在Ubuntu中安装Moveit时，发生了“调用"make -j4 -l4”failed“错误。

Question

当我在Ubuntu14.4上安装moveit时，在命令行"catkin_make“之后发生了一个错误。

错误详细信息如下：

`heng@AspireE1:~/catkin_ws$ catkin_make
 Base path: /home/heng/catkin_ws
 Source space: /home/heng/catkin_ws/src
 Build space: /home/heng/catkin_ws/build
 Devel space: /home/heng/catkin_ws/devel
 Install space: /home/heng/catkin_ws/install
  ####
 #### Running command: "make cmake_check_build_system" in "/home     /heng/catkin_ws/build"
 ####
####
#### Running command: "make -j4 -l4" in "/home/heng/catkin_ws/build"
####
[  0%] Built target actionlib_msgs_generate_messages_py
[  0%] Built target geometry_msgs_generate_messages_py
[  0%] Built target  _kinova_msgs_generate_messages_check_deps_ArmPoseActionResult
[  0%] Built target   
[ 43%] Built target moveit_robot_state
[ 44%] Built target moveit_robot_trajectory
[ 44%] [ 44%] Built target moveit_dynamics_solver
Built target moveit_kinematics_metrics
[ 44%] Built target moveit_trajectory_processing
[ 45%] [ 45%] Built target moveit_planning_interface
Building CXX object moveit_core/collision_detection/CMakeFiles/moveit_collision_detection.dir/src/collision_octomap_filter.cpp.o
/home/heng/catkin_ws/src/moveit_core/collision_detection  /src/collision_octomap_filter.cpp: In function ‘int   collision_detection::refineContactNormals(const ObjectConstPtr&,  collision_detection::CollisionResult&, double, double, bool, double, double)’:
 /home/heng/catkin_ws/src/moveit_core/collision_detection /src/collision_octomap_filter.cpp:119:71: error: conversion from ‘const  boost::shared_ptr<const octomap::OcTree>’ to non-scalar type  ‘std::shared_ptr<const octomap::OcTree>’ requested std::shared_ptr<const octomap::OcTree> octree = shape_octree->octree;
                                                                   ^
make[2]: *** [moveit_core/collision_detection/CMakeFiles /moveit_collision_detection.dir/src/collision_octomap_filter.cpp.o] Error 1
make[1]: *** [moveit_core/collision_detection/CMakeFiles /moveit_collision_detection.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

error occur in [45%],error is "Invoking "make -j4 -l4" failed"

Answer 1

你试过安装它吗？

sudo apt-get install ros-indigo-moveit-full

这个链接来自这里，它在ROS /Ubuntu14.04上为我工作