Ubuntu18.04 ROS Melodic 编译aubo_r

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 "<<<<<<<<<<<<<<<<<<<<<<<<<Note: Find Eigen3 Package in aubo_planner for melodic")
endif()

if("$ENV{ROS_DISTRO}" STREQUAL "melodic")
    include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS})
    Message(STATUS "<<<<<<<<<<<<<<<<<<<<<<<<<Note: Find EIGEN3_INCLUDE_DIRS Package in aubo_planner for melodic")
endif()

2. error: no match for call to ‘(boost::mfi::mf1<void, industrial_robot_client::joint_trajectory_action::JointTrajectoryAction, actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction<std::allocator<void> > >&>) (industrial_robot_client::joint_trajectory_action::JointTrajectoryAction*&, actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >)’

修改aubo_robot/aubo_controller/src/joint_trajectory_action.cpp 和 aubo_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