1. 去以下两个地址项目1和项目2下载项目
2. 新建一个文件夹如ur_ws,并且创建一个src子目录存放上面两个项目的解压文件,如下图所示。
3. 编译文件,执行catkin_make后报错Project 'moveit_core' specifies '/usr/include/eigen3' as an include dir, which is not found,提示我们/usr/include需要有eigen3这个库,我们会发现/usr/local/include目录下有eigen3这个库(如果你没有那么安装一下)。
此时我们只要执行如下指令把eigen拷到/usr/include目录就行。
sudo cp -r /usr/local/include/eigen3 /usr/include/eigen3
4. 继续catkin_make,出现Could not find a package configuration file provided by
"industrial_robot_status_interface"错误,如下图。
执行以下指令进行安装即可。
sudo apt install ros-kinetic-industrial-robot-status-interface
5. 继续catkin_make,出现Could not find a package configuration file provided by
"scaled_joint_trajectory_controller"错误,如下图。
这个需要到github下载一个包,里面包括一些包,其它几个后面也要用到,所以整个包都下载,如下图。
放在ur_ws/src/Universal_Robots_ROS_Driver目录下,如下图。
6. 继续catkin_make,出现Could not find a package configuration file provided by
"pass_through_controllers"错误,如下图。
还是去github下载,如下图。
下载后也放在ur_ws/src/Universal_Robots_ROS_Driver目录下,如下图。
7. 同理,对于错误Could not find a package configuration file provided by
"cartesian_control_msgs"和Could not find a package configuration file provided by
"cartesian_control_msgs"去那个github网址的作者仓库中cartesian_control_msgs和cartesian_interface下载项目。
8. 继续catkin_make,发生错误By not providing "Findur_client_library.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "ur_client_library", but CMake did not find one,如下图
通过如下指令安装ur_client_library即可
sudo apt install ros-kinetic-ur-client-library
9. 至此,依赖全部安装完成。