g

下载编译过程

创建开发环境

$ cd ~
$ mkdir workspace

拉取源代码

方法1：博主导入了本地源会快一些

$ cd ~/workspace
$ git clone https://gitee.com/lilinxin75/moveit2.git -b humble --depth=1
$ mkdir deps
$ cd deps
$ git clone https://gitee.com/lilinxin75/moveit_msgs.git -b humble --depth=1
$ git clone https://gitee.com/lilinxin75/moveit_resources.git -b humble --depth=1
$ git clone https://gitee.com/lilinxin75/ros2_control.git -b humble --depth=1
$ git clone https://gitee.com/lilinxin75/control_msgs.git -b humble --depth=1
$ git clone https://gitee.com/lilinxin75/realtime_tools.git --depth=1
$ git clone https://gitee.com/lilinxin75/object_recognition_msgs.git -b ros2 --depth=1

方法二：使用官方源

$ cd ~/workspace
$ git clone https://github.com/ros-planning/moveit2.git -b $ROS_DISTRO --depth=1
$ mkdir deps
$ cd deps
$ git clone https://github.com/ros-planning/moveit_msgs.git -b humble --depth=1
$ git clone https://github.com/ros-planning/moveit_resources.git -b humble --depth=1
$ git clone https://github.com/ros-controls/ros2_control.git -b humble --depth=1
$ git clone https://github.com/ros-controls/control_msgs.git -b humble --depth=1
$ git clone https://github.com/ros-controls/realtime_tools.git --depth=1
$ git clone https://github.com/wg-perception/object_recognition_msgs.git -b ros2 --depth=1

更新rosdep

$ rosdep init
$ rosdep update

rosdep update出错解决办法，下载文件替换法——No such file or directory: ‘/etc/ros/rosdistro/master/index-v4.yaml

下载安装moveit 2依赖包

$ rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y# result
# $ rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y# All required rosdeps installed successfully

编译源码

# --parallel-workers 2 意思是限制同时编译项目为2个，默认值为cpu核数，不设置该值会占用大量内存
$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 2

关于colcon构建参数可以参照下边的链接：
ROS2构建工具colcon介绍

输出结果

$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 2
Starting >>> object_recognition_msgs     
Starting >>> moveit_common...Starting >>> moveit_setup_core_plugins     
Starting >>> moveit_setup_srdf_plugins                                                                                                                                           
Finished <<< moveit_runtime [0.30s]                                                                                                                                              
Finished <<< moveit_setup_core_plugins [0.57s]                                                                                                                                   
Finished <<< moveit_setup_app_plugins [0.65s]                                                                                                                              
Finished <<< moveit_setup_controllers [0.80s]                                                                                                                                    
Finished <<< moveit_setup_srdf_plugins [0.79s]                                                                                                                                   
Starting >>> moveit_setup_assistant                                                                                                                                              
Finished <<< moveit_setup_assistant [0.35s]                                                                                                                                      
Starting >>> moveit                                                                                                                                                              
Finished <<< moveit [0.19s]                                                                                                                                                      Summary: 58 packages finished [13.6s]      4 packages had stderr output: controller_manager moveit_configs_utils ros2controlcli rqt_controller_manager  

总结

在整体编译过程中也遇到了不少的坑，在本文做简单记录。
后续会逐步整理如何调用Moveit2做一些特定功能的开发。