古月marm_planning是根據kinetic版本編寫，移植到melodic會報錯，按照順序如下兩種。
-- ==> add_subdirectory(marm_planning)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find manipulation_msgs (missing: manipulation_msgs_DIR)
-- Could not find the required component 'manipulation_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "manipulation_msgs"
with any of the following names:
manipulation_msgsConfig.cmake
manipulation_msgs-config.cmake
Add the installation prefix of "manipulation_msgs" to CMAKE_PREFIX_PATH or
set "manipulation_msgs_DIR" to a directory containing one of the above
files. If "manipulation_msgs" provides a separate development package or
SDK, be sure it has been installed.
Call Stack (most recent call first):
marm_planning/CMakeLists.txt:10 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/ghh/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ghh/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
缺少包，名字已經在報錯中。
manipulation_msgsConfig.cmake
manipulation_msgs-config.cmake
解決方案：注意是melodic版本的解決方案！！！
方法一：
進入src檔案夾把所需工具包克隆進去，不推薦因為常常因為網絡以及其他原因報錯，
git clone https://github.com/ros-interactive-manipulation/manipulation_msgs.git
正克隆到 'manipulation_msgs'...
fatal: unable to access 'https://github.com/ros-interactive-manipulation/manipulation_msgs.git/': Failed to connect to github.com port 443: 拒絕連接配接
方法二：
手動克隆，這種方法可控性強，效率高。
https://github.com/ros-interactive-manipulation/manipulation_msgs/
進入網站下載下傳
下載下傳後去掉字尾！複制到src中，并解壓。結果與之前的指令行克隆效果一樣，但是網站等不等上去，能不能下載下傳，都是可控的。
好不容易下載下傳好，編譯後，有報錯了！！！這次是編譯剛才下載下傳好的包，發現又缺别的包。
-- ==> add_subdirectory(manipulation_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find household_objects_database_msgs (missing: household_objects_database_msgs_DIR)
-- Could not find the required component 'household_objects_database_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by
"household_objects_database_msgs" with any of the following names:
household_objects_database_msgsConfig.cmake
household_objects_database_msgs-config.cmake
Add the installation prefix of "household_objects_database_msgs" to
CMAKE_PREFIX_PATH or set "household_objects_database_msgs_DIR" to a
directory containing one of the above files. If
"household_objects_database_msgs" provides a separate development package
or SDK, be sure it has been installed.
Call Stack (most recent call first):
manipulation_msgs/CMakeLists.txt:13 (find_package)
-- Configuring incomplete, errors occurred!
See also "/home/ghh/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ghh/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed
缺少的包名字在報錯中已有提示
household_objects_database_msgsConfig.cmake
household_objects_database_msgs-config.cmake
如法炮制，方法一：
git clone https://github.com/ros-interactive-manipulation/household_objects_database
失敗！
fatal: unable to access 'https://github.com/ros-interactive-manipulation/household_objects_database/': Failed to connect to github.com port 443: 拒絕連接配接
方法二：手動克隆
進入網址
https://github.com/ros-interactive-manipulation/household_objects_database_msgs
注意網址不要進錯，包不要下載下傳錯。
下載下傳，改名，到src，解壓，編譯。同樣的步驟不在贅述。
問題解決。
未知問題是編譯後把下載下傳的包安裝檔案删除會不會導緻報錯。由于已經編譯好了，删除工具包，雖然沒有報錯，但是與之前沒有編譯好的情況不同，故這次沒報錯沒有參考價值。