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RoboStack / ros-galactic

Vinca build files for ROS 2 Galactic Geochelone
https://robostack.github.io
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Windows MoveIt errors with `srdfdom.dll` missing from `%CONDA_PREFIX%\Library\bin` folder. (works in humble) #103

Open danzimmerman opened 2 years ago

danzimmerman commented 2 years ago

I couldn't add the MoveIt MotionPlanning plugin on a fresh Windows Galactic install until I copied srdfdom.dll from \Library\lib\srdfdom\ to Library\bin.

This seems like the srdfdom issue discussed in #36. I see https://github.com/ros-planning/srdfdom/pull/98 but that should have been picked up by now I suppose.

I'm up-to-date:

(galactic-clean) C:\Code\ros2\galactic_ws>mamba list | findstr srdfdom
ros-galactic-srdfdom      2.0.3            py39h2545d16_3    robostack-experimental

I discovered this by trying to get the ur_moveit_config package from https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver working on Windows. When I launch that MoveIt config, move_group.exe actually pops up an informative window which can be reproduced more simply with:

(galactic-clean) C:\Code\ros2\galactic_ws>ros2 run moveit_ros_move_group move_group

image

With the DLL: 

(galactic-clean) C:\Code\ros2\galactic_ws>copy %CONDA_PREFIX%\Library\lib\srdfdom\srdfdom.dll %CONDA_PREFIX%\Library\bin\
        1 file(s) copied.

(galactic-clean) C:\Code\ros2\galactic_ws>ros2 run moveit_ros_move_group move_group
[WARN] [1656051436.859884700] [move_group.move_group]: MoveGroup launched without ~default_planning_pipeline specifying the namespace for the default planning pipeline configuration
[WARN] [1656051436.860105000] [move_group.move_group]: Falling back to using the the move_group node namespace (deprecated behavior).

If I try to add the MotionPlanning plugin to Rviz2, the resulting error does not mention srdfdom.dll so is not very informative. but it's the same issue.

(galactic-clean) C:\Code\ros2\galactic_ws>del %CONDA_PREFIX%\library\bin\srdfdom.dll

(galactic-clean) C:\Code\ros2\galactic_ws>rviz2
[INFO] [1656050984.168199100] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1656050984.168471900] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[INFO] [1656050984.262447500] [rviz2]: Stereo is NOT SUPPORTED
[ERROR] [1656050998.524384100] [rviz2]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load. Error: Failed to load library C:\Users\dan\mambaforge\envs\galactic-clean\Library\bin\moveit_motion_planning_rviz_plugin.dll. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library LoadLibrary error: 126, at C:\bld\ros-galactic-rcutils_1648674430149\work\ros-galactic-rcutils\src\work\src\shared_library.c:159

Environment

mamba list

``` (galactic-clean) C:\Code\ros2\galactic_ws>mamba list # packages in environment at C:\Users\\mambaforge\envs\galactic-clean: # # Name Version Build Channel argcomplete 2.0.0 pyhd8ed1ab_0 conda-forge assimp 5.2.3 hc2aa0de_1 conda-forge atomicwrites 1.4.0 pyh9f0ad1d_0 conda-forge attrs 21.4.0 pyhd8ed1ab_0 conda-forge boost 1.74.0 py39hefe7e4c_5 conda-forge boost-cpp 1.74.0 h9f4b32c_8 conda-forge brotli 1.0.9 h8ffe710_7 conda-forge brotli-bin 1.0.9 h8ffe710_7 conda-forge bullet 3.21 h832f523_2 conda-forge bullet-cpp 3.21 h2e25243_2 conda-forge bzip2 1.0.8 h8ffe710_4 conda-forge c-compiler 1.4.2 h8ffe710_0 conda-forge ca-certificates 2022.6.15 h5b45459_0 conda-forge cairo 1.16.0 h15b3021_1010 conda-forge catkin_pkg 0.5.2 pyhd8ed1ab_0 conda-forge certifi 2022.6.15 py39hcbf5309_0 conda-forge cffi 1.15.0 py39h0878f49_0 conda-forge clangdev 5.0.0 flang_3 conda-forge cmake 3.23.2 h39d44d4_0 conda-forge colcon-cmake 0.2.26 py_0 conda-forge colcon-common-extensions 0.3.0 py39hcbf5309_0 conda-forge colcon-core 0.8.2 pyhd8ed1ab_0 conda-forge colcon-defaults 0.2.5 py_0 conda-forge colcon-devtools 0.2.2 py_0 conda-forge colcon-library-path 0.2.1 py_0 conda-forge colcon-metadata 0.2.5 py_0 conda-forge colcon-notification 0.2.13 py39hcbf5309_3 conda-forge colcon-output 0.2.12 py_0 conda-forge colcon-package-information 0.3.3 py_0 conda-forge colcon-package-selection 0.2.10 py_0 conda-forge colcon-parallel-executor 0.2.4 py_0 conda-forge colcon-pkg-config 0.1.0 py_0 conda-forge colcon-powershell 0.3.6 py_0 conda-forge colcon-python-setup-py 0.2.7 py_0 conda-forge colcon-recursive-crawl 0.2.1 py_0 conda-forge colcon-ros 0.3.23 pyhd8ed1ab_0 conda-forge colcon-test-result 0.3.8 py_0 conda-forge colorama 0.4.5 pyhd8ed1ab_0 conda-forge coloredlogs 15.0.1 pyhd8ed1ab_3 conda-forge compilers 1.4.2 h57928b3_0 conda-forge console_bridge 1.0.2 h5362a0b_1 conda-forge coverage 6.4.1 py39hb82d6ee_0 conda-forge cppcheck 2.6.2 py39hd48a9a8_0 conda-forge cryptography 37.0.2 py39h7bc7c5c_0 conda-forge curl 7.83.1 h789b8ee_0 conda-forge cxx-compiler 1.4.2 h2d74725_0 conda-forge cycler 0.11.0 pyhd8ed1ab_0 conda-forge distlib 0.3.4 pyhd8ed1ab_0 conda-forge distro 1.6.0 pyhd8ed1ab_0 conda-forge docutils 0.18.1 py39hcbf5309_1 conda-forge double-conversion 3.2.0 h0e60522_0 conda-forge eigen 3.4.0 h2d74725_0 conda-forge empy 3.3.4 pyh9f0ad1d_1 conda-forge expat 2.4.8 h39d44d4_0 conda-forge fcl 0.7.0 hbf27b1e_1 conda-forge ffmpeg 4.3.1 ha925a31_0 conda-forge flake8 4.0.1 pyhd8ed1ab_2 conda-forge flang 5.0.0 he025d50_20180525 conda-forge flang_win-64 5.0.0 h13ae965_20180526 conda-forge flann 1.9.1 h075982a_1010 conda-forge font-ttf-dejavu-sans-mono 2.37 hab24e00_0 conda-forge font-ttf-inconsolata 3.000 h77eed37_0 conda-forge font-ttf-source-code-pro 2.038 h77eed37_0 conda-forge font-ttf-ubuntu 0.83 hab24e00_0 conda-forge fontconfig 2.14.0 hce3cb01_0 conda-forge fonts-conda-ecosystem 1 0 conda-forge fonts-conda-forge 1 0 conda-forge fonttools 4.33.3 py39hb82d6ee_0 conda-forge foonathan-memory 0.7.1 h57928b3_0 conda-forge fortran-compiler 1.4.2 h9655429_0 conda-forge freeglut 3.2.2 h0e60522_1 conda-forge freeimage 3.18.0 h6676e37_9 conda-forge freetype 2.10.4 h546665d_1 conda-forge fribidi 1.0.10 h8d14728_0 conda-forge getopt-win32 0.1 h8ffe710_0 conda-forge gettext 0.19.8.1 ha2e2712_1008 conda-forge gl2ps 1.4.2 h0597ee9_0 conda-forge glew 2.1.0 h39d44d4_2 conda-forge gmock 1.11.0 h2d74725_0 conda-forge graphite2 1.3.13 1000 conda-forge graphviz 4.0.0 had6c3a3_0 conda-forge gtest 1.11.0 h2d74725_0 conda-forge gts 0.7.6 h7c369d9_2 conda-forge harfbuzz 4.2.0 hc1763ed_0 conda-forge hdf4 4.2.15 h0e5069d_3 conda-forge hdf5 1.12.1 nompi_h2a0e4a3_104 conda-forge humanfriendly 10.0 py39hcbf5309_2 conda-forge icu 69.1 h0e60522_0 conda-forge ifcfg 0.21 py_0 conda-forge imath 3.1.5 h12d4b20_0 conda-forge importlib-metadata 4.11.4 py39hcbf5309_0 conda-forge importlib_metadata 4.11.4 hd8ed1ab_0 conda-forge importlib_resources 5.8.0 pyhd8ed1ab_0 conda-forge iniconfig 1.1.1 pyh9f0ad1d_0 conda-forge intel-openmp 2022.1.0 h57928b3_3787 conda-forge jasper 2.0.33 h77af90b_0 conda-forge jpeg 9e h8ffe710_1 conda-forge jsoncpp 1.9.5 h2d74725_1 conda-forge jxrlib 1.1 h8ffe710_2 conda-forge kiwisolver 1.4.3 py39h2e07f2f_0 conda-forge krb5 1.19.3 h1176d77_0 conda-forge lark-parser 0.12.0 pyhd8ed1ab_0 conda-forge lcms2 2.12 h2a16943_0 conda-forge lerc 3.0 h0e60522_0 conda-forge libblas 3.9.0 15_win64_mkl conda-forge libbrotlicommon 1.0.9 h8ffe710_7 conda-forge libbrotlidec 1.0.9 h8ffe710_7 conda-forge libbrotlienc 1.0.9 h8ffe710_7 conda-forge libcblas 3.9.0 15_win64_mkl conda-forge libccd-double 2.1 h0e60522_3 conda-forge libclang 13.0.1 default_h81446c8_0 conda-forge libcurl 7.83.1 h789b8ee_0 conda-forge libdeflate 1.12 h8ffe710_0 conda-forge libffi 3.4.2 h8ffe710_5 conda-forge libflang 5.0.0 h6538335_20180525 conda-forge libgd 2.3.3 h217ff3b_2 conda-forge libglib 2.70.2 h3be07f2_4 conda-forge libiconv 1.16 he774522_0 conda-forge liblapack 3.9.0 15_win64_mkl conda-forge liblapacke 3.9.0 15_win64_mkl conda-forge libnetcdf 4.8.1 nompi_h1cc8e9d_102 conda-forge libode 0.16.2 h415ef7b_10 conda-forge libogg 1.3.4 h8ffe710_1 conda-forge libopencv 4.5.5 py39h1d41392_10 conda-forge libpng 1.6.37 h1d00b33_2 conda-forge libprotobuf 3.20.1 h7755175_0 conda-forge libraw 0.20.2 hee1bdec_1 conda-forge libssh2 1.10.0 h680486a_2 conda-forge libtheora 1.1.1 h8d14728_1005 conda-forge libtiff 4.4.0 h2ed3b44_1 conda-forge libwebp 1.2.2 h57928b3_0 conda-forge libwebp-base 1.2.2 h8ffe710_1 conda-forge libxcb 1.13 hcd874cb_1004 conda-forge libxml2 2.9.14 hf5bbc77_0 conda-forge libxslt 1.1.35 h34f844d_0 conda-forge libzip 1.8.0 hfed4ece_1 conda-forge libzlib 1.2.12 h8ffe710_1 conda-forge llvm-meta 5.0.0 0 conda-forge loguru 0.6.0 py39hcbf5309_1 conda-forge lxml 4.9.0 py39hb82d6ee_0 conda-forge lz4-c 1.9.3 h8ffe710_1 conda-forge m2w64-gcc-libgfortran 5.3.0 6 conda-forge m2w64-gcc-libs 5.3.0 7 conda-forge m2w64-gcc-libs-core 5.3.0 7 conda-forge m2w64-gmp 6.1.0 2 conda-forge m2w64-libwinpthread-git 5.0.0.4634.697f757 2 conda-forge make 4.3 h3d2af85_1 conda-forge matplotlib-base 3.5.2 py39h581301d_0 conda-forge mccabe 0.6.1 py_1 conda-forge mkl 2022.1.0 h6a75c08_874 conda-forge mock 4.0.3 py39hcbf5309_3 conda-forge msys2-conda-epoch 20160418 1 conda-forge munkres 1.1.4 pyh9f0ad1d_0 conda-forge netifaces 0.11.0 py39hb82d6ee_0 conda-forge ninja 1.11.0 h2d74725_0 conda-forge numpy 1.23.0 py39h1a62c8c_0 conda-forge octomap 1.9.7 h5362a0b_0 conda-forge ogre 1.12.13 h4187535_2 conda-forge openexr 3.1.5 hab3b255_0 conda-forge openjpeg 2.4.0 hb211442_1 conda-forge openmp 5.0.0 vc14_1 conda-forge openssl 1.1.1p h8ffe710_0 conda-forge packaging 21.3 pyhd8ed1ab_0 conda-forge pango 1.50.7 h66df5b2_0 conda-forge pcl 1.12.0 h8e4b9db_2 conda-forge pcre 8.45 h0e60522_0 conda-forge pillow 9.1.1 py39ha53f419_1 conda-forge pip 22.1.2 pyhd8ed1ab_0 conda-forge pixman 0.40.0 h8ffe710_0 conda-forge pkg-config 0.29.2 h2bf4dc2_1008 conda-forge pluggy 1.0.0 py39hcbf5309_3 conda-forge ply 3.11 py_1 conda-forge proj 9.0.0 h1cfcee9_1 conda-forge psutil 5.9.1 py39hb82d6ee_0 conda-forge pthread-stubs 0.4 hcd874cb_1001 conda-forge pugixml 1.11.4 h0e60522_0 conda-forge py 1.11.0 pyh6c4a22f_0 conda-forge py-opencv 4.5.5 py39h832f523_10 conda-forge pybind11 2.9.2 py39h2e07f2f_1 conda-forge pybind11-global 2.9.2 py39h2e07f2f_1 conda-forge pybullet 3.21 py39h2e25243_2 conda-forge pycairo 1.21.0 py39h1f09dad_1 conda-forge pycodestyle 2.8.0 pyhd8ed1ab_0 conda-forge pycparser 2.21 pyhd8ed1ab_0 conda-forge pydocstyle 6.1.1 pyhd8ed1ab_0 conda-forge pydot 1.4.2 py39hcbf5309_2 conda-forge pyflakes 2.4.0 pyhd8ed1ab_0 conda-forge pygments 2.12.0 pyhd8ed1ab_0 conda-forge pyparsing 3.0.9 pyhd8ed1ab_0 conda-forge pyqt 5.12.3 py39hcbf5309_8 conda-forge pyqt-builder 1.10.0 py_0 robostack-experimental pyqt-impl 5.12.3 py39h415ef7b_8 conda-forge pyqt5-sip 4.19.18 py39h415ef7b_8 conda-forge pyqtchart 5.12 py39h415ef7b_8 conda-forge pyqtwebengine 5.12.1 py39h415ef7b_8 conda-forge pyreadline3 3.4.1 py39hcbf5309_0 conda-forge pytest 7.1.2 py39hcbf5309_0 conda-forge pytest-cov 3.0.0 pyhd8ed1ab_0 conda-forge pytest-repeat 0.9.1 pyhd8ed1ab_0 conda-forge pytest-rerunfailures 10.2 pyhd8ed1ab_0 conda-forge python 3.9.13 h9a09f29_0_cpython conda-forge python-dateutil 2.8.2 pyhd8ed1ab_0 conda-forge python_abi 3.9 2_cp39 conda-forge pywin32 303 py39hb82d6ee_0 conda-forge pyyaml 6.0 py39hb82d6ee_4 conda-forge qhull 2020.2 h70d2c02_2 conda-forge qt 5.12.9 h556501e_6 conda-forge ros-galactic-action-msgs 1.0.3 py39ha598a99_3 robostack-experimental ros-galactic-action-tutorials-cpp 0.14.3 py39he8739fe_3 robostack-experimental ros-galactic-action-tutorials-interfaces 0.14.3 py39ha598a99_3 robostack-experimental ros-galactic-action-tutorials-py 0.14.3 py39h4c0ac80_3 robostack-experimental ros-galactic-actionlib-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-ament-cmake 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-auto 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-copyright 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-core 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-cppcheck 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-cpplint 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-export-definitions 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-export-dependencies 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-export-include-directories 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-export-interfaces 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-export-libraries 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-export-link-flags 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-export-targets 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-flake8 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-gmock 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-gtest 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-include-directories 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-libraries 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-lint-cmake 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-pep257 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-pytest 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-python 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-ros 0.9.2 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-target-dependencies 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-test 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-uncrustify 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-version 1.1.5 py39he8739fe_3 robostack-experimental ros-galactic-ament-cmake-xmllint 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-copyright 0.10.6 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-cppcheck 0.10.6 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-cpplint 0.10.6 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-flake8 0.10.6 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-index-cpp 1.2.0 py39he8739fe_3 robostack-experimental ros-galactic-ament-index-python 1.2.0 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-lint 0.10.6 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-lint-auto 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-lint-cmake 0.10.6 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-lint-common 0.10.6 py39he8739fe_3 robostack-experimental ros-galactic-ament-package 0.13.1 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-pep257 0.10.6 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-uncrustify 0.10.6 py39h4c0ac80_3 robostack-experimental ros-galactic-ament-xmllint 0.10.6 py39h4c0ac80_3 robostack-experimental ros-galactic-angles 1.12.4 py39h4c0ac80_3 robostack-experimental ros-galactic-builtin-interfaces 1.0.3 py39ha598a99_3 robostack-experimental ros-galactic-class-loader 2.1.2 py39h03a1d73_3 robostack-experimental ros-galactic-common-interfaces 2.2.4 py39he8739fe_3 robostack-experimental ros-galactic-composition 0.14.3 py39he8739fe_3 robostack-experimental ros-galactic-composition-interfaces 1.0.3 py39ha598a99_3 robostack-experimental ros-galactic-console-bridge-vendor 1.3.2 py39h03a1d73_3 robostack-experimental ros-galactic-control-msgs 3.0.0 py39ha598a99_3 robostack-experimental ros-galactic-cv-bridge 2.2.1 py39h6f467b3_3 robostack-experimental ros-galactic-demo-nodes-cpp 0.14.3 py39he8739fe_3 robostack-experimental ros-galactic-demo-nodes-cpp-native 0.14.3 py39he8739fe_3 robostack-experimental ros-galactic-demo-nodes-py 0.14.3 py39h4c0ac80_3 robostack-experimental ros-galactic-depthimage-to-laserscan 2.3.1 py39h04a95f2_3 robostack-experimental ros-galactic-desktop 0.9.3 py39he8739fe_3 robostack-experimental ros-galactic-diagnostic-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-domain-coordinator 0.9.2 py39h4c0ac80_3 robostack-experimental ros-galactic-dummy-map-server 0.14.3 py39he8739fe_3 robostack-experimental ros-galactic-dummy-robot-bringup 0.14.3 py39he8739fe_3 robostack-experimental ros-galactic-dummy-sensors 0.14.3 py39he8739fe_3 robostack-experimental ros-galactic-eigen-stl-containers 1.0.0 py39he8739fe_3 robostack-experimental ros-galactic-eigen3-cmake-module 0.1.1 py39he8739fe_3 robostack-experimental ros-galactic-example-interfaces 0.9.2 py39ha598a99_3 robostack-experimental ros-galactic-examples-rclcpp-minimal-action-client 0.11.2 py39he8739fe_3 robostack-experimental ros-galactic-examples-rclcpp-minimal-action-server 0.11.2 py39he8739fe_3 robostack-experimental ros-galactic-examples-rclcpp-minimal-client 0.11.2 py39he8739fe_3 robostack-experimental ros-galactic-examples-rclcpp-minimal-composition 0.11.2 py39he8739fe_3 robostack-experimental ros-galactic-examples-rclcpp-minimal-publisher 0.11.2 py39he8739fe_3 robostack-experimental ros-galactic-examples-rclcpp-minimal-service 0.11.2 py39he8739fe_3 robostack-experimental ros-galactic-examples-rclcpp-minimal-subscriber 0.11.2 py39he8739fe_3 robostack-experimental ros-galactic-examples-rclcpp-minimal-timer 0.11.2 py39he8739fe_3 robostack-experimental ros-galactic-examples-rclcpp-multithreaded-executor 0.11.2 py39he8739fe_3 robostack-experimental ros-galactic-examples-rclpy-executors 0.11.2 py39h4c0ac80_3 robostack-experimental ros-galactic-examples-rclpy-minimal-action-client 0.11.2 py39h4c0ac80_3 robostack-experimental ros-galactic-examples-rclpy-minimal-action-server 0.11.2 py39h4c0ac80_3 robostack-experimental ros-galactic-examples-rclpy-minimal-client 0.11.2 py39h4c0ac80_3 robostack-experimental ros-galactic-examples-rclpy-minimal-publisher 0.11.2 py39h4c0ac80_3 robostack-experimental ros-galactic-examples-rclpy-minimal-service 0.11.2 py39h4c0ac80_3 robostack-experimental ros-galactic-examples-rclpy-minimal-subscriber 0.11.2 py39h4c0ac80_3 robostack-experimental ros-galactic-fastcdr 1.0.20 py39he8739fe_3 robostack-experimental ros-galactic-fastrtps 2.3.4 py39hf2f0fb7_3 robostack-experimental ros-galactic-fastrtps-cmake-module 1.2.1 py39he8739fe_3 robostack-experimental ros-galactic-foonathan-memory-vendor 1.2.0 py39he8739fe_3 robostack-experimental ros-galactic-geometric-shapes 2.1.2 py39h09d714d_3 robostack-experimental ros-galactic-geometry-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-geometry2 0.17.2 py39he8739fe_3 robostack-experimental ros-galactic-gmock-vendor 1.10.9003 py39he8739fe_3 robostack-experimental ros-galactic-gtest-vendor 1.10.9003 py39he8739fe_3 robostack-experimental ros-galactic-image-geometry 2.2.1 py39h04a95f2_3 robostack-experimental ros-galactic-image-tools 0.14.3 py39h04a95f2_3 robostack-experimental ros-galactic-image-transport 2.3.0 py39he8739fe_3 robostack-experimental ros-galactic-interactive-markers 2.2.0 py39he8739fe_3 robostack-experimental ros-galactic-intra-process-demo 0.14.3 py39h04a95f2_3 robostack-experimental ros-galactic-joint-state-publisher 2.2.0 py39h4c0ac80_3 robostack-experimental ros-galactic-joint-state-publisher-gui 2.2.0 py39h4c0ac80_3 robostack-experimental ros-galactic-joy 3.0.1 py39he8739fe_3 robostack-experimental ros-galactic-kdl-parser 2.5.0 py39he8739fe_3 robostack-experimental ros-galactic-laser-geometry 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-launch 0.17.0 py39h4c0ac80_3 robostack-experimental ros-galactic-launch-ros 0.14.2 py39h4c0ac80_3 robostack-experimental ros-galactic-launch-testing 0.17.0 py39h4c0ac80_3 robostack-experimental ros-galactic-launch-testing-ament-cmake 0.17.0 py39he8739fe_3 robostack-experimental ros-galactic-launch-testing-ros 0.14.2 py39h4c0ac80_3 robostack-experimental ros-galactic-launch-xml 0.17.0 py39h4c0ac80_3 robostack-experimental ros-galactic-launch-yaml 0.17.0 py39h4c0ac80_3 robostack-experimental ros-galactic-libcurl-vendor 2.5.0 py39h93283aa_3 robostack-experimental ros-galactic-libstatistics-collector 1.1.1 py39ha598a99_3 robostack-experimental ros-galactic-libyaml-vendor 1.2.0 py39he8739fe_3 robostack-experimental ros-galactic-lifecycle 0.14.3 py39he8739fe_3 robostack-experimental ros-galactic-lifecycle-msgs 1.0.3 py39ha598a99_3 robostack-experimental ros-galactic-logging-demo 0.14.3 py39ha598a99_3 robostack-experimental ros-galactic-map-msgs 2.1.0 py39ha598a99_3 robostack-experimental ros-galactic-message-filters 3.2.6 py39he8739fe_3 robostack-experimental ros-galactic-moveit-core 2.3.4 py39h76663d7_3 robostack-experimental ros-galactic-moveit-kinematics 2.3.4 py39he8739fe_3 robostack-experimental ros-galactic-moveit-msgs 2.2.0 py39ha598a99_3 robostack-experimental ros-galactic-moveit-planners-ompl 2.3.4 py39he8739fe_3 robostack-experimental ros-galactic-moveit-ros-move-group 2.3.4 py39he8739fe_3 robostack-experimental ros-galactic-moveit-ros-occupancy-map-monitor 2.3.4 py39he8739fe_3 robostack-experimental ros-galactic-moveit-ros-planning 2.3.4 py39he8739fe_3 robostack-experimental ros-galactic-moveit-ros-planning-interface 2.3.4 py39he8739fe_3 robostack-experimental ros-galactic-moveit-ros-robot-interaction 2.3.4 py39he8739fe_3 robostack-experimental ros-galactic-moveit-ros-visualization 2.3.4 py39hc28a719_3 robostack-experimental ros-galactic-moveit-ros-warehouse 2.3.4 py39he8739fe_3 robostack-experimental ros-galactic-moveit-simple-controller-manager 2.3.4 py39he8739fe_3 robostack-experimental ros-galactic-nav-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-object-recognition-msgs 2.0.0 py39ha598a99_3 robostack-experimental ros-galactic-octomap 1.9.7 py39he8739fe_3 robostack-experimental ros-galactic-octomap-msgs 2.0.0 py39ha598a99_3 robostack-experimental ros-galactic-ompl 1.5.2 py39h2a41838_3 robostack-experimental ros-galactic-orocos-kdl 3.3.3 py39he8739fe_3 robostack-experimental ros-galactic-osrf-pycommon 2.0.0 py39h4c0ac80_3 robostack-experimental ros-galactic-pcl-conversions 2.3.2 py39h2967a58_3 robostack-experimental ros-galactic-pcl-msgs 1.0.0 py39ha598a99_3 robostack-experimental ros-galactic-pendulum-msgs 0.14.3 py39ha598a99_3 robostack-experimental ros-galactic-pluginlib 5.0.0 py39he8739fe_3 robostack-experimental ros-galactic-pybind11-vendor 2.2.6 py39he8739fe_3 robostack-experimental ros-galactic-python-cmake-module 0.8.1 py39he8739fe_3 robostack-experimental ros-galactic-python-qt-binding 1.0.8 py39he8739fe_3 robostack-experimental ros-galactic-qt-dotgraph 2.0.1 py39he8739fe_3 robostack-experimental ros-galactic-qt-gui 2.0.1 py39he8739fe_3 robostack-experimental ros-galactic-qt-gui-cpp 2.0.1 py39he8739fe_3 robostack-experimental ros-galactic-qt-gui-py-common 2.0.1 py39he8739fe_3 robostack-experimental ros-galactic-quality-of-service-demo-cpp 0.14.3 py39he8739fe_3 robostack-experimental ros-galactic-quality-of-service-demo-py 0.14.3 py39h4c0ac80_3 robostack-experimental ros-galactic-random-numbers 2.0.1 py39hb490287_3 robostack-experimental ros-galactic-rcl 3.1.2 py39he8739fe_3 robostack-experimental ros-galactic-rcl-action 3.1.2 py39he8739fe_3 robostack-experimental ros-galactic-rcl-interfaces 1.0.3 py39ha598a99_3 robostack-experimental ros-galactic-rcl-lifecycle 3.1.2 py39he8739fe_3 robostack-experimental ros-galactic-rcl-logging-interface 2.1.2 py39he8739fe_3 robostack-experimental ros-galactic-rcl-logging-spdlog 2.1.2 py39h985731a_3 robostack-experimental ros-galactic-rcl-yaml-param-parser 3.1.2 py39he8739fe_3 robostack-experimental ros-galactic-rclcpp 9.2.0 py39ha598a99_3 robostack-experimental ros-galactic-rclcpp-action 9.2.0 py39he8739fe_3 robostack-experimental ros-galactic-rclcpp-components 9.2.0 py39he8739fe_3 robostack-experimental ros-galactic-rclcpp-lifecycle 9.2.0 py39he8739fe_3 robostack-experimental ros-galactic-rclpy 1.9.0 py39ha598a99_4 robostack-experimental ros-galactic-rcpputils 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rcutils 4.0.2 py39he8739fe_3 robostack-experimental ros-galactic-resource-retriever 2.5.0 py39he8739fe_3 robostack-experimental ros-galactic-rmw 3.3.1 py39he8739fe_3 robostack-experimental ros-galactic-rmw-connextdds 0.6.2 py39he8739fe_3 robostack-experimental ros-galactic-rmw-connextdds-common 0.6.2 py39he8739fe_3 robostack-experimental ros-galactic-rmw-dds-common 1.2.1 py39ha598a99_3 robostack-experimental ros-galactic-rmw-fastrtps-cpp 5.0.1 py39he8739fe_3 robostack-experimental ros-galactic-rmw-fastrtps-dynamic-cpp 5.0.1 py39he8739fe_3 robostack-experimental ros-galactic-rmw-fastrtps-shared-cpp 5.0.1 py39he8739fe_3 robostack-experimental ros-galactic-rmw-implementation 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py39he8739fe_4 robostack-experimental ros-galactic-rosbag2-storage 0.9.1 py39he8739fe_3 robostack-experimental ros-galactic-rosbag2-storage-default-plugins 0.9.1 py39he8739fe_3 robostack-experimental ros-galactic-rosbag2-transport 0.9.1 py39he8739fe_3 robostack-experimental ros-galactic-rosgraph-msgs 1.0.3 py39ha598a99_3 robostack-experimental ros-galactic-rosidl-adapter 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-cli 2.2.1 py39h4c0ac80_3 robostack-experimental ros-galactic-rosidl-cmake 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-default-generators 1.1.1 py39ha598a99_3 robostack-experimental ros-galactic-rosidl-default-runtime 1.1.1 py39ha598a99_3 robostack-experimental ros-galactic-rosidl-generator-c 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-generator-cpp 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-generator-py 0.11.1 py39ha598a99_3 robostack-experimental ros-galactic-rosidl-parser 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-runtime-c 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-runtime-cpp 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-runtime-py 0.9.1 py39h4c0ac80_3 robostack-experimental ros-galactic-rosidl-typesupport-c 1.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-typesupport-cpp 1.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-typesupport-fastrtps-c 1.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-typesupport-fastrtps-cpp 1.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-typesupport-interface 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-typesupport-introspection-c 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rosidl-typesupport-introspection-cpp 2.2.1 py39he8739fe_3 robostack-experimental ros-galactic-rpyutils 0.2.0 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-action 2.0.1 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-bag 1.1.2 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-bag-plugins 1.1.2 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-common-plugins 1.1.0 py39he8739fe_3 robostack-experimental ros-galactic-rqt-console 2.0.2 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-graph 1.2.1 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-gui 1.1.2 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-gui-cpp 1.1.2 py39he8739fe_3 robostack-experimental ros-galactic-rqt-gui-py 1.1.2 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-image-view 1.1.1 py39he8739fe_3 robostack-experimental ros-galactic-rqt-msg 1.0.5 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-plot 1.1.1 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-publisher 1.1.3 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-py-common 1.1.2 py39ha598a99_3 robostack-experimental ros-galactic-rqt-py-console 1.0.2 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-reconfigure 1.0.8 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-service-caller 1.0.5 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-shell 1.0.2 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-srv 1.0.3 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-top 1.0.2 py39h4c0ac80_3 robostack-experimental ros-galactic-rqt-topic 1.2.2 py39h4c0ac80_3 robostack-experimental ros-galactic-rti-connext-dds-cmake-module 0.6.2 py39he8739fe_3 robostack-experimental ros-galactic-ruckig 0.6.3 py39he8739fe_3 robostack-experimental ros-galactic-rviz-assimp-vendor 8.5.0 py39h183ed34_3 robostack-experimental ros-galactic-rviz-common 8.5.0 py39he8739fe_3 robostack-experimental ros-galactic-rviz-default-plugins 8.5.0 py39he8739fe_3 robostack-experimental ros-galactic-rviz-ogre-vendor 8.5.0 py39hfa3779c_3 robostack-experimental ros-galactic-rviz-rendering 8.5.0 py39h84c1bae_3 robostack-experimental ros-galactic-rviz2 8.5.0 py39he8739fe_3 robostack-experimental ros-galactic-sdl2-vendor 3.0.1 py39he8739fe_3 robostack-experimental ros-galactic-sensor-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-shape-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-shared-queues-vendor 0.9.1 py39he8739fe_3 robostack-experimental ros-galactic-spdlog-vendor 1.3.0 py39h985731a_3 robostack-experimental ros-galactic-sqlite3-vendor 0.9.1 py39hed94de0_3 robostack-experimental ros-galactic-srdfdom 2.0.3 py39h2545d16_3 robostack-experimental ros-galactic-sros2 0.10.3 py39h4c0ac80_3 robostack-experimental ros-galactic-sros2-cmake 0.10.3 py39he8739fe_3 robostack-experimental ros-galactic-statistics-msgs 1.0.3 py39ha598a99_3 robostack-experimental ros-galactic-std-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-std-srvs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-stereo-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-tango-icons-vendor 0.1.0 py39he8739fe_3 robostack-experimental ros-galactic-teleop-twist-joy 2.4.3 py39he8739fe_3 robostack-experimental ros-galactic-teleop-twist-keyboard 2.3.2 py39h4c0ac80_3 robostack-experimental ros-galactic-tf2 0.17.2 py39h03a1d73_3 robostack-experimental ros-galactic-tf2-bullet 0.17.2 py39he8739fe_3 robostack-experimental ros-galactic-tf2-eigen 0.17.2 py39he8739fe_3 robostack-experimental ros-galactic-tf2-eigen-kdl 0.17.2 py39he8739fe_3 robostack-experimental ros-galactic-tf2-geometry-msgs 0.17.2 py39he8739fe_3 robostack-experimental ros-galactic-tf2-kdl 0.17.2 py39he8739fe_3 robostack-experimental ros-galactic-tf2-msgs 0.17.2 py39ha598a99_3 robostack-experimental ros-galactic-tf2-py 0.17.2 py39he8739fe_3 robostack-experimental ros-galactic-tf2-ros 0.17.2 py39he8739fe_3 robostack-experimental ros-galactic-tf2-ros-py 0.17.2 py39h4c0ac80_3 robostack-experimental ros-galactic-tf2-sensor-msgs 0.17.2 py39he8739fe_3 robostack-experimental ros-galactic-tf2-tools 0.17.2 py39h4c0ac80_3 robostack-experimental ros-galactic-tinyxml-vendor 0.8.2 py39he8739fe_3 robostack-experimental ros-galactic-tinyxml2-vendor 0.7.4 py39hffb49de_3 robostack-experimental ros-galactic-topic-monitor 0.14.3 py39h4c0ac80_3 robostack-experimental ros-galactic-tracetools 2.3.0 py39he8739fe_3 robostack-experimental ros-galactic-trajectory-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-turtlesim 1.3.3 py39ha598a99_3 robostack-experimental ros-galactic-uncrustify-vendor 1.5.3 py39he8739fe_3 robostack-experimental ros-galactic-unique-identifier-msgs 2.2.1 py39ha598a99_3 robostack-experimental ros-galactic-urdf 2.5.2 py39he8739fe_3 robostack-experimental ros-galactic-urdf-parser-plugin 2.5.2 py39he8739fe_3 robostack-experimental ros-galactic-urdfdom 2.3.5 py39h03a1d73_3 robostack-experimental ros-galactic-urdfdom-headers 1.0.5 py39he8739fe_3 robostack-experimental ros-galactic-urdfdom-py 1.1.0 py39h4c0ac80_3 robostack-experimental ros-galactic-visualization-msgs 2.2.4 py39ha598a99_3 robostack-experimental ros-galactic-warehouse-ros 2.0.4 py39hfe729d0_3 robostack-experimental ros-galactic-yaml-cpp-vendor 7.1.1 py39he8739fe_3 robostack-experimental ros-galactic-zstd-vendor 0.9.1 py39hfc7bdbf_3 robostack-experimental ros2-distro-mutex 0.2.0 galactic robostack-experimental rosdep 0.21.0 pyhd8ed1ab_1 conda-forge rosdistro 0.8.3 py39hcbf5309_4 conda-forge rospkg 1.4.0 pyhd8ed1ab_0 conda-forge sdl2 2.0.22 h0e60522_1 conda-forge setuptools 62.6.0 py39hcbf5309_0 conda-forge sip 6.6.2 py39h415ef7b_0 conda-forge six 1.16.0 pyh6c4a22f_0 conda-forge snowballstemmer 2.2.0 pyhd8ed1ab_0 conda-forge spdlog 1.9.2 h2d74725_1 conda-forge sqlite 3.38.5 h8ffe710_0 conda-forge tbb 2021.5.0 h2d74725_1 conda-forge tbb-devel 2021.5.0 h2d74725_1 conda-forge tinyxml 2.6.2 h2d74725_2 conda-forge tinyxml2 9.0.0 h0e60522_2 conda-forge tk 8.6.12 h8ffe710_0 conda-forge toml 0.10.2 pyhd8ed1ab_0 conda-forge tomli 2.0.1 pyhd8ed1ab_0 conda-forge tzdata 2022a h191b570_0 conda-forge ucrt 10.0.20348.0 h57928b3_0 conda-forge uncrustify 0.74.0 h57928b3_0 conda-forge unicodedata2 14.0.0 py39hb82d6ee_1 conda-forge urdfdom 3.1.0 h0e60522_0 conda-forge urdfdom_headers 1.1.0 h5362a0b_0 conda-forge utfcpp 3.2.1 h57928b3_0 conda-forge vc 14.2 hb210afc_6 conda-forge vcstool 0.3.0 pyhd8ed1ab_0 conda-forge vs2015_runtime 14.29.30037 h902a5da_6 conda-forge vs2017_win-64 19.16.27033 hb90652a_6 conda-forge vswhere 3.0.3 h57928b3_0 conda-forge vtk 9.1.0 qt_py39h1ab545e_208 conda-forge wheel 0.37.1 pyhd8ed1ab_0 conda-forge win32_setctime 1.1.0 pyhd8ed1ab_0 conda-forge xorg-kbproto 1.0.7 hcd874cb_1002 conda-forge xorg-libice 1.0.10 hcd874cb_0 conda-forge xorg-libsm 1.2.3 hcd874cb_1000 conda-forge xorg-libx11 1.7.2 hcd874cb_0 conda-forge xorg-libxau 1.0.9 hcd874cb_0 conda-forge xorg-libxdmcp 1.1.3 hcd874cb_0 conda-forge xorg-libxext 1.3.4 hcd874cb_1 conda-forge xorg-libxpm 3.5.13 hcd874cb_0 conda-forge xorg-libxt 1.2.1 hcd874cb_2 conda-forge xorg-xextproto 7.3.0 hcd874cb_1002 conda-forge xorg-xproto 7.0.31 hcd874cb_1007 conda-forge xz 5.2.5 h62dcd97_1 conda-forge yaml 0.2.5 h8ffe710_2 conda-forge yaml-cpp 0.6.3 ha925a31_4 conda-forge zipp 3.8.0 pyhd8ed1ab_0 conda-forge zlib 1.2.12 h8ffe710_1 conda-forge zstd 1.5.2 h6255e5f_1 conda-forge zziplib 0.13.69 h1d00b33_1 conda-forge ```
wolfv commented 2 years ago

Hey, thanks for the nice writeup!

I was wondering if you could try with Humble? We've gotten pretty far with the packages on Windows, there, too (almost at desktop-full! :)

mamba create -n moveithumble ros-humble-moveit ros-humble-desktop -c robostack-humble -c conda-forge

We can probably rebuild a new version of ros-galactic-srdfdom (assuming they've released this by now). If you want to, you could just make a PR that changes the vinca_win.yaml and mention srdfdom to see if a new version pops up.

wolfv commented 2 years ago

I just checked, and unfortunately I don't think they've released a new version of srdfdom into galactic yet.

wolfv commented 2 years ago

The version in galactic is 2.0.3, and the good version is 2.0.4.

https://github.com/ros/rosdistro/blob/2d3601dbc16e5c8c351ac60c1a48e2a67f10d03d/galactic/distribution.yaml#L5265-L5279

Tobias-Fischer commented 2 years ago

@danzimmerman - if you add the patch from https://github.com/ros-planning/srdfdom/pull/98 and open a PR here to rebuild srdfdom I'd be happy to merge, if you need to stick to galactic.

danzimmerman commented 2 years ago

@wolfv This definitely is fixed in Humble... I'm now having this issue https://github.com/ros2/ros2cli/issues/637... are you seeing that?

@Tobias-Fischer Patching this for galactic would be a good first patch for me... will try to work on it when I get a chance.

traversaro commented 2 years ago

@wolfv This definitely is fixed in Humble... I'm now having this issue ros2/ros2cli#637... are you seeing that?

Never saw that, but looking at the references there was a fix in https://github.com/ros2/ros2cli/pull/686 that is in Foxy but not in Galactic: https://github.com/ros2/ros2cli/blob/galactic/ros2cli/ros2cli/node/daemon.py#L104 .

danzimmerman commented 2 years ago

Yeah something's broken with the daemon or my network/firewall config. The daemon is now using daemon.get_xmlrpc_server_url() instead of the Foxy fix

class DaemonNode:

    def __init__(self, args):
        self._args = args
        self._proxy = ServerProxy(
            daemon.get_xmlrpc_server_url(),
            allow_none=True)
        print(f'**  DaemonNode._proxy was set to {daemon.get_xmlrpc_server_url()} **')
        self._methods = []

    @property
    def connected(self):
        try:
            self._proxy.system.listMethods()
        except ConnectionRefusedError:
            print('*** Connection refused! ***')
            return False
        return True

Connection refused...

(humble) C:\Code\ros2\galactic_ws>

(humble) C:\Code\ros2\galactic_ws>ros2 daemon start
The daemon is already running

(humble) C:\Code\ros2\galactic_ws>ros2 daemon status
**  DaemonNode._proxy was set to http://127.0.0.1:11528/ros2cli/ **
*** Connection refused! ***
The daemon is not running

(humble) C:\Code\ros2\galactic_ws>ros2 daemon start
The daemon is already running

(humble) C:\Code\ros2\galactic_ws>ros2 daemon stop
**  DaemonNode._proxy was set to http://127.0.0.1:11528/ros2cli/ **
*** Connection refused! ***
The daemon is not running

I'll dig in to that better later.

danzimmerman commented 2 years ago

Humble also still has this xacro problem:

https://answers.ros.org/question/354579/ros-2-xacro-executable-will-not-run/#402816 https://github.com/ros/xacro/pull/304

I'll read up on the vinca/patching workflow and see what I can do when I get a chance