安装软件

1 安装fcl

git clone https://gitee.com/xjEzekiel/fcl.git
cd fcl
mkdir build
cd build
cmake ..
make
sudo make install

2 安装octomap

 sudo apt install ros-melodic-octomap-ros

3 其他

sudo apt install ros-melodic-eigen-stl-containers
sudo apt install ros-melodic-geometric-shapes
sudo apt install ros-melodic-srdfdom
sudo apt install ros-melodic-pybind11-catkin
sudo apt install ros-melodic-ompl
sudo apt install ros-melodic-warehouse-ros
sudo apt install ros-melodic-eigenpy
sudo apt install ros-melodic-rosparam-shortcuts

1 编译（钛虎机械臂程序）问题及安装

1.1 sudo apt-get install ros-melodic-serial

1.2 安装fcl

git clone https://gitee.com/xjEzekiel/fcl.git
cd fcl
mkdir build
cd build
cmake ..
make
sudo make install

1.3 sudo apt install ros-melodic-octomap-ros

1.4 sudo apt install ros-melodic-eigen-stl-containers

1.5 sudo apt install ros-melodic-geometric-shapes

1.6 sudo apt-get install ros-melodic-moveit-msgs

1.7 sudo apt install ros-melodic-srdfdom

1.8 sudo apt install ros-melodic-pybind11-catkin

Could not find the required component ‘pybind11_catkin’.

1.9 sudo apt install ros-melodic-ompl

Could not find a package configuration file provided by “ompl” with any of
the following names:

1.10 sudo apt install libglew-dev

1.11 sudo apt install ros-melodic-warehouse-ros

1.12 sudo apt install ros-melodic-eigenpy

1.13 出现下面问题，先将src中的moveit包屏蔽后编译，编译成功后再加入moveit重新编译

1.14 sudo apt install ros-melodic-rosparam-shortcuts

1.15 不能自己安装yaml 会造成冲突 ubuntu18.04 对应yaml 0.5.2

yaml-cpp的undefined reference YAML::detail::node_data::empty_scalar：

git clone https://github.com/jbeder/yaml-cpp.git   # 此处注意下载0.5.2版本
mkdir build
cd build
cmake -DBUILD_SHARED_LIBS=ON …
make
sudo make install