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ROS移植机器人小车：catkin_make过程中碰到的各种小问题

news 来源：原创 2024/5/2 16:54:37

接前面的贴子：

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[  1%] Building CXX object clbrobot_project/clb_pid/CMakeFiles/pid_listen.dir/src/clbrobot_pid_core.cpp.o
In file included from /home/ubuntu/noetic/catkin_ws/src/clbrobot_project/clb_pid/src/clbrobot_pid_core.cpp:1:
/home/ubuntu/noetic/catkin_ws/src/clbrobot_project/clb_pid/include/clbrobot_pid/clbrobot_pid_core.h:8:10: fatal error: clb_msgs/PID.h: No such file or directory
    8 | #include "clb_msgs/PID.h"
      |          ^~~~~~~~~~~~~~~~
compilation terminated.

说明：这个PID.h是由clb_msgs项目生成的，如果这个项目没有在clb_pid项目前编译，就会出现这个问题。

解决办法：

首先单独编译这个包，

catkin_make -DCATKIN_WHITELIST_PACKAGES="clb_msgs"

然后再编译全部的包，

catkin_make -DCATKIN_WHITELIST_PACKAGES=""

这样，程序就能正确链接了。

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packet_write_wait: Connection to 192.168.3.93 port 22: Broken pipe

进入服务器，

sudo vim /etc/ssh/sshd_config

将下面的参数修改一下，

ClientAliveInterval 60

重启一下，

systemctl restart sshd

完成。

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下面这个问题参考这位小哥的贴子：

编译ros_astra_camera 出现找不到libucv问题，已经解决_顺德龙卷风的博客-CSDN博客

除了问题报错，基本照抄，如下，

编译ros_astra_camera 包的时候会出现一大段报错问题，这样的一堆…

[ 88%] Linking CXX executable /home/ubuntu/noetic/catkin_ws/devel/lib/astra_camera/camera_node
/usr/bin/ld: /usr/lib/gcc/aarch64-linux-gnu/9/../../../aarch64-linux-gnu/Scrt1.o: in function `_start':
(.text+0x18): undefined reference to `main'
/usr/bin/ld: (.text+0x1c): undefined reference to `main'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::~CameraDriver()':
camera_driver.cpp:(.text+0xb98): undefined reference to `uvc_free_frame'
/usr/bin/ld: camera_driver.cpp:(.text+0xbb4): undefined reference to `uvc_exit'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::getUVCExposureCb(astra_camera::GetUVCExposureRequest_<std::allocator<void> >&, astra_camera::GetUVCExposureResponse_<std::allocator<void> >&)':
camera_driver.cpp:(.text+0xd1c): undefined reference to `uvc_get_exposure_abs'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::setUVCExposureCb(astra_camera::SetUVCExposureRequest_<std::allocator<void> >&, astra_camera::SetUVCExposureResponse_<std::allocator<void> >&)':
camera_driver.cpp:(.text+0xdbc): undefined reference to `uvc_set_ae_mode'
/usr/bin/ld: camera_driver.cpp:(.text+0xdd4): undefined reference to `uvc_set_ae_mode'
/usr/bin/ld: camera_driver.cpp:(.text+0xf30): undefined reference to `uvc_set_exposure_abs'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::getUVCGainCb(astra_camera::GetUVCGainRequest_<std::allocator<void> >&, astra_camera::GetUVCGainResponse_<std::allocator<void> >&)':
camera_driver.cpp:(.text+0xfdc): undefined reference to `uvc_get_gain'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::setUVCGainCb(astra_camera::SetUVCGainRequest_<std::allocator<void> >&, astra_camera::SetUVCGainResponse_<std::allocator<void> >&)':
camera_driver.cpp:(.text+0x1064): undefined reference to `uvc_set_gain'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::getUVCWhiteBalanceCb(astra_camera::GetUVCWhiteBalanceRequest_<std::allocator<void> >&, astra_camera::GetUVCWhiteBalanceResponse_<std::allocator<void> >&)':
camera_driver.cpp:(.text+0x10bc): undefined reference to `uvc_get_white_balance_temperature'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::setUVCWhiteBalanceCb(astra_camera::SetUVCWhiteBalanceRequest_<std::allocator<void> >&, astra_camera::SetUVCWhiteBalanceResponse_<std::allocator<void> >&)':
camera_driver.cpp:(.text+0x1144): undefined reference to `uvc_set_white_balance_temperature_auto'
/usr/bin/ld: camera_driver.cpp:(.text+0x115c): undefined reference to `uvc_set_white_balance_temperature_auto'
/usr/bin/ld: camera_driver.cpp:(.text+0x117c): undefined reference to `uvc_set_white_balance_temperature'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::Start()':
camera_driver.cpp:(.text+0x1204): undefined reference to `uvc_init'
/usr/bin/ld: camera_driver.cpp:(.text+0x1224): undefined reference to `uvc_perror'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::Stop()':
camera_driver.cpp:(.text+0x13c4): undefined reference to `uvc_exit'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::ReconfigureCallback(libuvc_camera::UVCCameraConfig&, unsigned int)':
camera_driver.cpp:(.text+0x1534): undefined reference to `uvc_set_scanning_mode'
/usr/bin/ld: camera_driver.cpp:(.text+0x16c4): undefined reference to `uvc_set_ae_mode'
/usr/bin/ld: camera_driver.cpp:(.text+0x184c): undefined reference to `uvc_set_ae_priority'
/usr/bin/ld: camera_driver.cpp:(.text+0x19e4): undefined reference to `uvc_set_exposure_abs'
/usr/bin/ld: camera_driver.cpp:(.text+0x1b84): undefined reference to `uvc_set_focus_auto'
/usr/bin/ld: camera_driver.cpp:(.text+0x1d10): undefined reference to `uvc_set_focus_abs'
/usr/bin/ld: camera_driver.cpp:(.text+0x1e98): undefined reference to `uvc_set_gain'
/usr/bin/ld: camera_driver.cpp:(.text+0x2024): undefined reference to `uvc_set_iris_abs'
/usr/bin/ld: camera_driver.cpp:(.text+0x21ac): undefined reference to `uvc_set_brightness'
/usr/bin/ld: camera_driver.cpp:(.text+0x2350): undefined reference to `uvc_set_pantilt_abs'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::ImageCallback(uvc_frame*)':
camera_driver.cpp:(.text+0x2954): undefined reference to `uvc_yuyv2bgr'
/usr/bin/ld: camera_driver.cpp:(.text+0x2974): undefined reference to `uvc_perror'
/usr/bin/ld: camera_driver.cpp:(.text+0x29fc): undefined reference to `uvc_mjpeg2rgb'
/usr/bin/ld: camera_driver.cpp:(.text+0x2a1c): undefined reference to `uvc_perror'
/usr/bin/ld: camera_driver.cpp:(.text+0x2a94): undefined reference to `uvc_any2bgr'
/usr/bin/ld: camera_driver.cpp:(.text+0x2ab4): undefined reference to `uvc_perror'
/usr/bin/ld: camera_driver.cpp:(.text+0x2e3c): undefined reference to `astraWithUVC(OB_DEVICE_NO)'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::OpenCamera(libuvc_camera::UVCCameraConfig&)':
camera_driver.cpp:(.text+0x3cec): undefined reference to `uvc_find_devices'
/usr/bin/ld: camera_driver.cpp:(.text+0x3d0c): undefined reference to `uvc_perror'
/usr/bin/ld: camera_driver.cpp:(.text+0x3d84): undefined reference to `uvc_unref_device'
/usr/bin/ld: camera_driver.cpp:(.text+0x3ef8): undefined reference to `uvc_open'
/usr/bin/ld: camera_driver.cpp:(.text+0x4024): undefined reference to `uvc_get_bus_number'
/usr/bin/ld: camera_driver.cpp:(.text+0x4038): undefined reference to `uvc_get_device_address'
/usr/bin/ld: camera_driver.cpp:(.text+0x4184): undefined reference to `uvc_get_bus_number'
/usr/bin/ld: camera_driver.cpp:(.text+0x4198): undefined reference to `uvc_get_device_address'
/usr/bin/ld: camera_driver.cpp:(.text+0x41a8): undefined reference to `uvc_strerror'
/usr/bin/ld: camera_driver.cpp:(.text+0x4208): undefined reference to `uvc_unref_device'
/usr/bin/ld: camera_driver.cpp:(.text+0x4228): undefined reference to `uvc_set_status_callback'
/usr/bin/ld: camera_driver.cpp:(.text+0x4290): undefined reference to `uvc_get_stream_ctrl_format_size'
/usr/bin/ld: camera_driver.cpp:(.text+0x42b8): undefined reference to `uvc_perror'
/usr/bin/ld: camera_driver.cpp:(.text+0x42c4): undefined reference to `uvc_close'
/usr/bin/ld: camera_driver.cpp:(.text+0x42d0): undefined reference to `uvc_unref_device'
/usr/bin/ld: camera_driver.cpp:(.text+0x4408): undefined reference to `uvc_print_diag'
/usr/bin/ld: camera_driver.cpp:(.text+0x4430): undefined reference to `uvc_start_streaming'
/usr/bin/ld: camera_driver.cpp:(.text+0x4450): undefined reference to `uvc_perror'
/usr/bin/ld: camera_driver.cpp:(.text+0x445c): undefined reference to `uvc_close'
/usr/bin/ld: camera_driver.cpp:(.text+0x4468): undefined reference to `uvc_unref_device'
/usr/bin/ld: camera_driver.cpp:(.text+0x4488): undefined reference to `uvc_free_frame'
/usr/bin/ld: camera_driver.cpp:(.text+0x44b0): undefined reference to `uvc_allocate_frame'
/usr/bin/ld: CMakeFiles/camera_node.dir/src/libuvc_camera/camera_driver.cpp.o: in function `libuvc_camera::CameraDriver::CloseCamera()':
camera_driver.cpp:(.text+0x4644): undefined reference to `uvc_close'
/usr/bin/ld: camera_driver.cpp:(.text+0x4658): undefined reference to `uvc_unref_device'
collect2: error: ld returned 1 exit status
make[2]: *** [depth_camera/ros_astra_camera/CMakeFiles/camera_node.dir/build.make:150: /home/ubuntu/noetic/catkin_ws/devel/lib/astra_camera/camera_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:4581: depth_camera/ros_astra_camera/CMakeFiles/camera_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

看一下就是找不到库的问题，解决这个问题的方法是修改ros_astra_camera的CmakeList.txt文件。（入行小白一开始很头大，因为不熟悉Cmake语法，后来看了几天之后凭感觉学会了，我真是个天才，哈哈飘了）咳咳，直接关注问题本身。

Cmakelist中的添加libuvc是通过find_package(libuvc REQUIRED) 寻找库的，但是新安装的libuvc 0.0.6 没有生成 libuvc.cmake文件（不知道原因），所以编译时libuvc_INCLUDE_DIRS、libuvc_LIBRARIES 都是空的！！！所以编译才找不到对应的库！
解决办法:在ros_astra_camera的CmakeList.txt文件的find_package(libuvc REQUIRED)下方添加两条语句（根据你libuvc安装的地址修改），编译就OK了
set(libuvc_INCLUDE_DIRS “/usr/local/include/libuvc”)
set(libuvc_LIBRARIES “/usr/local/lib/libuvc.so”)

find_package(libuvc REQUIRED) #原因是libuvc库存在问题,没有libuvc.cmake文件,find_package()无法找到libuvc库文件
#解决办法手动添加库文件位置
set(libuvc_INCLUDE_DIRS "/usr/local/include/libuvc")
set(libuvc_LIBRARIES "/usr/local/lib/libuvc.so")

解决此问题后还有一个无法看在 rviz 中看到 RGB图像的问题，参考这位小哥的博客他找到了bug并解决了（官方驱动包有问题）
https://blog.csdn.net/Numberors/article/details/105637209
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本文结束