ROS中报错总结

• 1--启动roscore后报错:原因是我把一个功能包的配置文件-package.xml的内容作了修改，有的地方没有改对，因此把配置文件改回来，如果改不回来就把整个功能包删除再运行即可。我是为了方便加了一个中文注释，结果报错，原因是注释格式写错了。

• 2--运行 rqt 报

 　　打开终端输入sudo nautilus（不输入直接找到路径会限制修改），然后文件系统会自动弹出，

  　　进到/opt/ros/kinetic/share/pr2_motor_diagnostic_tool中新建一个plugin.xml的文件。内容如下：

   　　然后保存关闭，再启动rqt就不会报错了　

• 3-- gazebo启动报错

 在对应的urdf中找到gazebo插件部分，加入如下两句即可

•  4--安装工具包时报错：

修改网关配置，sudo vi /etc/resolv.conf命令打开配置文件，网上查找自己的镜像源网关地址，我用的是清华大学的，地址是nameserver  202.96.134.133 和  nameserver  202.96.128.68两个不同的运营商，都添加进去。

 如果还不行则进行密钥更换：

//删除旧密钥，Ubuntu 16.04和更新版本：

sudo apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116

导入新密钥：

sudo -E apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C65

运行sudo apt update，sudo apt install,没有报错即可。然后就可以正常安装了。

• 5--运行launch文件提示log已超过1G，

 用rosclean purge清除一下即可。

•  不同路径存在多个功能包报错：

 用命令查看存在同名功能包的地址;catkin_find --without-underlays --libexec --share orbslam2_pointcloud，将不属于当前功能包的文件删除，运行即可

• 报错提示usb权限没有打开：

•  #error This file requires compiler and library support for the ISO C++ 2011错误解决办法,在CMakeLists.txt添加如下内容

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") 
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

• 编译build_ros.sh时报错 

Building ROS nodes
mkdir: cannot create directory ‘build’: File exists
[rosbuild] Building package ORB_SLAM2
[rosbuild] Error from directory check: /opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py  /home/tianbot/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2
1
Traceback (most recent call last):
  File "/opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in <module>
    raise Exception
Exception
CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/private.cmake:102 (message):
  [rosbuild] rospack found package "ORB_SLAM2" at "", but the current
  directory is "/home/tianbot/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2".
  You should double-check your ROS_PACKAGE_PATH to ensure that packages are
  found in the correct precedence order.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
  CMakeLists.txt:4 (rosbuild_init)
 
 
-- Configuring incomplete, errors occurred!
See also "/home/tianbot/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
make: *** No targets specified and no makefile found.  Stop.

　　在~/.bashrc文件末尾添加一行路径(一定要加在末尾，不然还会报错):gedit ~/.bashrc

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/tianbot/code_source/ORB_SLAM2_PointCloud/Examples/ROS    //按自己当前的路径修改

• 编译build_ros.sh时报错：/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line，

找到ROS功能包下的CMakeLists.txt,后面添加-lboost_system
set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

• 报错找不到ply_io.h文件。其他找不到.h文件的类似

 用locate ply_io.h寻找系统的文件路径，在CMakeLists.txt文件中加入如下的配置

include_directories("/usr/include/pcl-1.7")

出现如下错误的原因比较多：有可能是不能够加载文件，文件路径错误：