ROS Noetic下warehouse_ros_mongo编译失败求助及MongoDB与RVIZ/MoveIt连接功能包推荐

Hey there, let's break down how to fix that CMake error you're seeing, and then I'll share some recommended packages for integrating MongoDB with ROS, RViz, and MoveIt.

First, the root issue here is that the warehouse_ros package (which warehouse_ros_mongo depends on) is either missing from your catkin workspace or wasn't built correctly. The error message is telling you that the include directory specified in warehouse_rosConfig.cmake doesn't exist—this usually happens when the dependency package isn't present or its build artifacts are broken.

Step 1: Add warehouse_ros to your workspace #

warehouse_ros_mongo can't build without warehouse_ros, so let's clone the correct version for Noetic:

cd ~/catkin_ws/src
git clone https://github.com/ros-planning/warehouse_ros.git
cd warehouse_ros
git checkout noetic-devel

Step 2: Clean and rebuild your workspace #

Your existing devel folder likely has broken configuration files from the failed build. Let's start fresh:

cd ~/catkin_ws
catkin clean -y # Wipes build and devel directories to eliminate stale files
catkin_make # Use `catkin build` instead if you prefer catkin tools
source devel/setup.bash

Step 3: Verify the fix #

After rebuilding, the error should be gone—warehouse_ros will now have its include directory properly generated, and warehouse_ros_mongo can find it.

Here are some go-to packages for this use case:

• warehouse_ros_mongo: The package you're already working with—it provides a MongoDB backend for warehouse_ros, the core ROS package for storing robot data like MoveIt scenes and robot models.
• moveit_warehouse: Part of the MoveIt suite, this uses warehouse_ros to save/load planning scenes, robot states, and trajectories. You can visualize stored scenes directly in RViz using MoveIt's built-in tools.
• rviz_warehouse_plugin: An RViz plugin that lets you browse, load, and save warehouse data (like scenes) right from the RViz interface—often included with warehouse_ros or moveit_warehouse for Noetic.
• mongodb_store: A general-purpose package for storing any ROS message type in MongoDB, great if you need to log sensor data or custom messages to visualize later in RViz.

For Noetic, always ensure packages are checked out to their noetic-devel branches to avoid compatibility hiccups.

内容的提问来源于stack exchange，提问作者zelix