Ubuntu22.04 ros2-humble 源码安装 Moveit2

可以直接使用apt安装官方编译好的二进制包，也可以把源代码下载下来自己编译，本文是通过源码编译安装的Moveit2。

这里写目录标题

1.二进制安装
2.源码编译安装
- [2.1 源码下载和准备](#2.1 源码下载和准备)
- [2.2 更新本地的 ROS 2 Humble 软件源](#2.2 更新本地的 ROS 2 Humble 软件源)
- [2.3 安装编译前需要的一些依赖](#2.3 安装编译前需要的一些依赖)
- [2.4 源码编译](#2.4 源码编译)
- [2.5 demo验证](#2.5 demo验证)
3.编译过程中的错误
- [3.1 --- stderr: moveit_servo CMake Error at CMakeLists.txt:54 (find_package):By not providing "Findcontrol_toolbox.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "control_toolbox", but CMake did not find one.](#3.1 --- stderr: moveit_servo CMake Error at CMakeLists.txt:54 (find_package):By not providing "Findcontrol_toolbox.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "control_toolbox", but CMake did not find one.)
- [3.2 /home/zzw/project/moveit2_ws/src/moveit_task_constructor/core/src/task.cpp:47:10: fatal error: scope_guard/scope_guard.hpp: No such file or directory 47 | #include <scope_guard/scope_guard.hpp>](#include <scope_guard/scope_guard.hpp>)

1.二进制安装

通过apt安装

bash 复制代码

sudo apt install ros-humble-moveit

2.源码编译安装

2.1 源码下载和准备

PS: 下载源码的过程建议科学上网

下载moveit2_tutorials

bash 复制代码

git clone https://github.com/ros-planning/moveit2_tutorials -b humble --depth 1  moveit2_ws/src/moveit2_tutorials

下载完成后可以在moveit2_ws/src/moveit2_tutorials文件夹下看到很多个功能包，代表下载成功

安装 vcs 自动读取repo文件并克隆其中的代码

bash 复制代码

sudo apt install python3-vcstool

通过 moveit2_tutorials.repos 下载其他的源码包
安装完后我们可以在src目录（注意是在src目录下）运行指令

bash 复制代码

vcs import < moveit2_tutorials/moveit2_tutorials.repos

这个过程较慢，运行过程中会看到src文件夹下会多了其他的源码包，因为 moveit2 的包较大所以过程比较慢，静静等待。（如果实在太慢可以去相应的源码包下面去看有没有文件，没有的话可以手动克隆并切换到相应的分支，参考 moveit2_tutorials.repos 中的URL和branch）

2.2 更新本地的 ROS 2 Humble 软件源

更新本地的 ROS 2 Humble 软件源
首先确保 /etc/apt/sources.list.d/ros2.list 中配置的是正确的 ROS 2 Humble 源（适配 Ubuntu 22.04）

bash 复制代码

# 查看当前 ROS 2 源配置
cat /etc/apt/sources.list.d/ros2.list
# 正确的配置应为（针对 Ubuntu 22.04 + Humble）：
# jammy 是 Ubuntu 22.04 的代号，Humble 对应 jammy
deb [arch=amd64 signed-by=/etc/apt/trusted.gpg.d/ros.gpg] https://mirrors.aliyun.com/ros2/ubuntu jammy main

# 若配置错误，重新添加源，删除旧的源配置（如果有误）
sudo rm /etc/apt/sources.list.d/ros2.list

2.3 安装编译前需要的一些依赖

安装编译前需要的一些依赖

bash 复制代码

rosdepc update
cd moveit2_ws/
rosdepc install --from-path src --ignore-src -r -y
# --from-path src src是文件夹的名字，意思说是扫描src文件夹下的源码，--ignore-src不安装已经有源码的依赖，-r表示遇到错误继续装，-y是遇到问题自动回答是

小鱼文档中说看到如下的内容表示成功，实际我在编译时因为没有更新本地的 ROS 2 Humble

软件源，所以报错了不少，但这不影响下面继续编译，编译的时候报错说缺什么库再去安装就行，问题不大。

2.4 源码编译

编译源码
编译和ROS2一样，用的是colcon工具，直接上colcon build即可

bash 复制代码

cd moveit2_ws/
# 下面的指令多了--executor sequential
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --executor sequential

PS: 实际我在本地编译时，电脑总是会卡住死机，猜测是colcon 编译时CPU 负载过高，这里选择单线程编译

编译成功如下：

bash 复制代码

zzw@zzw-ThinkBook:~/project/moveit2_ws$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --executor sequential
Starting >>> launch_param_builder
Finished <<< launch_param_builder [0.40s]           
Starting >>> moveit_common
Finished <<< moveit_common [0.10s]
Starting >>> moveit_msgs
Finished <<< moveit_msgs [0.34s]                     
Starting >>> moveit_resources_fanuc_description
Finished <<< moveit_resources_fanuc_description [0.08s]                 
Starting >>> moveit_resources_panda_description
Finished <<< moveit_resources_panda_description [0.10s]                   
Starting >>> moveit_resources_pr2_description
Finished <<< moveit_resources_pr2_description [0.10s]                   
Starting >>> moveit_resources_prbt_support
Finished <<< moveit_resources_prbt_support [0.09s]                   
Starting >>> rosparam_shortcuts
Finished <<< rosparam_shortcuts [0.16s]                     
Starting >>> srdfdom
Finished <<< srdfdom [0.27s]                      
Starting >>> moveit_configs_utils
Finished <<< moveit_configs_utils [0.41s]           
Starting >>> moveit_resources_fanuc_moveit_config
Finished <<< moveit_resources_fanuc_moveit_config [0.07s]                    
Starting >>> moveit_resources_panda_moveit_config
Finished <<< moveit_resources_panda_moveit_config [0.09s]                    
Starting >>> moveit_task_constructor_msgs
Finished <<< moveit_task_constructor_msgs [0.29s]                      
Starting >>> rviz_marker_tools
Finished <<< rviz_marker_tools [0.12s]                       
Starting >>> moveit_core
Finished <<< moveit_core [0.41s]                       
Starting >>> moveit_resources
Finished <<< moveit_resources [0.10s]                  
Starting >>> chomp_motion_planner
Finished <<< chomp_motion_planner [0.19s]                       
Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin
Finished <<< moveit_resources_prbt_ikfast_manipulator_plugin [0.16s]                  
Starting >>> moveit_ros_occupancy_map_monitor
Finished <<< moveit_ros_occupancy_map_monitor [0.19s]                  
Starting >>> moveit_simple_controller_manager
Finished <<< moveit_simple_controller_manager [0.18s]                  
Starting >>> pilz_industrial_motion_planner_testutils
Finished <<< pilz_industrial_motion_planner_testutils [0.19s]                  
Starting >>> moveit_chomp_optimizer_adapter
Finished <<< moveit_chomp_optimizer_adapter [0.18s]                       
Starting >>> moveit_planners_chomp
Finished <<< moveit_planners_chomp [0.22s]                      
Starting >>> moveit_plugins
Finished <<< moveit_plugins [0.13s]                  
Starting >>> moveit_ros_control_interface
Finished <<< moveit_ros_control_interface [0.20s]                      
Starting >>> moveit_ros_planning
Finished <<< moveit_ros_planning [0.30s]                      
Starting >>> moveit_kinematics
Finished <<< moveit_kinematics [0.20s]                  
Starting >>> moveit_planners_ompl
Finished <<< moveit_planners_ompl [0.23s]                    
Starting >>> moveit_ros_perception
Finished <<< moveit_ros_perception [0.25s]                      
Starting >>> moveit_ros_robot_interaction
Finished <<< moveit_ros_robot_interaction [0.22s]                  
Starting >>> moveit_ros_warehouse
Finished <<< moveit_ros_warehouse [0.25s]                      
Starting >>> moveit_visual_tools
Finished <<< moveit_visual_tools [0.31s]                      
Starting >>> moveit_ros_benchmarks
Finished <<< moveit_ros_benchmarks [0.22s]                      
Starting >>> moveit_ros_move_group
Finished <<< moveit_ros_move_group [0.24s]                    
Starting >>> moveit_resources_prbt_moveit_config
Finished <<< moveit_resources_prbt_moveit_config [0.15s]                  
Starting >>> moveit_ros_planning_interface
Finished <<< moveit_ros_planning_interface [0.30s]                      
Starting >>> moveit_hybrid_planning
Finished <<< moveit_hybrid_planning [0.38s]                      
Starting >>> moveit_resources_prbt_pg70_support
Finished <<< moveit_resources_prbt_pg70_support [0.12s]            
Starting >>> moveit_ros_visualization
Finished <<< moveit_ros_visualization [0.76s]                      
Starting >>> moveit_servo
Finished <<< moveit_servo [0.30s]                      
Starting >>> moveit_ros
Finished <<< moveit_ros [0.16s]            
Starting >>> moveit_setup_framework
Finished <<< moveit_setup_framework [0.28s]                  
Starting >>> pilz_industrial_motion_planner
Finished <<< pilz_industrial_motion_planner [0.28s]                      
Starting >>> moveit_planners
Finished <<< moveit_planners [0.19s]                   
Starting >>> moveit_setup_app_plugins
Finished <<< moveit_setup_app_plugins [0.42s]                       
Starting >>> moveit_setup_controllers
Finished <<< moveit_setup_controllers [0.46s]                       
Starting >>> moveit_setup_core_plugins
Finished <<< moveit_setup_core_plugins [0.35s]                      
Starting >>> moveit_setup_srdf_plugins
Finished <<< moveit_setup_srdf_plugins [0.35s]                      
Starting >>> moveit_runtime
Finished <<< moveit_runtime [0.21s]                   
Starting >>> moveit_setup_assistant
Finished <<< moveit_setup_assistant [0.32s]                       
Starting >>> moveit_task_constructor_core
Finished <<< moveit_task_constructor_core [0.37s]                       
Starting >>> moveit
Finished <<< moveit [0.26s]                   
Starting >>> moveit_task_constructor_capabilities
Finished <<< moveit_task_constructor_capabilities [0.27s]                       
Starting >>> moveit_task_constructor_visualization
Finished <<< moveit_task_constructor_visualization [0.52s]                       
Starting >>> moveit2_tutorials
Finished <<< moveit2_tutorials [0.35s]                        
Starting >>> moveit_task_constructor_demo
Finished <<< moveit_task_constructor_demo [0.34s]                       

Summary: 56 packages finished [14.4s]

2.5 demo验证

编译或者二进制安装完成，我们就可以通过运行moveit_resource中的demo来进行机械臂运动规划测试。

打开终端，输入以下指令

bash 复制代码

cd moveit2_ws/
source install/setup.bash
ros2 launch moveit_resources_panda_moveit_config demo.launch.py

bash 复制代码

ros2 launch moveit2_tutorials demo.launch.py rviz_config:=panda_moveit_config_demo_empty.rviz

点击 Add > MotionPlanning就会出现一个机械臂的模型

3.编译过程中的错误

3.1 --- stderr: moveit_servo CMake Error at CMakeLists.txt:54 (find_package):By not providing "Findcontrol_toolbox.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "control_toolbox", but CMake did not find one.

在上面的2.3节中说了可能有一些依赖没安装，这会导致最后 colcon build 时会报一些错，可以根据缺什么库就安装什么包来解决。

bash 复制代码

zzw@zzw-ThinkBook:~/project/moveit2_ws$ colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
Starting >>> moveit_resources_panda_description
Starting >>> moveit_common
Starting >>> moveit_msgs
Starting >>> moveit_resources_pr2_description
Starting >>> srdfdom
Starting >>> launch_param_builder
Starting >>> moveit_resources_fanuc_description
Starting >>> moveit_resources_prbt_support
Starting >>> rosparam_shortcuts
Finished <<< moveit_common [0.18s]                                                                                                              
Starting >>> rviz_marker_tools
Finished <<< moveit_resources_panda_description [0.20s]                                                                  
Starting >>> moveit_resources_panda_moveit_config
Finished <<< moveit_resources_pr2_description [0.22s]
Finished <<< moveit_resources_fanuc_description [0.22s]
Starting >>> moveit_resources_fanuc_moveit_config
Finished <<< moveit_resources_prbt_support [0.23s]
Finished <<< rosparam_shortcuts [0.29s]                                                                                   
Finished <<< srdfdom [0.30s]
Finished <<< moveit_msgs [0.31s]
Starting >>> moveit_task_constructor_msgs
Finished <<< rviz_marker_tools [0.14s]
Finished <<< moveit_resources_fanuc_moveit_config [0.10s]
Finished <<< moveit_resources_panda_moveit_config [0.14s]
Starting >>> moveit_core
Starting >>> moveit_resources
Finished <<< moveit_resources [0.05s]
Finished <<< launch_param_builder [0.47s]                                                                                                       
Starting >>> moveit_configs_utils
Finished <<< moveit_core [0.30s]                                                                                                                  
Starting >>> moveit_ros_occupancy_map_monitor
Starting >>> moveit_simple_controller_manager
Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin
Starting >>> chomp_motion_planner
Starting >>> pilz_industrial_motion_planner_testutils
Finished <<< moveit_task_constructor_msgs [0.35s]
Finished <<< moveit_resources_prbt_ikfast_manipulator_plugin [0.09s]                                                     
Finished <<< moveit_simple_controller_manager [0.10s]
Finished <<< moveit_ros_occupancy_map_monitor [0.11s]
Starting >>> moveit_plugins
Starting >>> moveit_ros_control_interface
Finished <<< chomp_motion_planner [0.12s]
Starting >>> moveit_planners_chomp
Starting >>> moveit_chomp_optimizer_adapter
Finished <<< pilz_industrial_motion_planner_testutils [0.13s]
Finished <<< moveit_plugins [0.06s]                                                                                                              
Finished <<< moveit_chomp_optimizer_adapter [0.08s]
Finished <<< moveit_ros_control_interface [0.11s]
Finished <<< moveit_planners_chomp [0.11s]
Finished <<< moveit_configs_utils [0.42s]            
Starting >>> moveit_ros_planning
Finished <<< moveit_ros_planning [0.29s]                      
Starting >>> moveit_kinematics
Starting >>> moveit_ros_warehouse                 
Starting >>> moveit_planners_ompl
Starting >>> moveit_ros_robot_interaction
Starting >>> moveit_ros_perception
Starting >>> moveit_visual_tools
Finished <<< moveit_kinematics [0.15s]                                                                              
Starting >>> moveit_ros_move_group
Finished <<< moveit_ros_robot_interaction [0.17s]
Finished <<< moveit_ros_warehouse [0.19s]
Starting >>> moveit_ros_benchmarks
Finished <<< moveit_ros_perception [0.20s]                                                                                                               
Finished <<< moveit_ros_move_group [0.20s]                                                                                                                 
Starting >>> moveit_resources_prbt_moveit_config
Finished <<< moveit_resources_prbt_moveit_config [0.58s]                                                                                               
Starting >>> moveit_resources_prbt_pg70_support
Finished <<< moveit_resources_prbt_pg70_support [0.63s]                                                                                                    
Finished <<< moveit_visual_tools [19.4s]                                                                                                                   
Finished <<< moveit_planners_ompl [21.3s]                                                                               
Starting >>> moveit_ros_planning_interface
Finished <<< moveit_ros_benchmarks [22.1s]                                                                                  
Finished <<< moveit_ros_planning_interface [17.9s]                         
Starting >>> moveit_ros_visualization
Starting >>> pilz_industrial_motion_planner
Starting >>> moveit_hybrid_planning
Starting >>> moveit_servo
--- stderr: moveit_servo                                                                                                                                
CMake Error at CMakeLists.txt:54 (find_package):
  By not providing "Findcontrol_toolbox.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "control_toolbox", but CMake did not find one.

  Could not find a package configuration file provided by "control_toolbox"
  with any of the following names:

    control_toolboxConfig.cmake
    control_toolbox-config.cmake

  Add the installation prefix of "control_toolbox" to CMAKE_PREFIX_PATH or
  set "control_toolbox_DIR" to a directory containing one of the above files.
  If "control_toolbox" provides a separate development package or SDK, be
  sure it has been installed.


---
Failed   <<< moveit_servo [0.58s, exited with code 1]
Aborted  <<< moveit_hybrid_planning [1.35s]                                                                                              
Aborted  <<< pilz_industrial_motion_planner [1.56s]                                                                                  
Aborted  <<< moveit_ros_visualization [1.97s]                              

Summary: 37 packages finished [42.5s]
  1 package failed: moveit_servo
  3 packages aborted: moveit_hybrid_planning moveit_ros_visualization pilz_industrial_motion_planner
  1 package had stderr output: moveit_servo
  15 packages not processed

安装 ros-humble-control-toolbox 后重新编译

bash 复制代码

sudo apt install -y ros-humble-control-toolbox

3.2 /home/zzw/project/moveit2_ws/src/moveit_task_constructor/core/src/task.cpp:47:10: fatal error: scope_guard/scope_guard.hpp: No such file or directory 47 | #include <scope_guard/scope_guard.hpp>

报错的意思是找不到文件：#include <scope_guard/scope_guard.hpp>

实际去看了下源码包里面，确实scope_guard目录下是空的：

通过moveit2_tutorials.repos找到moveit_task_constructor仓库的URL，实际查看下源码仓库里面有没有，是本来就没有还是克隆的时候漏了。

是通过子仓库链接的，既然没有下载，那就把相应的scope_guard克隆到指定的地方，注意commit id要一致。

参考：

1.https://moveit.ai/install-moveit2/binary/

2.https://moveit.picknik.ai/humble/doc/tutorials/tutorials.html

3.https://fishros.org.cn/forum/topic/395/动手学moveit2-3-安装moveit2测试