search

PickNikRobotics / deep_grasp_demo

Deep learning for grasp detection within MoveIt.
https://picknik.ai/
107 stars 52 forks source link

Missing Action Msg Headers #8

Open Avdbergnmf opened 3 years ago

Avdbergnmf commented 3 years ago

Hello!

When building the workspace according to the README, I run into fatal Errors caused by missing Action msg headers. I tried building multiple times (I know this sometimes fixes things when working with actionlib), but to no avail.

I'm on ROS Melodic, Ubuntu 18.04.

Any help would be greatly appreciated!

The build log: 

$ catkin build
-----------------------------------------------------------------------
Profile:                     default
Extending:        [explicit] /home/deepgrasp/docker_dir/ws_moveit/devel
Workspace:                   /home/deepgrasp/ws_grasp
-----------------------------------------------------------------------
Build Space:        [exists] /home/deepgrasp/ws_grasp/build
Devel Space:        [exists] /home/deepgrasp/ws_grasp/devel
Install Space:      [unused] /home/deepgrasp/ws_grasp/install
Log Space:         [missing] /home/deepgrasp/ws_grasp/logs
Source Space:       [exists] /home/deepgrasp/ws_grasp/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-----------------------------------------------------------------------
[build] Found '9' packages in 0.0 seconds.                                                                                                                                                                                                                                                                                                                                          
[build] Updating package table.                                                                                                                                                                                                                                                                                                                                                     
Starting  >>> catkin_tools_prebuild                                                                                                                                                                                                                                                                                                                                                 
Finished  <<< catkin_tools_prebuild                                [ 1.2 seconds ]                                                                                                                                                                                                                                                                                                  
Starting  >>> moveit_task_constructor_msgs                                                                                                                                                                                                                                                                                                                                          
Starting  >>> rviz_marker_tools                                                                                                                                                                                                                                                                                                                                                     
Finished  <<< rviz_marker_tools                                    [ 4.4 seconds ]                                                                                                                                                                                                                                                                                                  
Finished  <<< moveit_task_constructor_msgs                         [ 4.9 seconds ]                                                                                                                                                                                                                                                                                                  
Starting  >>> moveit_task_constructor_capabilities                                                                                                                                                                                                                                                                                                                                  
Starting  >>> moveit_task_constructor_dexnet                                                                                                                                                                                                                                                                                                                                        
Starting  >>> moveit_task_constructor_gpd                                                                                                                                                                                                                                                                                                                                           
Starting  >>> moveit_task_constructor_core                                                                                                                                                                                                                                                                                                                                          
____________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________
Warnings   << moveit_task_constructor_gpd:cmake /home/deepgrasp/ws_grasp/logs/moveit_task_constructor_gpd/build.cmake.000.log                                                                                                                                                                                                                                                       
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
cd /home/deepgrasp/ws_grasp/build/moveit_task_constructor_gpd; catkin build --get-env moveit_task_constructor_gpd | catkin env -si  /usr/local/bin/cmake /home/deepgrasp/ws_grasp/src/deep_grasp_demo/moveit_task_constructor_gpd --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/deepgrasp/ws_grasp/devel/.private/moveit_task_constructor_gpd -DCMAKE_INSTALL_PREFIX=/home/deepgrasp/ws_grasp/install -DCMAKE_BUILD_TYPE=Release; cd -
....................................................................................................................................................................................................................................................................................................................................................................................
____________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_task_constructor_dexnet:make /home/deepgrasp/ws_grasp/logs/moveit_task_constructor_dexnet/build.make.000.log                                                                                                                                                                                                                                                   
In file included from /home/deepgrasp/ws_grasp/src/deep_grasp_demo/moveit_task_constructor_dexnet/src/grasp_detection.cpp:45:0:
/home/deepgrasp/ws_grasp/src/deep_grasp_demo/moveit_task_constructor_dexnet/include/moveit_task_constructor_dexnet/grasp_detection.h:45:10: fatal error: moveit_task_constructor_msgs/SampleGraspPosesAction.h: No such file or directory
 #include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/grasp_image_detection.dir/src/grasp_detection.cpp.o] Error 1
make[1]: *** [CMakeFiles/grasp_image_detection.dir/all] Error 2
make: *** [all] Error 2
cd /home/deepgrasp/ws_grasp/build/moveit_task_constructor_dexnet; catkin build --get-env moveit_task_constructor_dexnet | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
....................................................................................................................................................................................................................................................................................................................................................................................
Failed     << moveit_task_constructor_dexnet:make                  [ Exited with code 2 ]                                                                                                                                                                                                                                                                                           
Failed    <<< moveit_task_constructor_dexnet                       [ 6.5 seconds ]                                                                                                                                                                                                                                                                                                  
Abandoned <<< deep_grasp_task                                      [ Unrelated job failed ]                                                                                                                                                                                                                                                                                         
Abandoned <<< moveit_task_constructor_demo                         [ Unrelated job failed ]                                                                                                                                                                                                                                                                                         
Abandoned <<< moveit_task_constructor_visualization                [ Unrelated job failed ]                                                                                                                                                                                                                                                                                         
Finished  <<< moveit_task_constructor_capabilities                 [ 19.7 seconds ]                                                                                                                                                                                                                                                                                                 
____________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_task_constructor_gpd:make /home/deepgrasp/ws_grasp/logs/moveit_task_constructor_gpd/build.make.000.log                                                                                                                                                                                                                                                         
In file included from /home/deepgrasp/ws_grasp/src/deep_grasp_demo/moveit_task_constructor_gpd/src/grasp_cloud_detection.cpp:59:0:
/home/deepgrasp/ws_grasp/src/deep_grasp_demo/moveit_task_constructor_gpd/include/moveit_task_constructor_gpd/grasp_detection.h:54:10: fatal error: moveit_task_constructor_msgs/SampleGraspPosesAction.h: No such file or directory
 #include <moveit_task_constructor_msgs/SampleGraspPosesAction.h>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/grasp_cloud_detection.dir/src/grasp_cloud_detection.cpp.o] Error 1
make[1]: *** [CMakeFiles/grasp_cloud_detection.dir/all] Error 2
make: *** [all] Error 2
cd /home/deepgrasp/ws_grasp/build/moveit_task_constructor_gpd; catkin build --get-env moveit_task_constructor_gpd | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
....................................................................................................................................................................................................................................................................................................................................................................................
Failed     << moveit_task_constructor_gpd:make                     [ Exited with code 2 ]                                                                                                                                                                                                                                                                                           
Failed    <<< moveit_task_constructor_gpd                          [ 22.1 seconds ]                                                                                                                                                                                                                                                                                                 
Finished  <<< moveit_task_constructor_core                         [ 1 minute and 24.7 seconds ]                                                                                                                                                                                                                                                                                    
[build] Summary: 5 of 10 packages succeeded.                                                                                                                                                                                                                                                                                                                                        
[build]   Ignored:   None.                                                                                                                                                                                                                                                                                                                                                          
[build]   Warnings:  1 packages succeeded with warnings.                                                                                                                                                                                                                                                                                                                            
[build]   Abandoned: 3 packages were abandoned.                                                                                                                                                                                                                                                                                                                                     
[build]   Failed:    2 packages failed.                                                                                                                                                                                                                                                                                                                                             
[build] Runtime: 1 minute and 30.9 seconds total.                                                                                                                                                                                                                                                                                                                                   
[build] Note: Workspace packages have changed, please re-source setup files to use them.
WenjieYan commented 3 years ago

Exactly the same issue while building with ROS noetic. Could anyone help here?

Avdbergnmf commented 3 years ago

If I search for the Action msg, I can only find it being referenced in some tutorials: https://github.com/search?q=org%3Aros-planning+SampleGraspPoses&type=code

There's no reference to in the MTC repo: https://github.com/ros-planning/moveit_task_constructor/tree/master/msgs/action

Perhaps its a line we gotta replace with our own Msg? I have no idea how to proceed though (other than trial and error)

Avdbergnmf commented 3 years ago

Finally got the ws to build by replacing the moveit_task_constructor package with the package I found in some other ws. Download the folder by

svn checkout https://github.com/huangguoqing1111/MAEG5755-Project/trunk/park_moveit/moveit_task_constructor
WenjieYan commented 3 years ago

How? The link just shows Error 404...

Avdbergnmf commented 3 years ago

To view the repo replace trunk with tree/master: https://github.com/huangguoqing1111/MAEG5755-Project/tree/master/park_moveit/moveit_task_constructor

Edit: there is a problem with the repo though. When running the deep grasping demos or the pickplace demo, it causes a crash. The pickplace demo does work with the official repo (this one) without crashing. Monday, I'll try to see if I can just take the missing files out of the other repo and combine them with this one. I've tried for a bit already, but could not get it to work. Any help would be greatly appreciated.

Avdbergnmf commented 3 years ago

For anyone looking for the same answers:

I copied these files from this repo and placed them into the official repo.

Then modify the CMakeLists.txt

Make sure to catkin clean before you catkin build.

I'll make a fork of the repo so that people can just pull it if they need to.

Edit: Fork can be found here

WenjieYan commented 3 years ago

Great that you made this fork, as PickNik is doing upgrade now which breaks the dependency again ;o)

Avdbergnmf commented 3 years ago

doing an upgrade on? Could you explain please? :)

WenjieYan commented 3 years ago

For example the action_base class is restructed and all templates are removed. And there are also other changes.

You could checkout the repo and do the changes mentioned above and see the effects. :)

fiABCi commented 2 years ago

hello

Thanks to # 8, rviz was able to display it well, but gazebo did not display it as expected. I've used it for 2 days and it's not working. Looking at the error and rqt_graph, it seems that MTC has not received the solution. I'm closed in all directions. But this repository is great!!!

I'm on ROS Melodic, Ubuntu 18.04. Any help will save me.

error.txt

fiABCi commented 2 years ago

hi.

I chenged the end effector group name from panda_arm to hand.　

thank you.