配置husky编译环境

水深无声 2023-06-25 01:59 19阅读 0赞

## 第一步： ##

catkin\_make时出现：  
Parse error. Expected a command name, got unquoted argument with text ‘’…CMakeLists‘’  
解决方法：删除CMakeLists.txt然后重新创建工作空间：

cd ~/husky/src
    catkin_init_workspace

## 第二步： ##

重新编译，出现  
ImportError: “from catkin\_pkg.package import parse\_package” failed: No module named ‘catkin\_pkg’  
Make sure that you have installed “catkin\_pkg”, it is up to date and on the PYTHONPATH.  
解决方法：详见：

https://cloud.tencent.com/developer/ask/128041
    https://www.jianshu.com/p/e964928d6c62?utm_campaign=maleskine&utm_content=note&utm_medium=seo_notes&utm_source=recommendation

或者使用Python2安装

pip2 install catkin_pkg
    pip2 install rospkg

## 第三步： ##

继续编译，出现：  
– Could NOT find jsk\_recognition\_msgs (missing: jsk\_recognition\_msgs\_DIR)  
– Could not find the required component ‘jsk\_recognition\_msgs’. 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  
“jsk\_recognition\_msgs” with any of the following names:  
jsk\_recognition\_msgsConfig.cmake  
jsk\_recognition\_msgs-config.cmake

解决方法：

https://www.jianshu.com/p/a4422e21c829

输入：

sudo apt install ros-kinetic-jsk-recognition-msgs

相应问题：  
– Could NOT find geographic\_msgs (missing: geographic\_msgs\_DIR)  
和  
– Could NOT find tf2\_sensor\_msgs (missing: tf2\_sensor\_msgs\_DIR)  
解决方法：

sudo apt install ros-kinetic-geographic-msgs
    sudo apt install ros-kinetic-tf2-sensor-msgs

<总结>：  
该类问题，同属于ros-kinetic中缺少某些依赖包，且是ros-kinetic中的库，这与出现的"jsk-recognition-msgs"问题一样。因此只需要使用apt安装 <ros版本号(ros-kinetic)+包名> 即可解决依赖问题。  
注意：需要将缺少的包名称的下横线改为中横线，方可安装。

## 第四步： ##

接着编译，出现：  
ModuleNotFoundError: No module named ‘em’  
…  
Makefile:140: recipe for target ‘all’ failed  
make: \*\*\* \[all\] Error 2  
Invoking “make -j8 -l8” failed

解决方法：详见：

https://www.cnblogs.com/zmm1996/p/10775283.html

终端输入：

pip2 install em
    pip2 install empy

## 第五步： ##

继续编译，出现：  
AttributeError: ‘module’ object has no attribute ‘Interpreter’  
解决方案：

https://www.jianshu.com/p/fe0e988ea911

终端输入：

pip uninstall em
    pip install empy

最后编译成功：  
\[100%\] Linking CXX executable /home/ysz/husky/devel/lib/move\_base/move\_base  
\[100%\] Built target move\_base\_node