Error while compiling ros2 kortex with gazebo

[alexandra1610]

Hi, I am trying to build from source and I keep getting the following error while compiling. Could you please help me solving this issue? Thank you

colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Starting >>> ros2_control_demo_description Starting >>> gazebo_ros2_control Starting >>> ros_gz_interfaces Starting >>> ros_gz_sim Starting >>> kortex_description
Starting >>> gz_ros2_control Starting >>> kortex_api Starting >>> ros2_control_demo_example_14 Finished <<< ros2_control_demo_description [0.40s]
Starting >>> ros2_control_demo_example_1 Starting >>> ros2_control_demo_example_10 Starting >>> ros2_control_demo_example_2 Starting >>> ros2_control_demo_example_3
Starting >>> ros2_control_demo_example_4 Starting >>> ros2_control_demo_example_5 Starting >>> ros2_control_demo_example_6 Starting >>> ros2_control_demo_example_7
Starting >>> ros2_control_demo_example_8 Finished <<< kortex_description [0.65s]
Starting >>> kinova_gen3_6dof_robotiq_2f_85_moveit_config Starting >>> kinova_gen3_7dof_robotiq_2f_85_moveit_config
Finished <<< kortex_api [0.81s]
Starting >>> kortex_driver Finished <<< ros_gz_sim [0.96s]
Finished <<< ros2_control_demo_example_14 [0.91s] Finished <<< ros2_control_demo_example_1 [1.19s]
Finished <<< ros2_control_demo_example_2 [1.17s]
Finished <<< ros2_control_demo_example_5 [1.11s] Finished <<< ros2_control_demo_example_10 [1.27s]
Finished <<< ros2_control_demo_example_6 [1.14s] --- stderr: gazebo_ros2_control CMake Error at CMakeLists.txt:7 (find_package): By not providing "Findgazebo_dev.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "gazebo_dev", but CMake did not find one.

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

gazebo_devConfig.cmake
gazebo_dev-config.cmake

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

---

Failed <<< gazebo_ros2_control [1.73s, exited with code 1] Aborted <<< ros2_control_demo_example_8 [1.09s] Aborted <<< ros2_control_demo_example_3 [1.25s] Aborted <<< ros_gz_interfaces [1.70s] Aborted <<< ros2_control_demo_example_4 [1.22s] Aborted <<< ros2_control_demo_example_7 [1.12s] Aborted <<< kinova_gen3_6dof_robotiq_2f_85_moveit_config [0.97s] Aborted <<< kinova_gen3_7dof_robotiq_2f_85_moveit_config [0.94s] Aborted <<< kortex_driver [0.79s] Aborted <<< gz_ros2_control [4.35s]

Summary: 10 packages finished [5.08s] 1 package failed: gazebo_ros2_control 9 packages aborted: gz_ros2_control kinova_gen3_6dof_robotiq_2f_85_moveit_config kinova_gen3_7dof_robotiq_2f_85_moveit_config kortex_driver ros2_control_demo_example_3 ros2_control_demo_example_4 ros2_control_demo_example_7 ros2_control_demo_example_8 ros_gz_interfaces 2 packages had stderr output: gazebo_ros2_control gz_ros2_control 11 packages not processed

[moriarty]

The robotiq gripper uses mimic joints which are not merged into gazebo, likely this repos file is needed... branches may need to be updated depending on which distro of ROS you're using.

https://github.com/Kinovarobotics/ros2_kortex/blob/main/simulation.repos

[alexandra1610]

Thank you, I installed a lot of supplementary packages and also serial package from another source. I downloaded serial from https://github.com/RoverRobotics-forks/serial-ros2 because I had the error that I need it to compile. I copied it in my source folder and did colcon build with the flags. I use ros humble. However, I have now a new error

--- stderr: robotiq_driver                                              
/usr/bin/ld: /home/student/workspace/ros2_kortex_ws/install/serial/lib/libserial.a(unix.cc.o): warning: relocation against `_ZTVSt9basic_iosIcSt11char_traitsIcEE@@GLIBCXX_3.4' in read-only section `.text._ZN6serial22PortNotOpenedExceptionC2EPKc[_ZN6serial22PortNotOpenedExceptionC5EPKc]'
/usr/bin/ld: /home/student/workspace/ros2_kortex_ws/install/serial/lib/libserial.a(serial.cc.o): relocation R_X86_64_PC32 against symbol `_ZTVN6serial6SerialE' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: bad value
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/robotiq_driver.dir/build.make:403: librobotiq_driver.so] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:229: CMakeFiles/robotiq_driver.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< robotiq_driver [0.46s, exited with code 2]
Aborted  <<< hardware_interface_testing [0.51s]
Aborted  <<< robotiq_controllers [0.10s]
Aborted  <<< ros_ign_interfaces [0.58s]
Aborted  <<< ros_gz_bridge [2.86s]                                   

[alexandra1610]

I solved my issues following these steps that I wrote in a README file: https://git.initrobots.ca/amercader/kinova-kortex-installation