ROS kinetic 升级 PCL1.9.0 以安装gpd库和gpd_ros

对于机械臂视觉抓取功能来说，比较传统的做法：由于之前的物体识别模块已经确定了这片点云对应的物体，如果我们有物体的3D模型，便可以直接用ICP算法将这片点云与物体的3D模型对齐。既然知道3D模型的位姿那就好办了。之后就是各种抓取姿态生成、力封闭之类的东西了。其他方法：利用RCNN在图像中定位了物体的大概位置，然后根据一堆点云做抓取，而不用知道物体的3D模型。

1、Using Geometry to Detect Grasp Poses in 3D Point Clouds
上面这个是ICRA 2015中的一篇论文，他们利用SVM分类器，直接对3D点云进行训练，判断其可抓取方向：感觉效果并不是特别好，需要较为完整的点云，同时训练库对结果影响也很大。
2、High precision grasp pose detection in dense clutter
这篇论文采用卷积神经网络训练一小片点云的可抓取性，上图按顺序依次是：彩色图片、点云图片、随机生成的抓取姿态、CNN判断可行的抓取姿态。据作者说抓取成功率相比于第一种方法提升了20%。

这两种方法，作者都已经将程序开源出来了，第一种方法是agile_grasp，在ROS中编译安装很简单，第二种方法是gpd_ros，这个包安装编译就有很多坑，首先gpd_ros依赖于gpd库，而作者提供的gpd2.0.0版本是基于c++14和PCL1.9的版本写的，所以对于ROS kinetic用户来说配置起来错误很多。最终要想编译gpd_ros成功，需要以下几个步骤：

1. 下载编译PCL1.9

2. 修改cmake版本

3. 下载编译gpd

4. 添加opencv依赖

5. 编译gpd_ros

1. ROS环境下载编译PCL1.9

现在在官网好像没法下载源码了，要到github下载才行:https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.9.0 ,下载源码之后，放到你想要的安装目录下，然后安装依赖

$ sudo apt-get update
$ sudo apt-get install git build-essential linux-libc-dev
$ sudo apt-get install cmake cmake-gui 
$ sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
$ sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
$ sudo apt-get install libflann1.8 libflann-dev
$ sudo apt-get install libeigen3-dev
$ sudo apt-get install libboost-all-dev
$ sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev
$ sudo apt-get install libqhull* libgtest-dev
$ sudo apt-get install freeglut3-dev pkg-config
$ sudo apt-get install libxmu-dev libxi-dev 
$ sudo apt-get install mono-complete
$ sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre

然后进入目录编译：

$ cd pcl_1.9
$ mkdir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON -DCMAKE_INSTALL_PREFIX=/usr ..
$ make -j

编译过程中，由于系统的VTK版本比较低，可能会出现以下warning像下面这样的，不用管：

In file included from /home/redwall/catkin_ws/pcl-1.9.0/visualization/include/pcl/visualization/impl/pcl_visualizer.hpp:48:0,
                 from /home/redwall/catkin_ws/pcl-1.9.0/visualization/include/pcl/visualization/pcl_visualizer.h:2352,
                 from /home/redwall/catkin_ws/pcl-1.9.0/examples/segmentation/example_cpc_segmentation.cpp:49:
/usr/include/vtk-6.2/vtkMath.h:672:3: warning: multi-line comment [-Wcomment]
   // a & b \\
   ^
/usr/include/vtk-6.2/vtkMath.h:676:3: warning: multi-line comment [-Wcomment]
   // 1 & 0 \\
   ^
/usr/include/vtk-6.2/vtkMath.h:679:3: warning: multi-line comment [-Wcomment]
   // a & b \\

等到编译完成之后，虽然有很多警告，只要能编译通过，就没关系，安装即可：

$ sudo make install

此时PCL1.9版本和之前ROS集成的PCL版本是可以共用的，通过在CMakeLists中即可指定特定版本。

2. 下载编译GPD库

https://github.com/atenpas/gpd/tree/2.0.0，和上面的方法类似，下载文件之后解压到安装的目录下，但是由于这个包的依赖比较新，编译的时候提示cmake版本低，网上搜索发现，升级cmake需要先卸载老版本的cmake，但是ROS用户会由于这个操作把ROS给干崩，巨坑，所以我只修改了CMakeList.txt，将cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)中的版本换成自己的较低的版本，实测成功。可以看到后面库要求的依赖是 find_package(PCL 1.9 REQUIRED)是1.9的版本：老规矩先编译在安装

$ cd gpd
$ mkdir build && cd build
$ cmake ..
$ make -j

$ sudo make install

3. 下载编译gpd_ros

https://github.com/atenpas/gpd_ros.git ,编译过程中还是有问题：

In file included from /home/redwall/catkin_ws/src/grasps/gpd_ros/src/gpd_ros/grasp_messages.cpp:1:0:
/home/redwall/catkin_ws/src/grasps/gpd_ros/include/gpd_ros/grasp_messages.h:44:12: error: ‘GraspConfigList’ in namespace ‘gpd_ros’ does not name a type
   gpd_ros::GraspConfigList createGraspListMsg(const std::vector<std::unique_ptr<gpd::candidate::Hand>>& hands, const std_msgs::Header& header);
            ^
/home/redwall/catkin_ws/src/grasps/gpd_ros/src/gpd_ros/grasp_messages.cpp:3:10: error: ‘GraspConfigList’ in namespace ‘gpd_ros’ does not name a type
 gpd_ros::GraspConfigList GraspMessages::createGraspListMsg(const std::vector<std::unique_ptr<gpd::candidate::Hand>>& hands, const std_msgs::Header& header)

通过修改gpd_ros包中的CMakeLists.txt，将PCL依赖部分换成find_package(PCL 1.9.0 REQUIRED)，指定成最新升级的版本而不是用老版本。

第二个错误：

[ 95%] Built target gpd_ros_generate_messages
In file included from /usr/local/include/gpd/descriptor/image_generator.h:54:0,
                 from /usr/local/include/gpd/grasp_detector.h:51,
                 from /home/redwall/catkin_ws/src/grasps/gpd_ros/include/gpd_ros/grasp_detection_node.h:55,
                 from /home/redwall/catkin_ws/src/grasps/gpd_ros/src/gpd_ros/grasp_detection_node.cpp:1:
/usr/local/include/gpd/descriptor/image_strategy.h:40:31: fatal error: opencv2/imgproc.hpp: 没有那个文件或目录
compilation terminated.
grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps.dir/build.make:62: recipe for target 'grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps.dir/src/gpd_ros/grasp_detection_node.cpp.o' failed
make[2]: *** [grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps.dir/src/gpd_ros/grasp_detection_node.cpp.o] Error 1
CMakeFiles/Makefile2:1341: recipe for target 'grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps.dir/all' failed
make[1]: *** [grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
In file included from /usr/local/include/gpd/descriptor/image_generator.h:54:0,
                 from /usr/local/include/gpd/grasp_detector.h:51,
                 from /home/redwall/catkin_ws/src/grasps/gpd_ros/include/gpd_ros/grasp_detection_server.h:46,
                 from /home/redwall/catkin_ws/src/grasps/gpd_ros/src/gpd_ros/grasp_detection_server.cpp:1:
/usr/local/include/gpd/descriptor/image_strategy.h:40:31: fatal error: opencv2/imgproc.hpp: 没有那个文件或目录
compilation terminated.
grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps_server.dir/build.make:62: recipe for target 'grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps_server.dir/src/gpd_ros/grasp_detection_server.cpp.o' failed
make[2]: *** [grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps_server.dir/src/gpd_ros/grasp_detection_server.cpp.o] Error 1
CMakeFiles/Makefile2:200: recipe for target 'grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps_server.dir/all' failed
make[1]: *** [grasps/gpd_ros/CMakeFiles/gpd_ros_detect_grasps_server.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

看到了/usr/local/include/gpd/descriptor/image_strategy.h:40:31: fatal error: opencv2/imgproc.hpp: 没有那个文件或目录，应该是opencv库的问题，看了以下CMakeLists.txt，发现果然没有opencv的依赖，添加然后在编译即可：

# Opencv
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})
add_definitions(${OpenCV_DEFINITIONS})

编译，完美通过:

 

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之前配置PCL1.9的时候，对于低版本的VTK，编译过程中会出现一些警告，刚好这段时间用的包需要依赖VTK8.2的版本，于是下载了源码包编译安装，一段时间之后，再次编译gpd_ros出现了一些错误，一番搜索之后，发现好像是更新VTK版本之后，之前编译的动态库就被替换了，换言之就是先基于VTK低版本编译安装了PCL1.9和gpd_ros包，然后升级了VTK8.2版本之后导致PCL找不到原本的动态库，导致gpd_ros编译报错。。。。坑！！！

由于是通过make源码编译安装的，没办法直接卸载VTK高版本，只能手动删除了,通过make编译的库一般都在/usr/local/lib目录下，具体再那个文件夹下，需要再/usr/local下的几个文件夹仔细找找，一般都是libvtkxxx.so.8.2这种格式的。

删除之后，再次编译gpd_ros之后，就没有上面的错误了，但是新的错误又来了，纠结了好久，千万记得将ROS工作空间里面的build文件夹和devel文件夹清理以下，否则都是之前的编译完成的东西，一旦链接的还是原来的动态库自然就会报错！