在Ubuntu中安装Moveit，错误“；援引；制造-j4-l4“；“失败”；发生

当我在Ubuntu14.4上安装moveit时，在命令行“catkin\u make”之后发生了一个错误

错误详细信息如下：

`heng@AspireE1:~/catkin_ws$ catkin_make
 Base path: /home/heng/catkin_ws
 Source space: /home/heng/catkin_ws/src
 Build space: /home/heng/catkin_ws/build
 Devel space: /home/heng/catkin_ws/devel
 Install space: /home/heng/catkin_ws/install
  ####
 #### Running command: "make cmake_check_build_system" in "/home     /heng/catkin_ws/build"
 ####
####
#### Running command: "make -j4 -l4" in "/home/heng/catkin_ws/build"
####
[  0%] Built target actionlib_msgs_generate_messages_py
[  0%] Built target geometry_msgs_generate_messages_py
[  0%] Built target  _kinova_msgs_generate_messages_check_deps_ArmPoseActionResult
[  0%] Built target   
[ 43%] Built target moveit_robot_state
[ 44%] Built target moveit_robot_trajectory
[ 44%] [ 44%] Built target moveit_dynamics_solver
Built target moveit_kinematics_metrics
[ 44%] Built target moveit_trajectory_processing
[ 45%] [ 45%] Built target moveit_planning_interface
Building CXX object moveit_core/collision_detection/CMakeFiles/moveit_collision_detection.dir/src/collision_octomap_filter.cpp.o
/home/heng/catkin_ws/src/moveit_core/collision_detection  /src/collision_octomap_filter.cpp: In function ‘int   collision_detection::refineContactNormals(const ObjectConstPtr&,  collision_detection::CollisionResult&, double, double, bool, double, double)’:
 /home/heng/catkin_ws/src/moveit_core/collision_detection /src/collision_octomap_filter.cpp:119:71: error: conversion from ‘const  boost::shared_ptr<const octomap::OcTree>’ to non-scalar type  ‘std::shared_ptr<const octomap::OcTree>’ requested std::shared_ptr<const octomap::OcTree> octree = shape_octree->octree;
                                                                   ^
make[2]: *** [moveit_core/collision_detection/CMakeFiles /moveit_collision_detection.dir/src/collision_octomap_filter.cpp.o] Error 1
make[1]: *** [moveit_core/collision_detection/CMakeFiles /moveit_collision_detection.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

error occur in [45%],error is "Invoking "make -j4 -l4" failed"

`heng@AspireE1：~/catkin\u ws$catkin\u make
基本路径：/home/heng/catkin\u ws
源空间：/home/heng/catkin\u ws/src
建筑空间：/home/heng/catkin\u ws/Build
开发空间：/home/heng/catkin\u ws/Devel
安装空间：/home/heng/catkin\u ws/Install
####
####运行命令“/home/heng/catkin\u ws/build”中的“make cmake\u check\u build\u system”
####
####
####正在运行命令“/home/heng/catkin_ws/build”中的“make-j4-l4”
####
[0%]生成的目标操作库\u msgs\u生成\u消息\u py
[0%]生成的目标几何体\u msgs\u生成\u消息\u py
[0%]生成目标\u kinova\u msgs\u生成消息\u检查\u deps\u ArmPoseActionResult
[0%]已建目标
[43%]已建立目标移动机器人状态
[44%]构建目标移动机器人轨道
[44%][44%]内置目标moveit_dynamics_解算器
已构建目标moveit\u运动学\u度量
[44%]构建目标移动轨迹处理
[45%][45%]构建目标移动规划界面
构建CXX对象moveit_core/collision_detection/cmakfiles/moveit_collision_detection.dir/src/collision_octomap_filter.cpp.o
/home/heng/catkin\u ws/src/moveit\u core/collision\u detection/src/collision\u octomap\u filter.cpp：在函数“int-collision\u detection:：refineContactNormals（const-ObjectConstPtr&，collision\u detection:：CollisionResult&，double，double，bool，double，double）”中：
/home/heng/catkin_ws/src/moveit_core/collision_detection/src/collision_octomap_filter.cpp:119:71:错误：从“const boost:：shared_ptr”转换为非标量类型“std:：shared_ptr”请求的std:：shared_ptr八叉树=shape_八叉树->八叉树；
^
make[2]：***[moveit_core/collision_detection/CMakeFiles/moveit_collision_detection.dir/src/collision_octomap_filter.cpp.o]错误1
make[1]：***[moveit_core/collision_detection/CMakeFiles/moveit_collision_detection.dir/all]错误2
make:**[全部]错误2
调用“make-j4-l4”失败
[45%]中出现错误，错误为“调用”make-j4-l4“失败”

您是否尝试安装它：

sudo apt-get install ros-indigo-moveit-full

---

这个链接来自ROS Indigo/Ubuntu14.04，对我很有用。谢谢你，我的同学帮我解决了这个问题。但是我仍然不知道如何解决它。