由于工程項目對系統環境要求不同，安裝ROS時，部分軟件包沒有安裝，在執行程序時才報錯，下面是執行程序中的問題以及相應解決方案，可以根據需求自行嘗試。

1. 具體報錯記不清了，大致是提示相應包找不到，根據相應錯誤提示名字，安裝相應功能包

sudo apt install ros-kinetic-humanoid-nav-msgs sudo apt install ros-kinetic-realtime-tools sudo apt install ros-kinetic-moveit-ros-planning-interface sudo apt install ros-kinetic-four-wheel-steering-msgs sudo apt install ros-kinetic-urdf-geometry-parser sudo apt install ros-kinetic-control-toolbox

2. ImportError: No module named moveit_commander

安裝ros-kinetic-moveit-commander

sudo apt-get install ros-kinetic-moveit-commander

3.?ResourceNotFound: twist_mux

錯誤如下圖

安裝ros-kinetic-twist-mux

sudo apt install ros-kinetic-twist-mux

4.??Exception while loading controller manager 'moveit_simple_controller_manager/MoveItSimpleControllerManager'以及Exception while loading planner 'ompl_interface/OMPLPlanner'

安裝ros-kinetic-moveit

sudo apt install ros-kinetic-moveit

5.??Controller Spawner couldn't find the expected controller_manager ROS interface.

安裝ros-kinetic-gazebo-ros-control

sudo apt-get install ros-kinetic-gazebo-ros-control

6.??Failed to create robot simulation interface loader: Failed to load library /home/lhj/tiago_simu_ws/devel/lib//libpal_hardware_gazebo.so.

安裝ros-kinetic-pal-hardware-interfaces

sudo apt install ros-kinetic-pal-hardware-interfaces

7.? Assertion `bAttached && "A new DepthBuffer for a RenderTarget was created, but after creation" "it says it's incompatible with that RT"' failed.以及Called publishAsync but publisher thread has not been started, THIS IS NOT RT safe. You should start it yourself

Ubuntu16.04通過ROS安裝的gazebo版本太低，需要升級gazebo版本，請看另一篇升級gazebo7的博客 https://blog.csdn.net/yldmkx/article/details/108456865。

8. DistributionNotFound: The 'rosdistro>=0.7.5' distribution was not found and is required by rosdep

如下圖，提示rosdistro需要大于等于0.7.5版本

執行下面的命令升級rosdistro版本至0.7.5

pip install rosdistro==0.7.5 -i https://pypi.tuna.tsinghua.edu.cn/simple

如下圖，安裝成功后，sudo rosdep init成功運行

9. cannot launch node of type [moveit_ros_move_group/move_group] moveit_ros_move_group

安裝ros-kinetic-moveit-ros-move-group

sudo apt install ros-kinetic-moveit-ros-move-group

10. 相關關節部位控制器controller報錯

安裝相應控制器controller

sudo apt-get install ros-kinetic-effort-controllers sudo apt-get install ros-kinetic-joint-state-controller sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers

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總結

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