rotors

rotors"/>

rotors

系统版本信息：ubuntu 16.04 + gazebo 7 + cmake version 3.13.0

catkin build错误信息：

--------------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/kinetic
Workspace:                   /home/dummy/rotors_simulator_ws
--------------------------------------------------------------------
Build Space:        [exists] /home/dummy/rotors_simulator_ws/build
Devel Space:        [exists] /home/dummy/rotors_simulator_ws/devel
Install Space:      [unused] /home/dummy/rotors_simulator_ws/install
Log Space:         [missing] /home/dummy/rotors_simulator_ws/logs
Source Space:       [exists] /home/dummy/rotors_simulator_ws/src
DESTDIR:            [unused] None
--------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------
Workspace configuration appears valid.NOTE: Forcing CMake to run for each package.
--------------------------------------------------------------------
[build] Found '16' packages in 0.0 seconds.                                    
[build] Updating package table.                                                
Starting  >>> catkin_tools_prebuild                                            
Finished  <<< catkin_tools_prebuild                 [ 1.7 seconds ]            
Starting  >>> mav_msgs                                                         
Starting  >>> mav_state_machine_msgs                                           
Starting  >>> mav_system_msgs                                                  
Starting  >>> mavlink                                                          
Finished  <<< mav_system_msgs                       [ 7.1 seconds ]            
Finished  <<< mav_state_machine_msgs                [ 7.5 seconds ]            
Finished  <<< mav_msgs                              [ 11.3 seconds ]           
Starting  >>> rotors_comm                                                      
Starting  >>> rotors_description                                               
Starting  >>> rotors_evaluation                                                
Finished  <<< rotors_comm                           [ 7.1 seconds ]            
Starting  >>> rqt_rotors                                                       
Finished  <<< mavlink                               [ 19.7 seconds ]           
Starting  >>> mav_planning_msgs                                                
Finished  <<< rotors_description                    [ 3.2 seconds ]            
Starting  >>> rotors_control                                                   
Finished  <<< rotors_evaluation                     [ 3.8 seconds ]            
Starting  >>> rotors_hil_interface                                             
Finished  <<< rqt_rotors                            [ 3.9 seconds ]            
Starting  >>> rotors_joy_interface                                             
_______________________________________________________________________________
Warnings   << rotors_control:cmake /home/dummy/rotors_simulator_ws/logs/rotors_control/build.cmake.000.log
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):catkin_package() DEPENDS on 'Eigen3' but neither 'Eigen3_INCLUDE_DIRS' nor'Eigen3_LIBRARIES' is defined.
Call Stack (most recent call first):/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)CMakeLists.txt:17 (catkin_package)cd /home/dummy/rotors_simulator_ws/build/rotors_control; catkin build --get-env rotors_control | catkin env -si  /usr/bin/cmake /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_control --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/dummy/rotors_simulator_ws/devel/.private/rotors_control -DCMAKE_INSTALL_PREFIX=/home/dummy/rotors_simulator_ws/install; cd -
...............................................................................
_______________________________________________________________________________
Warnings   << rotors_hil_interface:cmake /home/dummy/rotors_simulator_ws/logs/rotors_hil_interface/build.cmake.000.log
CMake Warning at /opt/ros/kinetic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):The FindEigen.cmake Module in the cmake_modules package is deprecated.Please use the FindEigen3.cmake Module provided with Eigen.  Changeinstances of find_package(Eigen) to find_package(Eigen3).  Check theFindEigen3.cmake Module for the resulting CMake variable names.Call Stack (most recent call first):CMakeLists.txt:30 (find_package)cd /home/dummy/rotors_simulator_ws/build/rotors_hil_interface; catkin build --get-env rotors_hil_interface | catkin env -si  /usr/bin/cmake /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/dummy/rotors_simulator_ws/devel/.private/rotors_hil_interface -DCMAKE_INSTALL_PREFIX=/home/dummy/rotors_simulator_ws/install; cd -
...............................................................................
Finished  <<< rotors_joy_interface                  [ 9.7 seconds ]            
Finished  <<< mav_planning_msgs                     [ 15.9 seconds ]           
_______________________________________________________________________________
Warnings   << rotors_hil_interface:make /home/dummy/rotors_simulator_ws/logs/rotors_hil_interface/build.make.000.log
/home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp: In constructor ‘rotors_hil::HilInterfaceNode::HilInterfaceNode()’:
/home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp:51:27: warning: ‘template<class> class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]hil_interface_ = std::auto_ptr<HilSensorLevelInterface>(new HilSensorLevelInterface(q_S_B));^
In file included from /usr/include/c++/5/memory:81:0,from /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/include/rotors_hil_interface/hil_interface_node.h:20,from /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp:17:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared heretemplate<typename> class auto_ptr;^
/home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp:53:27: warning: ‘template<class> class std::auto_ptr’ is deprecated [-Wdeprecated-declarations]hil_interface_ = std::auto_ptr<HilStateLevelInterface>(new HilStateLevelInterface(q_S_B));^
In file included from /usr/include/c++/5/memory:81:0,from /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/include/rotors_hil_interface/hil_interface_node.h:20,from /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_hil_interface/src/hil_interface_node.cpp:17:
/usr/include/c++/5/bits/unique_ptr.h:49:28: note: declared heretemplate<typename> class auto_ptr;^
cd /home/dummy/rotors_simulator_ws/build/rotors_hil_interface; catkin build --get-env rotors_hil_interface | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Finished  <<< rotors_hil_interface                  [ 33.5 seconds ]           
Finished  <<< rotors_control                        [ 43.3 seconds ]           
Starting  >>> rotors_gazebo_plugins                                            
_______________________________________________________________________________
Warnings   << rotors_gazebo_plugins:cmake /home/dummy/rotors_simulator_ws/logs/rotors_gazebo_plugins/build.cmake.000.log
CMake Warning at /opt/cmake-3.13.0/share/cmake-3.13/Modules/FindProtobuf.cmake:495 (message):Protobuf compiler version doesn't match library version 2.6.1
Call Stack (most recent call first):/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:114 (find_package)/opt/ros/kinetic/share/gazebo_dev/cmake/gazebo_dev-extras.cmake:2 (find_package)/opt/ros/kinetic/share/gazebo_dev/cmake/gazebo_devConfig.cmake:222 (include)CMakeLists.txt:125 (find_package)CMake Warning (dev) at /opt/cmake-3.13.0/share/cmake-3.13/Modules/FindBoost.cmake:1009 (if):Policy CMP0054 is not set: Only interpret if() arguments as variables orkeywords when unquoted.  Run "cmake --help-policy CMP0054" for policydetails.  Use the cmake_policy command to set the policy and suppress thiswarning.Quoted variables like "chrono" will no longer be dereferenced when thepolicy is set to NEW.  Since the policy is not set the OLD behavior will beused.
Call Stack (most recent call first):/opt/cmake-3.13.0/share/cmake-3.13/Modules/FindBoost.cmake:1673 (_Boost_MISSING_DEPENDENCIES)/usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package)/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:114 (find_package)/opt/ros/kinetic/share/gazebo_dev/cmake/gazebo_dev-extras.cmake:2 (find_package)/opt/ros/kinetic/share/gazebo_dev/cmake/gazebo_devConfig.cmake:222 (include)CMakeLists.txt:125 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.WARNGAZEBO Version 7.0.0
WARNGAZEBO older than v9 detected. Autobackporting source files
CMake Warning at /opt/cmake-3.13.0/share/cmake-3.13/Modules/FindProtobuf.cmake:495 (message):Protobuf compiler version doesn't match library version 2.6.1
Call Stack (most recent call first):CMakeLists.txt:189 (find_package)CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):catkin_package() DEPENDS on 'octomap' but neither 'octomap_INCLUDE_DIRS'nor 'octomap_LIBRARIES' is defined.
Call Stack (most recent call first):/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)CMakeLists.txt:229 (catkin_package)cd /home/dummy/rotors_simulator_ws/build/rotors_gazebo_plugins; catkin build --get-env rotors_gazebo_plugins | catkin env -si  /usr/bin/cmake /home/dummy/rotors_simulator_ws/src/rotors_simulator/rotors_gazebo_plugins --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/dummy/rotors_simulator_ws/devel/.private/rotors_gazebo_plugins -DCMAKE_INSTALL_PREFIX=/home/dummy/rotors_simulator_ws/install; cd -
...............................................................................
_______________________________________________________________________________
Errors     << rotors_gazebo_plugins:make /home/dummy/rotors_simulator_ws/logs/rotors_gazebo_plugins/build.make.000.log
CMakeFiles/mav_msgs.dir/build.make:61: *** target pattern contains no '%'.  Stop.
make[1]: *** [CMakeFiles/mav_msgs.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/dummy/rotors_simulator_ws/build/rotors_gazebo_plugins; catkin build --get-env rotors_gazebo_plugins | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed     << rotors_gazebo_plugins:make            [ Exited with code 2 ]     
Failed    <<< rotors_gazebo_plugins                 [ 5.0 seconds ]            
Abandoned <<< rotors_gazebo                         [ Unrelated job failed ]   
[build] Summary: 13 of 15 packages succeeded.                                  
[build]   Ignored:   2 packages were skipped or are blacklisted.               
[build]   Warnings:  3 packages succeeded with warnings.                       
[build]   Abandoned: 1 packages were abandoned.                                
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 1 minute and 11.1 seconds total.                              
[build] Note: Workspace packages have changed, please re-source setup files to use them.

将报错信息Errors发到网上，并没有找到相关报错信息。因此，只能翻找Errors之前的输出信息，锁定到rotors_gazebo_plugins部分的第一个CMake Warning: at /opt/cmake-3.13.0/share/cmake-3.13/Modules/FindProtobuf.cmake:495 (message): Protobuf compiler version doesn't match library version 2.6.1，初步估计可能是protoc版本冲突问题。
所以，首先查看本机中protoc的版本信息：

protoc --version

输出：

The program 'protoc' is currently not installed. You can install it by typing: sudo apt install protobuf-compiler

但是运行sudo apt install protobuf-compiler发现已经安装，估计是没有加入环境变量，此时解决方法是：

sudo apt-get remove protobuf-compiler
sudo apt-get install protobuf-compiler

之后，查看protoc版本信息：

protoc --version

输出：

libprotoc 2.6.1

然后重新运行catkin build，发现编译成功。
总结：出现catkin build错误信息主要是protoc的问题，即上面终端报出的信息Protobuf compiler version doesn't match library version 2.6.1