ros2_actions package colcon build failed

[Zyonia]

I'm using UBUNTU 22.04 Humble I was following the steps in README, after i clone the code and execute colcon build, ros2_actions package failed.

--- stderr: ros2_actions
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveXYZW_action.dir/build.make:76: CMakeFiles/moveXYZW_action.dir/scripts/moveXYZW_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:235: CMakeFiles/moveXYZW_action.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveL_action.dir/build.make:76: CMakeFiles/moveL_action.dir/scripts/moveL_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:261: CMakeFiles/moveL_action.dir/all] Error 2
gmake[2]: *** [CMakeFiles/moveXYZ_action.dir/build.make:76: CMakeFiles/moveXYZ_action.dir/scripts/moveXYZ_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:339: CMakeFiles/moveXYZ_action.dir/all] Error 2
gmake[2]: *** [CMakeFiles/moveJs_action.dir/build.make:76: CMakeFiles/moveJs_action.dir/scripts/moveJs_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:183: CMakeFiles/moveJs_action.dir/all] Error 2
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveR_action.dir/build.make:76: CMakeFiles/moveR_action.dir/scripts/moveR_action.cpp.o] Error 1
gmake[2]: *** [CMakeFiles/moveG_action.dir/build.make:76: CMakeFiles/moveG_action.dir/scripts/moveG_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:287: CMakeFiles/moveR_action.dir/all] Error 2
gmake[1]: *** [CMakeFiles/Makefile2:209: CMakeFiles/moveG_action.dir/all] Error 2
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveRs_action.dir/build.make:76: CMakeFiles/moveRs_action.dir/scripts/moveRs_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:313: CMakeFiles/moveRs_action.dir/all] Error 2
/home/zyonia/IFRA/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:43:10: fatal error: moveit/move_group_interface/move_group_interface_improved.h: No such file or directory
   43 | #include <moveit/move_group_interface/move_group_interface_improved.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/moveJ_action.dir/build.make:76: CMakeFiles/moveJ_action.dir/scripts/moveJ_action.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:157: CMakeFiles/moveJ_action.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ros2_actions [8.66s, exited with code 2]

Summary: 21 packages finished [9.85s]
  1 package failed: ros2_actions
  1 package had stderr output: ros2_actions

Do you know any solution to this? Thanks a lot.

[MikelBueno]

Hi @Zyonia,

You forgot to follow step number 7 in the instructions.

move_group_interface_improved.h is a slightly modified version of move_group_interface.h that allows to include individual move_group executions into a ROS2 Action Server. It has to be included in the ~/opt/ros/humble/include/moveit/move_group_interface folder for the custom Robot Triggers (ROS2 Actions) to work.

Regards, Mikel

[Zyonia]

i see, thank you~