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Field-Robotics-Lab / dave

Project DAVE
Apache License 2.0
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Build Dave | Project DAVE #260

Closed utterances-bot closed 9 months ago

utterances-bot commented 2 years ago

Build Dave | Project DAVE

Wiki/Tutorial Documents for Project DAVE

https://field-robotics-lab.github.io/dave.doc/contents/installation/Build-Dave-Environment/

ruyikang commented 2 years ago

When I test installation, (roslaunch dave_demo_launch dave_demo.launch), it shows that errors.

Error during joy parsing, message= tuple index out of range [ERROR] [1659450556.337644, 85.292000]: bad callback: <bound method GripperController._joy_callback of <main.GripperController object at 0x7f5b86346490>> Traceback (most recent call last): File "/home/ryuki/uuv_ws1/src/uuv_manipulators/uuv_manipulators_control/scripts/gripper_controller.py", line 130, in _joy_callback if not joy.buttons[self._deadman_button]: IndexError: tuple index out of range

During handling of the above exception, another exception occurred:

Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/home/ryuki/uuv_ws1/src/uuv_manipulators/uuv_manipulators_control/scripts/gripper_controller.py", line 141, in _joy_callback except e: NameError: name 'e' is not defined

ODE Message 3: LCP internal error, s <= 0 (s=-inf)

ruyikang commented 2 years ago

I cannot fix it by myself, hope that you can give me some help, thanks

ruyikang commented 2 years ago

Meanwhile, I really think that if you can supply a VM just like what UWSim did, that will be easier to start.

ruyikang commented 2 years ago

If this one can be installed like uuv_simulator (sudo apt install ros-melodic-uuv-simulator), that will be easier.

bsb808 commented 2 years ago

Hi @ruyikang Based on the errors I suspect that it is an issue with incompatibility between your environment setup and the required setup: https://field-robotics-lab.github.io/dave.doc/contents/installation/Install-Directly-on-Host/

This might also be a problem with the joystick/gamepad. I would probably comment out the joystick elements of the launch file and see if that corrects the problem.

As for the setup, the simulation uses considerable hardware (CPU and GPU) resources that makes for a poor fit for VMs. We instead use docker to standardize the supt.

Building ubuntu packages for apt installation is beyond the scope of the resources we have for the project. If someone from the community would be interested in supporting that functionality, we'd be excited to assist.

ruyikang commented 2 years ago

Hi @ruyikang Based on the errors I suspect that it is an issue with incompatibility between your environment setup and the required setup: https://field-robotics-lab.github.io/dave.doc/contents/installation/Install-Directly-on-Host/

This might also be a problem with the joystick/gamepad. I would probably comment out the joystick elements of the launch file and see if that corrects the problem.

As for the setup, the simulation uses considerable hardware (CPU and GPU) resources that makes for a poor fit for VMs. We instead use docker to standardize the supt.

Building ubuntu packages for apt installation is beyond the scope of the resources we have for the project. If someone from the community would be interested in supporting that functionality, we'd be excited to assist.

Really thanks for your reply, I will try it again by creating a new VM and follow all the steps.

ruyikang commented 2 years ago

Hi @bsb808 , the problem still cannot be fixed, so I just delect the joystick controller part, it can still work. But now, I am not sure how to use the rostopic to control the auv robot. So, what shouyd I use to control the force or velocity of the robot?

Thanks

jagprieto commented 1 year ago

Hi I've tried to install this tool, but ater solving some problems I've got stopped with this error when catkin_make is being executed:

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

uuv_sensor_ros_pluginsConfig.cmake
uuv_sensor_ros_plugins-config.cmake

Any advise about this? .... Installed ROS version is noetic, and there is no version of uuv simulator for this version....is this the reason of the fail? should I installed it on ROS melodic?

cybanical commented 1 year ago

Hi I've tried to install this tool, but ater solving some problems I've got stopped with this error when catkin_make is being executed:

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

uuv_sensor_ros_pluginsConfig.cmake
uuv_sensor_ros_plugins-config.cmake

Any advise about this? .... Installed ROS version is noetic, and there is no version of uuv simulator for this version....is this the reason of the fail? should I installed it on ROS melodic?

I'm having the exact same installation error. Following direct install instructions. This is a direct install into Windows WSL2 Ubuntu 20.04.

woensug-choi commented 1 year ago

@cybanical I've just tried installing a clean install on the host at Windows WSL2 Ubuntu 20.04 following https://field-robotics-lab.github.io/dave.doc/contents/installation/Install-Directly-on-Host/ and it compiled fine.

cybanical commented 1 year ago

@cybanical I've just tried installing a clean install on the host at Windows WSL2 Ubuntu 20.04 following https://field-robotics-lab.github.io/dave.doc/contents/installation/Install-Directly-on-Host/ and it compiled fine.

Thanks for this link. I did a clean install of WSL2 and the build worked, except I'm not able to render to screen. I'm now seeing an issue with Gazebo rendering error:

[Err] [RenderEngine.cc:749] Can't open display: :0 [Wrn] [RenderEngine.cc:89] Unable to create X window. Rendering will be disabled [Wrn] [RenderEngine.cc:292] Cannot initialize render engine since render path type is NONE. Ignore this warning ifrendering has been turned off on purpose.

woensug-choi commented 1 year ago

@cybanical That sounds like a WSL installation or setting problem. Can you run simple GUI apps like xeyes? (you can get it using sudo apt install x11-apps. Restarting the machine could also solve the problem.

cybanical commented 1 year ago

@woensug-choi Nah, even with a reboot (always a good call), xeyes gives the error: can't open display. I tried the solution in the reply here: https://answers.ros.org/question/369031/gazebo-simulator-window-is-not-opening/ and it got me closer, but then hangs on [Msg] Connected to gazebo master @ http://127.0.0.1:11345

cybanical commented 1 year ago

This solved loading gazebo into a window for me: https://aalonso.dev/blog/how-to-use-gui-apps-in-wsl2-forwarding-x-server-cdj

Thanks for helping track this down @woensug-choi

krauwu commented 1 year ago

maybe I found a problem that one lline in the cmake file in rexrov_oberon7_moveit didn‘t comment which cause c++11 is used to compile.

Alstrup26 commented 1 year ago

Hello when i try to use catkin i get the following message

Command 'catkin_make' not found, but can be installed with:

sudo apt install catkin

when i then try to install it i get the following failure

Reading package lists... Done Building dependency tree
Reading state information... Done Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation:

The following packages have unmet dependencies: catkin : Depends: python3-catkin-pkg (>= 0.4.14-2) but it is not going to be installed E: Unable to correct problems, you have held broken packages.

Are there anyone who can help me with what to do

bsb808 commented 1 year ago

@Alstrup26 This appears to be a problem with your ROS installation, not a DAVE specific issue. I'd recommend making sure you have a working ROS and Gazebo installation that satisfies the system prerequisites - https://field-robotics-lab.github.io/dave.doc/contents/installation/System-Requirements/

For this specific issue, recommend revisiting these tutorials to debug your ROS installation issue:

victor-velazquez-ai commented 11 months ago

I get this error, i see no way to solve it, any help. only issue that could be is that i am doing so in ros melodic... [ 98%] Built target dsros_ros_dvl /home/victor/uuv_ws/src/dave/gazebo/dave_gazebo_model_plugins/src/plug_and_socket_plugin.cc: In member function ‘bool gazebo::PlugAndSocketMatingPlugin::averageForceOnLink(std::cxx11::string, std::cxx11::string)’: /home/victor/uuv_ws/src/dave/gazebo/dave_gazebo_model_plugins/src/plug_and_socket_plugin.cc:479:46: error: no match for ‘operator[]’ (operand types are ‘const google::protobuf::RepeatedPtrField’ and ‘int’) msgs::Vector3d f1 = contactMsg.wrench()[j].body_1_wrench().force(); ^ /home/victor/uuv_ws/src/dave/gazebo/dave_gazebo_model_plugins/src/plug_and_socket_plugin.cc:480:46: error: no match for ‘operator[]’ (operand types are ‘const google::protobuf::RepeatedPtrField’ and ‘int’) msgs::Vector3d f2 = contactMsg.wrench()[j].body_2_wrench().force(); ^ dave/gazebo/dave_gazebo_model_plugins/CMakeFiles/plugAndSocketPlugin.dir/build.make:75: recipe for target 'dave/gazebo/dave_gazebo_model_plugins/CMakeFiles/plugAndSocketPlugin.dir/src/plug_and_socket_plugin.cc.o' failed make[2]: [dave/gazebo/dave_gazebo_model_plugins/CMakeFiles/plugAndSocketPlugin.dir/src/plug_and_socket_plugin.cc.o] Error 1 CMakeFiles/Makefile2:21112: recipe for target 'dave/gazebo/dave_gazebo_model_plugins/CMakeFiles/plugAndSocketPlugin.dir/all' failed make[1]: [dave/gazebo/dave_gazebo_model_plugins/CMakeFiles/plugAndSocketPlugin.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j8 -l8" failed

help please

woensug-choi commented 9 months ago

Closing this as the conversation is not continuing. This issue will be back when someone leaves a comment on the dave doc 'Build Dave' page.

mabelzhang commented 9 months ago

only issue that could be is that i am doing so in ros melodic...

Looks like a protobuf message definition thing. I have not tried it, but if this fails in Noetic, feel free to comment again. Melodic is community-supported in this repo, so we will not be able to spend time to reproduce it.

Github-Atif commented 3 months ago

as catkin build command was not working so i tried catkinmake. I had to reduce fromj8 and l8 to catkin make -j1 -l1. This helped me to get to 89% but it gets stuck at 89% everytime.

[ 89%] Building CXX object uuv_simulator/uuv_world_plugins/uuv_world_plugins/CMakeFiles/uuv_underwater_current_plugin.dir/src/UnderwaterCurrentPlugin.cc.o In file included from /usr/include/ignition/math6/gz/math/Spline.hh:22, from /usr/include/ignition/math6/ignition/math/Spline.hh:18, from /usr/include/gazebo-11/gazebo/common/Animation.hh:22, from /usr/include/gazebo-11/gazebo/common/common.hh:5, from /usr/include/gazebo-11/gazebo/gazebo_core.hh:19, from /usr/include/gazebo-11/gazebo/gazebo.hh:20, from /home/abdulmughni/uuv_ws/src/uuv_simulator/uuv_world_plugins/uuv_world_plugins/src/UnderwaterCurrentPlugin.cc:22: /usr/include/ignition/math6/gz/math/Helpers.hh: In function ‘std::chrono::_V2::steady_clock::duration ignition::math::v6::stringToDuration(const string&)’: /usr/include/ignition/math6/gz/math/Helpers.hh:1062:28: error: ‘chrono_literals’ is not a namespace-name 1062 | using namespace std::chrono_literals;

. . . . and after some errors .

..

/usr/include/c++/9/tuple:1341:5: note: template argument deduction/substitution failed: make[2]: [uuv_simulator/uuv_world_plugins/uuv_world_plugins/CMakeFiles/uuv_underwater_current_plugin.dir/build.make:76: uuv_simulator/uuv_world_plugins/uuv_world_plugins/CMakeFiles/uuv_underwater_current_plugin.dir/src/UnderwaterCurrentPlugin.cc.o] Error 1 make[1]: [CMakeFiles/Makefile2:22588: uuv_simulator/uuv_world_plugins/uuv_world_plugins/CMakeFiles/uuv_underwater_current_plugin.dir/all] Error 2 make: *** [Makefile:146: all] Error 2 Invoking "make -j1 -l1" failed