当我在Ubuntu 14.4上安装 moveit 时，在命令行＆＃34; catkin_make＆＃34;之后发生错误。
错误详情如下：
`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"
答案 0 :(得分：0)