我真实服了，我几乎每一步都能遇到问题，这是我catkin_make时候遇到的新问题：
百度总结了一下，文末附上链接：
1.Could not find a package configuration file provided by "gazebo_ros_control" with any of the following names: gazebo_ros_controlConfig.cmake gazebo_ros_control-config.cmake
提示缺少“gazebo_ros_control”功能包，
sudo apt-get install ros-kinetic-gazebo-ros-control
Could not find a package configuration file provided by "move_base_msgs" with any of the following names: move_base_msgsConfig.cmake move_base_msgs-config.cmake提示缺少“gazebo_ros_control”功能包，
sudo apt-get install ros-kinetic-move-base-msgs
3.alsa/asoundlib.h: No such file or directory
缺少一个库，
sudo apt-get install libasound2-dev
4.关于"hardware_interface"
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by
"hardware_interface" with any of the following names:
hardware_interfaceConfig.cmake
hardware_interface-config.cmake
Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or
set "hardware_interface_DIR" to a directory containing one of the above
files. If "hardware_interface" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)
-- Could not find the required component 'hardware_interface'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"hardware_interface" with any of the following names:
hardware_interfaceConfig.cmake
hardware_interface-config.cmake
Add the installation prefix of "hardware_interface" to CMAKE_PREFIX_PATH or
set "hardware_interface_DIR" to a directory containing one of the above
files. If "hardware_interface" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:1858: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
解决方法：
sudo apt-get install ros-kinetic-effort-controllers
sudo apt-get install ros-kinetic-joint-state-controller
2、关于controller_manager
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"controller_manager" with any of the following names:
controller_managerConfig.cmake
controller_manager-config.cmake
Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or
set "controller_manager_DIR" to a directory containing one of the above
files. If "controller_manager" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
aubo_robot/aubo_new_driver/CMakeLists.txt:9 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:1858: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
解决办法
sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers
3、与Python兼容问题(No module catkin_dkg.package)
-- Using Python nosetests: /usr/bin/nosetests-2.7
ImportError: "from catkin_pkg.package import parse_package" failed: No module named catkin_pkg.package
Make sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/safe_execute_process.cmake:11 (message):
execute_process(/home/wgb/anaconda2/bin/python
"/opt/ros/kinetic/share/catkin/cmake/parse_package_xml.py"
"/opt/ros/kinetic/share/catkin/cmake/../package.xml"
"/home/wgb/catkin_ws/build/catkin/catkin_generated/version/package.cmake")
returned error code 1
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_package_xml.cmake:63 (safe_execute_process)
/opt/ros/kinetic/share/catkin/cmake/all.cmake:151 (_catkin_package_xml)
/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
CMakeLists.txt:52 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
解决办法
检查一下Python的版本： wgb@wgb:~$ python -V
检查一下catkin依赖的Python版本： wgb@wgb:~$ dpkg -L python-catkin-pkg
如果Python的版本和catkin依赖的版本不一样，说明Python依赖包有问题，解决办法：
conda install setuptools
pip install -U rosdep rosinstall_generator wstool rosinstall six vcstools
4、No module named em 的问题
ImportError: No module named em
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:117: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/ContactState.h' failed
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/ContactState.h] Error 1
Traceback (most recent call last):
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
import genmsg.template_tools
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
import em
ImportError: No module named em
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:139: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkStates.h' failed
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkStates.h] Error 1
Traceback (most recent call last):
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
import genmsg.template_tools
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
import em
ImportError: No module named em
Traceback (most recent call last):
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
import genmsg.template_tools
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
import em
ImportError: No module named em
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:128: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkState.h' failed
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/LinkState.h] Error 1
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:161: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/ModelStates.h' failed
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/ModelStates.h] Error 1
Traceback (most recent call last):
File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
import genmsg.template_tools
File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
import em
ImportError: No module named em
gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/build.make:174: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_msgs/WorldState.h' failed
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_msgs/WorldState.h] Error 1
CMakeFiles/Makefile2:1511: recipe for target 'gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/all' failed
make[1]: *** [gazebo_ros_pkgs/gazebo_msgs/CMakeFiles/gazebo_msgs_generate_messages_cpp.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed
解决办法：
wgb@wgb:~/catkin_ws$ pip install empy
5、 defusedxml.xmlrpc
Traceback (most recent call last):
File "/opt/ros/kinetic/lib/xacro/xacro", line 32, in <module>
import xacro
File "/opt/ros/kinetic/lib/python2.7/dist-packages/xacro/__init__.py", line 42, in <module>
from roslaunch import substitution_args
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/__init__.py", line 56, in <module>
from .launch import ROSLaunchRunner
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 55, in <module>
from roslaunch.nodeprocess import create_master_process, create_node_process
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py", line 52, in <module>
from rosmaster.master_api import NUM_WORKERS
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/__init__.py", line 35, in <module>
from .main import rosmaster_main
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/main.py", line 43, in <module>
import rosmaster.master
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master.py", line 47, in <module>
import rosmaster.master_api
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/master_api.py", line 72, in <module>
from rosmaster.util import xmlrpcapi
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosmaster/util.py", line 48, in <module>
from defusedxml.xmlrpc import monkey_patch
ImportError: No module named defusedxml.xmlrpc
while processing /home/wgb/catkin_ws/src/aubo_robot/aubo_description/launch/aubo_i5_upload.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/wgb/catkin_ws/src/aubo_robot/aubo_description/urdf/aubo_i5_robot.urdf.xacro'] returned with code [1].
Param xml is <param command="$(find xacro)/xacro --inorder '$(find aubo_description)/urdf/aubo_i5_robot.urdf.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file
解决方法：
wgb@wgb:~$ conda install -c conda-forge defusedxml
wgb@wgb:~$ roslaunch aubo_driver aubo_i5_bringup.launch robot_ip:=192.168.1.34
[aubo_i5_bringup.launch] is neither a launch file in package [aubo_driver] nor is [aubo_driver] a launch file name
The traceback for the exception was written to the log file
solving mehtod
Without any further information or poitners to the source of that package it is hard to tell what is going on. Does the file tb_tables.launch actually exist? Did you source the setup.bash file?
What does rospack find tb_tables output?
If that gives an error, try executing source /home/gabriel/catkin_ws/devel/setup.bash and then try the roslaunch again.
解决办法：
source /home/wgb/catkin_ws/devel/setup.bash
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
CMake Error at /opt/ros/kinetic/share/catkin/cmake/assert.cmake:17 (message):
Assertion failed: check for file existence, but filename
(RT_LIBRARY-NOTFOUND) unset. Message: RT Library
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/tools/rt.cmake:42 (assert_file_exists)
/opt/ros/kinetic/share/catkin/cmake/all.cmake:147 (include)
/opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
CMakeLists.txt:52 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/wgb/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
解决方法
ubuntu 文件夹/usr/lib/x86_64-linux-gnu/ shangmian you ge cha, xiang fa chuqu？？？？？？？？？？
8.
/home/wgb/catkin_ws/build/gazebo_ros_pkgs/gazebo_plugins/setup_custom_pythonpath.sh: 4: exec: /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg/CameraSynchronizer.cfg: Permission denied
/home/wgb/catkin_ws/build/gazebo_ros_pkgs/gazebo_plugins/setup_custom_pythonpath.sh: 4: exec: /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg/CameraSynchronizer.cfg: Permission denied
gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/build.make:69: recipe for target '/home/wgb/catkin_ws/devel/include/gazebo_plugins/CameraSynchronizerConfig.h' failed
make[2]: *** [/home/wgb/catkin_ws/devel/include/gazebo_plugins/CameraSynchronizerConfig.h] Error 126
CMakeFiles/Makefile2:6310: recipe for target 'gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/all' failed
make[1]: *** [gazebo_ros_pkgs/gazebo_plugins/CMakeFiles/gazebo_plugins_gencfg.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_joint_trajectory.so
[ 86%] Built target gazebo_ros_joint_trajectory
[ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_joint_state_publisher.so
[ 86%] Linking CXX shared library /home/wgb/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so
[ 86%] Built target gazebo_ros_joint_state_publisher
[ 86%] Built target gazebo_ros_api_plugin
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
解决方法：
wgb@wgb:~/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/cfg$ cd /home/wgb/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg
wgb@wgb:~/catkin_ws/src/gazebo_ros_pkgs/gazebo_plugins/cfg$ chmod +x CameraSynchronizer.cfg
或者：
wgb@wgb:~/catkin_ws/src$ sudo chown -R wgb /home/wgb/catkin_ws/
[sudo] wgb 的密码：
wgb@wgb:~/catkin_ws/src$ sudo chmod -R +x /home/wgb/catkin_ws/
参考：
https://answers.ros.org/question/206860/error-when-calling-catkin_make-invoking-make-failed/
9. “moveit_ros_planning”
moveit_ros_planningConfig.cmake
moveit_ros_planning-config.cmake
CMake Warning at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
Could not find a package configuration file provided by
"moveit_ros_planning" with any of the following names:
moveit_ros_planningConfig.cmake
moveit_ros_planning-config.cmake
Add the installation prefix of "moveit_ros_planning" to CMAKE_PREFIX_PATH
or set "moveit_ros_planning_DIR" to a directory containing one of the above
files. If "moveit_ros_planning" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
aubo_robot-indigo-devel/aubo_trajectory_filters/CMakeLists.txt:5 (find_package)
-- Could not find the required component 'moveit_ros_planning'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"moveit_ros_planning" with any of the following names:
moveit_ros_planningConfig.cmake
moveit_ros_planning-config.cmake
Add the installation prefix of "moveit_ros_planning" to CMAKE_PREFIX_PATH
or set "moveit_ros_planning_DIR" to a directory containing one of the above
files. If "moveit_ros_planning" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
aubo_robot-indigo-devel/aubo_trajectory_filters/CMakeLists.txt:5 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/sensetime/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/sensetime/catkin_ws/build/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
解决方法：
解决办法： 安装moveit，安装方法参考http://moveit.ros.org/install/
对于indigo
sudo apt-get install ros-indigo-moveit
sudo apt-get install ros-indigo-moveit-full-pr2
source /opt/ros/indigo/setup.bash
对于kinetic
sudo apt-get install ros-kinetic-moveit
source /opt/ros/kinetic/setup.bash
作者：arron盘
来源：CSDN
原文：https://blog.csdn.net/u012197995/article/details/85009861
版权声明：本文为博主原创文章，转载请附上博文链接！