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TrossenRobotics / interbotix_xsarms_docs

https://docs.trossenrobotics.com/interbotix_xsarms_docs/
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Issue installing the .sh file #7

Closed mehrnoosh-afshar closed 3 months ago

mehrnoosh-afshar commented 4 months ago 
./xsarm_rpi4_install.sh -d humble
Chosen Version: ROS 2 humble
Run the Joystick ROS package at system boot?
> yes
What is the codename of your robot model? (ex. wx200 for a WidowX-200)
> yes
RASPBERRY PI INSTALLATION SUMMARY:
    ROS Distribution:              ROS 2 humble
    Run joystick control on boot:  true
    Robot codename:                yes
    Installation path:             /home/mehrnoosh/interbotix_ws

Is this correct?
> yes

**********************************************

            Starting installation!            
   This process may take around 15 Minutes!   

**********************************************

Get:1 file:/var/cuda-repo-ubuntu2204-12-2-local  InRelease [1,572 B]
Get:2 file:/var/cudnn-local-repo-ubuntu2204-9.1.0  InRelease [1,572 B]
Get:1 file:/var/cuda-repo-ubuntu2204-12-2-local  InRelease [1,572 B]
Get:2 file:/var/cudnn-local-repo-ubuntu2204-9.1.0  InRelease [1,572 B]
Hit:3 https://dl.google.com/linux/chrome/deb stable InRelease                                                                                                               
Hit:4 https://packages.microsoft.com/ubuntu/22.04/prod jammy InRelease                                                                                                                    
Hit:5 http://packages.ros.org/ros2/ubuntu jammy InRelease                                                                                                                                 
Hit:6 https://packages.microsoft.com/repos/code stable InRelease                                                                                         
Hit:7 https://packagecloud.io/slacktechnologies/slack/debian jessie InRelease                                                                                
Hit:8 http://security.ubuntu.com/ubuntu jammy-security InRelease                                                                                             
Hit:9 http://us.archive.ubuntu.com/ubuntu jammy InRelease                 
Hit:10 http://us.archive.ubuntu.com/ubuntu jammy-updates InRelease
Hit:11 http://us.archive.ubuntu.com/ubuntu jammy-backports InRelease
Reading package lists... Done
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Calculating upgrade... Done
Get more security updates through Ubuntu Pro with 'esm-apps' enabled:
  libpostproc-dev libde265-dev gsasl-common libheif1 libslurm37
  libjs-jquery-ui libpathplan4 libopenexr-dev graphviz libavdevice58 libgvpr2
  libgvc6 ffmpeg libopenexr25 python3-scipy libpostproc55 libcgraph6
  libswscale-dev libcdt5 libavdevice-dev libgsasl7 libavcodec58 libavutil56
  patchelf libswscale5 libheif-dev libavutil-dev liblab-gamut1 libswresample3
  libavfilter-dev libavformat58 libpmix-dev libavformat-dev libavcodec-dev
  libde265-0 libpmix2 libswresample-dev libavfilter7
Learn more about Ubuntu Pro at https://ubuntu.com/pro
#
# OpenSSH CVE-2024-6387 has been fixed for 22.04 LTS, 23.10 and 24.04 LTS.
# RegreSSHion: Possible RCE Due To A Race Condition In Signal Handling.
# For more details see: https://ubuntu.com/security/notices/USN-6859-1.
#
The following packages have been kept back:
  python3-update-manager update-manager update-manager-core
0 upgraded, 0 newly installed, 0 to remove and 3 not upgraded.
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
0 upgraded, 0 newly installed, 0 to remove and 3 not upgraded.
Reading package lists...
Building dependency tree...
Reading state information...
curl is already the newest version (7.81.0-1ubuntu1.16).
git is already the newest version (1:2.34.1-1ubuntu1.11).
0 upgraded, 0 newly installed, 0 to remove and 3 not upgraded.
Requirement already satisfied: transforms3d in /usr/local/lib/python3.10/dist-packages (0.4.2)
Requirement already satisfied: numpy>=1.15 in /usr/lib/python3/dist-packages (from transforms3d) (1.21.5)
WARNING: Running pip as the 'root' user can result in broken permissions and conflicting behaviour with the system package manager. It is recommended to use a virtual environment instead: https://pip.pypa.io/warnings/venv
Reading package lists...
Building dependency tree...
Reading state information...
E: Unable to locate package install
Defaulting to user installation because normal site-packages is not writeable
Requirement already satisfied: modern_robotics in /home/mehrnoosh/.local/lib/python3.10/site-packages (1.1.1)
Requirement already satisfied: numpy in /home/mehrnoosh/.local/lib/python3.10/site-packages (from modern_robotics) (1.26.4)
ros-humble-desktop is already installed!
./xsarm_rpi4_install.sh: line 261: /opt/ros/humble/setup.bash: No such file or directory
Installing ROS 2 packages for the Interbotix Arm...
Cloning into 'interbotix_ros_core'...
remote: Enumerating objects: 1067, done.
remote: Counting objects: 100% (502/502), done.
remote: Compressing objects: 100% (201/201), done.
remote: Total 1067 (delta 355), reused 386 (delta 283), pack-reused 565
Receiving objects: 100% (1067/1067), 2.37 MiB | 4.86 MiB/s, done.
Resolving deltas: 100% (527/527), done.
Cloning into 'interbotix_ros_manipulators'...
remote: Enumerating objects: 2982, done.
remote: Counting objects: 100% (905/905), done.
remote: Compressing objects: 100% (250/250), done.
remote: Total 2982 (delta 756), reused 703 (delta 653), pack-reused 2077
Receiving objects: 100% (2982/2982), 14.07 MiB | 12.24 MiB/s, done.
Resolving deltas: 100% (1834/1834), done.
Cloning into 'interbotix_ros_toolboxes'...
remote: Enumerating objects: 3091, done.
remote: Counting objects: 100% (915/915), done.
remote: Compressing objects: 100% (316/316), done.
remote: Total 3091 (delta 691), reused 758 (delta 588), pack-reused 2176
Receiving objects: 100% (3091/3091), 2.72 MiB | 5.31 MiB/s, done.
Resolving deltas: 100% (1825/1825), done.
Cloning into 'moveit_visual_tools'...
remote: Enumerating objects: 2177, done.
remote: Counting objects: 100% (236/236), done.
remote: Compressing objects: 100% (147/147), done.
remote: Total 2177 (delta 123), reused 163 (delta 70), pack-reused 1941
Receiving objects: 100% (2177/2177), 2.22 MiB | 3.88 MiB/s, done.
Resolving deltas: 100% (1232/1232), done.
Submodule 'interbotix_ros_xseries/dynamixel_workbench_toolbox' (https://github.com/Interbotix/dynamixel-workbench.git) registered for path 'interbotix_ros_xseries/dynamixel_workbench_toolbox'
Cloning into '/home/mehrnoosh/interbotix_ws/src/interbotix_ros_core/interbotix_ros_xseries/dynamixel_workbench_toolbox'...
Submodule path 'interbotix_ros_xseries/dynamixel_workbench_toolbox': checked out '3ed8229d2382c4d0931b471fbe1c83a4888da6a8'
Submodule 'interbotix_ros_xseries/interbotix_xs_driver' (https://github.com/Interbotix/interbotix_xs_driver.git) registered for path 'interbotix_ros_xseries/interbotix_xs_driver'
Cloning into '/home/mehrnoosh/interbotix_ws/src/interbotix_ros_core/interbotix_ros_xseries/interbotix_xs_driver'...
remote: Enumerating objects: 1, done.
remote: Total 1 (delta 0), reused 0 (delta 0), pack-reused 1
Unpacking objects: 100% (1/1), 828 bytes | 828.00 KiB/s, done.
From https://github.com/Interbotix/interbotix_xs_driver
 * branch            7a1627c2dedcca6419db23450b4282fa45e3ea0e -> FETCH_HEAD
Submodule path 'interbotix_ros_xseries/interbotix_xs_driver': checked out '7a1627c2dedcca6419db23450b4282fa45e3ea0e'
WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies (ROS distro is not set. Make sure `ROS_DISTRO` environment variable is set, or use `--rosdistro` option to specify the distro, e.g. `--rosdistro indigo`):
dynamixel_workbench_toolbox: Cannot locate rosdep definition for [ament_cmake]
interbotix_xsarm_moveit: Cannot locate rosdep definition for [ament_cmake]
interbotix_xs_sdk: Cannot locate rosdep definition for [ament_cmake]
interbotix_xsarm_puppet: Cannot locate rosdep definition for [ament_cmake]
interbotix_common_toolbox: Cannot locate rosdep definition for [ament_cmake]
interbotix_xsarm_sim: Cannot locate rosdep definition for [ament_cmake]
interbotix_xsarm_control: Cannot locate rosdep definition for [ament_cmake]
interbotix_common_sim: Cannot locate rosdep definition for [ament_cmake]
interbotix_moveit_interface_msgs: Cannot locate rosdep definition for [ament_cmake]
interbotix_rpi_msgs: Cannot locate rosdep definition for [ament_cmake]
interbotix_rpi_modules: Cannot locate rosdep definition for [rclpy]
interbotix_xsarm_ros_control: Cannot locate rosdep definition for [ament_cmake]
interbotix_xs_driver: Cannot locate rosdep definition for [ament_cmake]
interbotix_xs_msgs: Cannot locate rosdep definition for [ament_cmake]
interbotix_ros_xseries: Cannot locate rosdep definition for [ament_cmake]
interbotix_xs_ros_control: Cannot locate rosdep definition for [ament_cmake]
interbotix_ros_xsarms: Cannot locate rosdep definition for [ament_cmake]
interbotix_moveit_interface: Cannot locate rosdep definition for [ament_cmake]
interbotix_xsarm_dual: Cannot locate rosdep definition for [ament_cmake]
interbotix_xs_rviz: Cannot locate rosdep definition for [ament_cmake]
interbotix_common_modules: Cannot locate rosdep definition for [tf_transformations]
interbotix_xsarm_joy: Cannot locate rosdep definition for [ament_cmake]
interbotix_xsarm_descriptions: Cannot locate rosdep definition for [ament_cmake]
interbotix_xs_modules: Cannot locate rosdep definition for [xacro]
interbotix_rpi_toolbox: Cannot locate rosdep definition for [ament_cmake]
interbotix_ros_xsarms_examples: Cannot locate rosdep definition for [ament_cmake]
interbotix_xsarm_moveit_interface: Cannot locate rosdep definition for [ament_cmake]
moveit_visual_tools: Cannot locate rosdep definition for [ament_cmake]
interbotix_xs_toolbox: Cannot locate rosdep definition for [ament_cmake]
interbotix_tf_tools: Cannot locate rosdep definition for [ament_cmake]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully
Starting >>> dynamixel_workbench_toolbox
Starting >>> interbotix_xs_msgs
Starting >>> interbotix_common_modules
Starting >>> interbotix_common_sim
Starting >>> interbotix_moveit_interface_msgs
Starting >>> moveit_visual_tools
Starting >>> interbotix_rpi_msgs
Starting >>> interbotix_tf_tools
--- stderr: dynamixel_workbench_toolbox                                                                                                                                                    
CMake Error at CMakeLists.txt:18 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

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

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

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

---
Failed   <<< dynamixel_workbench_toolbox [0.29s, exited with code 1]
Aborted  <<< interbotix_xs_msgs [0.29s]
Aborted  <<< interbotix_common_modules [0.33s]                                                                                                                           
Aborted  <<< interbotix_tf_tools [0.35s]
Aborted  <<< interbotix_common_sim [0.35s]
Aborted  <<< moveit_visual_tools [0.36s]
Aborted  <<< interbotix_rpi_msgs [0.36s]
Aborted  <<< interbotix_moveit_interface_msgs [0.36s]

Summary: 0 packages finished [0.51s]
  1 package failed: dynamixel_workbench_toolbox
  7 packages aborted: interbotix_common_modules interbotix_common_sim interbotix_moveit_interface_msgs interbotix_rpi_msgs interbotix_tf_tools interbotix_xs_msgs moveit_visual_tools
  7 packages had stderr output: dynamixel_workbench_toolbox interbotix_common_sim interbotix_moveit_interface_msgs interbotix_rpi_msgs interbotix_tf_tools interbotix_xs_msgs moveit_visual_tools
  22 packages not processed
[ERROR] Failed to build Interbotix Arm ROS Packages.
[ERROR] Interbotix Installation Failed!

Can not debug the issue. I have python 3.10 and Ubunto 22 . No virtual enviroment is activated.

lukeschmitt-tr commented 4 months ago

Please see if the changes to the rpi installation script in https://github.com/Interbotix/interbotix_ros_manipulators/pull/202/commits/de9874f95439fea0e21112a83f39101b26884466 solve this issue. Note that you should remove the ~/interbotix_ws directory first along with the original rpi4 script.

Run the commands below:

rm -rf ~/interbotix_ws
rm ~/xsarm_rpi4_install.sh
sudo apt install curl
curl 'https://raw.githubusercontent.com/Interbotix/interbotix_ros_manipulators/de9874f95439fea0e21112a83f39101b26884466/interbotix_ros_xsarms/install/rpi4/xsarm_rpi4_install.sh' > xsarm_rpi4_install.sh
chmod +x xsarm_rpi4_install.sh
./xsarm_rpi4_install.sh -d humble
lukeschmitt-tr commented 3 months ago

Closing due to lack of activity. Feel free to reopen if necessary.