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NMBURobotics / vox_nav

A navigation system for outdoor robotics in rough uneven terrains.
https://nmburobotics.github.io/vox_nav/
Apache License 2.0
213 stars 41 forks source link

ObstacleBasedValidStateSampler.h no such file or directory #19

Closed aserbremen closed 1 week ago

aserbremen commented 1 month ago

Hey I am following the installation guide, where i exchanged the foxy parts to humble as I am using Ubuntu 22.04.

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=ON -DWITH_IPOPT=true --packages-skip-regex archive --packages-skip vox_nav_control vox_nav_cupoch; \

The above command fails with 

--- stderr: vox_nav_utilities                              
In file included from /home/andi/code/cpp/vox_nav/src/vox_nav/vox_nav_utilities/src/planner_helpers.cpp:17:
/home/andi/code/cpp/vox_nav/src/vox_nav/vox_nav_utilities/include/vox_nav_utilities/planner_helpers.hpp:20:10: fatal error: ompl/base/samplers/ObstacleBasedValidStateSampler.h: No such file or directory
   20 | #include <ompl/base/samplers/ObstacleBasedValidStateSampler.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

I had to set set(OMPL_INCLUDE_DIRS /path/to/vox_nav_ws/install/ompl/include/ompl-1.6) in src/vox_nav/vox_nav_utilities/CMakeLists.txt and src/vox_nav/vox_nav_planning/CMakeLists.txt

jediofgever commented 1 week ago

Thank you for providing your solution. It seems that the colcon tool and ompl had a breaking change, causing this error. Now, instead of source build, we use ompl-dev binary install; you may check the steps Github actions for a successful build.