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DRCL-USC / Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
https://youtu.be/NcW-NFwjMh0
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Unable to make, Missing lcm/lcm-ccp.hpp #20

Closed legendui closed 4 months ago

legendui commented 4 months ago

System: Intel platform with WSL Ubuntu 20.04 LTS I followed the instruction, but having trouble while building it.

In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/../../include/interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/../../include/interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/../../include/interface/KeyBoard.h:11, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/KeyBoard.cpp:1: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/../../include/interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:310: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/interface/KeyBoard.cpp.o] Error 1 make[2]: Waiting for unfinished jobs.... In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:15, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/FSMState_Passive.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_Passive.cpp:1: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:180: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/FSM/FSMState_Passive.cpp.o] Error 1 In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/../../include/common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/../../include/common/../interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/../../include/common/DesiredCommand.h:15, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/../../include/common/ControlFSMData.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/SwingLegController.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/SwingLegController.cpp:1: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/../../include/common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:15, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/FSMState_Walking.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_Walking.cpp:1: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:284: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/common/SwingLegController.cpp.o] Error 1 make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:206: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/FSM/FSMState_Walking.cpp.o] Error 1 In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/../interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/DesiredCommand.h:15, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/DesiredCommand.cpp:1: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/common/../../include/common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/../include/common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/../include/common/../interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/../include/common/DesiredCommand.h:15, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/../include/common/ControlFSMData.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/main.cpp:7: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/../include/common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:219: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/common/DesiredCommand.cpp.o] Error 1 make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:63: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/main.cpp.o] Error 1 In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:15, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/FSMState.cpp:1: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:167: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/FSM/FSMState.cpp.o] Error 1 In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/ConvexMPC/../include/common/../../include/common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/ConvexMPC/../include/common/../../include/common/../interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/ConvexMPC/../include/common/../../include/common/DesiredCommand.h:15, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/ConvexMPC/../include/common/../../include/common/ControlFSMData.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/ConvexMPC/../include/common/SwingLegController.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.h:6, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/ConvexMPC/ConvexMPCLocomotion.cpp:4: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/ConvexMPC/../include/common/../../include/common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:15, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/FSM.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/FSM.cpp:1: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:89: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/ConvexMPC/ConvexMPCLocomotion.cpp.o] Error 1 make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:154: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/FSM/FSM.cpp.o] Error 1 In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/../../include/interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/../../include/interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/../../include/interface/IOInterface.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/../../include/interface/CheatIO.h:7, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/CheatIO.cpp:1: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/interface/../../include/interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. In file included from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/unitree_legged_sdk.h:12, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h:38, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:15, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/FSMState_TO.h:6, from /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/FSMState_TO.cpp:1: /home/rui/catkin_ws/src/Hector_Simulation/Hector_ROS_Simulation/hector_control/src/FSM/../../include/FSM/../common/../interface/../sdk/include/unitree_legged_sdk/lcm.h:9:10: fatal error: lcm/lcm-cpp.hpp: No such file or directory 9 | #include <lcm/lcm-cpp.hpp> | ^~~~~ compilation terminated. make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:297: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/interface/CheatIO.cpp.o] Error 1 make[2]: [Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/build.make:193: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/src/FSM/FSMState_TO.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:3153: Hector_Simulation/Hector_ROS_Simulation/hector_control/CMakeFiles/hector_ctrl.dir/all] Error 2 make: [Makefile:141: all] Error 2 Invoking "make -j20 -l20" failed

legendui commented 4 months ago

Forget to install LCM package, after installing it, everything runs smoothly. Great Job guys!