Ubuntu18.04 ROS Melodic 编译aubo_robot

遨博机械臂提供的ros包 aubo_robot目前只支持ROS Kinetic版本,如果使用Ubuntu18.04 ROS Melodic版本,编译会出现错误

  1. fatal error: Eigen/Geometry: 没有那个文件或目录
    修改aubo_robot/aubo_planner/CMakeLists.txt
if("$ENV{ROS_DISTRO}" STREQUAL "melodic")
    find_package(Eigen3 REQUIRED)
    Message(STATUS "<<<<<<<<<<<<<<<<<<<<<<<<
  1. error: no match for call to ‘(boost::mfi::mf1 > >&>) (industrial_robot_client::joint_trajectory_action::JointTrajectoryAction*&, actionlib::ServerGoalHandle > >)’

修改aubo_robot/aubo_controller/src/joint_trajectory_action.cppaubo_robot/aubo_controller/include/joint_trajectory_action.h,将

void JointTrajectoryAction::goalCB(JointTractoryActionServer::GoalHandle&  gh)  
void JointTrajectoryAction::cancelCB(JointTractoryActionServer::GoalHandle& gh)

改为

void JointTrajectoryAction::goalCB(JointTractoryActionServer::GoalHandle  gh) 
void JointTrajectoryAction::cancelCB(JointTractoryActionServer::GoalHandle gh)

改后的代码见 aubo_robot: for melodic

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