古月marm_planning是根据kinetic版本编写，移植到melodic会报错，按照顺序如下两种。
-- ==> 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，名字已经在报错中。
manipulation_msgsConfig.cmake
manipulation_msgs-config.cmake
解决方案：注意是melodic版本的解决方案！！！
方法一：
进入src文件夹把所需工具包克隆进去，不推荐因为常常因为网络以及其他原因报错，
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: 拒绝连接
方法二：
手动克隆，这种方法可控性强，效率高。
https://github.com/ros-interactive-manipulation/manipulation_msgs/
进入网站下载
下载后去掉后缀！复制到src中，并解压。结果与之前的命令行克隆效果一样，但是网站等不等上去，能不能下载，都是可控的。
好不容易下载好，编译后，有报错了！！！这次是编译刚才下载好的包，发现又缺别的包。
-- ==> 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
缺少的包名字在报错中已有提示
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
失败！
fatal: unable to access 'https://github.com/ros-interactive-manipulation/household_objects_database/': Failed to connect to github.com port 443: 拒绝连接
方法二：手动克隆
进入网址
https://github.com/ros-interactive-manipulation/household_objects_database_msgs
注意网址不要进错，包不要下载错。
下载，改名，到src，解压，编译。同样的步骤不在赘述。
问题解决。
未知问题是编译后把下载的包安装文件删除会不会导致报错。由于已经编译好了，删除工具包，虽然没有报错，但是与之前没有编译好的情况不同，故这次没报错没有参考价值。