Errors while installing moveit2 from source

[mlautman]

When I tried to build the master_compile branch from source using the README instructions, I am seeing a number of issues.

1. The distinction between the master branch and master_compile branch is unclear. Before announcing the progress, it is very important that users are able to reliably work of a master branch

2. running rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} to ensure I have the correct dependencies fails with:

   ERROR: the following packages/stacks could not have their rosdep keys resolved
   to system dependencies:
   moveit_planners_ompl: Cannot locate rosdep definition for [ompl]

3. This causes the build to fail with

   
   --- stderr: moveit_planners_ompl                                                            
   CMake Warning at /home/mike/ws_acutronics/install/share/moveit_core/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
   Package 'moveit_core' exports library 'moveit_test_utils' which couldn't be
   found
   Call Stack (most recent call first):
   /home/mike/ws_acutronics/install/share/moveit_core/cmake/moveit_coreConfig.cmake:38 (include)
   CMakeLists.txt:13 (find_package)

CMake Error at CMakeLists.txt:18 (find_package): By not providing "Findompl.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "ompl", but CMake did not find one.

Could not find a package configuration file provided by "ompl" with any of the following names:

omplConfig.cmake
ompl-config.cmake

Add the installation prefix of "ompl" to CMAKE_PREFIX_PATH or set "ompl_DIR" to a directory containing one of the above files. If "ompl" provides a separate development package or SDK, be sure it has been installed.

4. moveit_planners_ompl fails to build because it does not include moveit_msgs correctly

[LanderU]

The distinction between the master branch and master_compile branch is unclear. Before announcing the progress, it is very important that users are able to reliably work of a master branch

+1, we'll update the README.md to clarify this point.

running rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} to ensure I have the correct dependencies fails with:

You're right this package is failing when you try to install using rosdep. You need to install libompl-dev using apt. We need to reflect this on the README.md as well.

We'll review the current status of the README.md to clarify all of this points. Thanks for your feedback!

[vmayoral]

Thanks for reporting @mlautman, @LanderU once fixed, can we refer in here to the commit that addresses the issues raised here please?

@mlautman, based on our experience, rosdep is discouraged at this point (@LanderU, correct me if I'm wrong). AFAIK, we've done a reasonable amount of work to try to fix deps that way but more effort is required. @mlautman feel free to jump in and help with rosdep if you consider this critical, I believe you guys have plenty of experience.

[mlautman]

based on our experience, rosdep is discouraged at this point

@vmayoral I don't understand this viewpoint. ROS2 uses rosdep extensively. Why wouldn't we use it here as well? Explicitly installing dependencies with apt is a short-term patch that doesn't actually achieve our goals for MoveIt 2. When we go to release a Debian package we will need to use rosdep. We might as well do things the right way now.

AFAIK, we've done a reasonable amount of work to try to fix deps that way but more effort is required

What has been tried? In order to use rosdep with ompl, we need to add a Dashing track for ompl with bloom-release. This will add ompl to distribution.yaml which acts as a dictionary for rosdep. I don't have access to the release repository for OMPL but I ping'd Mark Moll to see if he can take care of it for us.

https://bitbucket.org/ompl/ompl/issues/535/setting-up-a-ros2-dashing-track-for-ompl

[davetcoleman]

I had this same issue. I've made some suggestions:

https://github.com/AcutronicRobotics/moveit2/pull/95

[mlautman]

On second thought, if you are able to successfully build against libompl-dev we don't need to release ompl with bloom. I opened a PR to ros/distro that will enable us to install libompl-dev using the libompl-dev key in package.xml

[vmayoral]

@LanderU can we close this issue?