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Jmeyer1292 / hybrid_planning_experiments

Sampler + Optimizing Motion Planning Demonstrations
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compile error #12

Open QAbot-zh opened 3 years ago

QAbot-zh commented 3 years ago

I compile the code according to the tutorial, and I get the error information as follow:

......
_________________________________________________________________________________________
Errors     << descartes_light:cmake /home/zxy/mp_ws/logs/descartes_light/build.cmake.000.log
CMake Error at /home/zxy/mp_ws/build/opw_kinematics/opw_kinematics-config.cmake:11 (message):
  File or directory /home/zxy/include referenced by variable
  opw_kinematics_INCLUDE_DIRS does not exist !
Call Stack (most recent call first):
  /home/zxy/mp_ws/build/opw_kinematics/opw_kinematics-config.cmake:18 (set_and_check)
  /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
  CMakeLists.txt:7 (find_package)
......

Could you provide some solution?

VictorLamoine commented 3 years ago

Delete hybrid_planning_experiments/descarte_light and clone https://github.com/swri-robotics/descartes_light.git in your workspace.

VictorLamoine commented 3 years ago

Then I am stuck with:

__________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << hybrid_planning_common:cmake /home/victor/Documents/code/test_ws/logs/hybrid_planning_common/build.cmake.003.log                                                                                    
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "descartes_light"
  with any of the following names:

    descartes_lightConfig.cmake
    descartes_light-config.cmake

  Add the installation prefix of "descartes_light" to CMAKE_PREFIX_PATH or
  set "descartes_light_DIR" to a directory containing one of the above files.
  If "descartes_light" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:6 (find_package)
QAbot-zh commented 3 years ago

I comment the opw_kinematics in the find_package options, and it seems OK ?The demo works well without error. the modified file: hybrid_planning_experiments/descartes_light/CMakeLists.txt, Line 6~12:

find_package(catkin REQUIRED COMPONENTS
  # opw_kinematics
  control_msgs
  roscpp # Demo
  actionlib # Demo
  tesseract_ros
)

You can try it. Screenshot from 2020-10-21 20-20-17

Levi-Armstrong commented 3 years ago

@VictorLamoine and @undefinedcodezhong All of this work has been integrated into the Tesseract Motion Planning Framework. I recommend taking a look at this repository. The master works with the master branch of tesseract, tesseract_ros, trajopt_ros and descartes_light. Now we have been doing a lot of improvements on the motion planning package which are in the feature/CommandLanguage branch of the provided repositories along with the previously mentioned repositories. We are working toward an official release near the end of the year.

QAbot-zh commented 3 years ago

@VictorLamoine and @undefinedcodezhong All of this work has been integrated into the Tesseract Motion Planning Framework. I recommend taking a look at this repository. The master works with the master branch of tesseract, tesseract_ros, trajopt_ros and descartes_light. Now we have been doing a lot of improvements on the motion planning package which are in the feature/CommandLanguage branch of the provided repositories along with the previously mentioned repositories. We are working toward an official release near the end of the year.

Your work is good.Expect your official release! And the new repository maybe exist some problem, can you give me some guide?

https://github.com/Levi-Armstrong/tesseract_ros_workcell/issues/4 #