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UM-ARM-Lab / smmap

Simultaneous Modeling Manipulation And Planning
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Problem when building #36

Closed WangYixuan12 closed 4 years ago

WangYixuan12 commented 4 years ago

My computer is Ubuntu 18.04, and my local repo is shown below.

Localname                         S  SCM Version (Spec)       UID  (Spec)  URI  (Spec) [http(s)://...]
 ---------                         -  --- --------------       -----------  ---------------------------
 smmap_utilities                      git master  (-)          e894fd47fda9 github.com/UM-ARM-Lab/smmap_utilities.git
 smmap                                git master  (-)          9ce54b0e1d29 github.com/UM-ARM-Lab/smmap.git
 sdf_tools                         M  git master  (-)          1e9e72927797 github.com/UM-ARM-Lab/sdf_tools.git
 deformable_manipulation_interface    git master  (-)          11d458b4607e github.com/UM-ARM-Lab/deformable_manipulation_interface.git
 arc_utilities                        git master  (-)          63dcf2e063f0 github.com/UM-ARM-Lab/arc_utilities.git

Also detected these repositories in the workspace, add using 'wstool scrape' or 'wstool set':

 Localname          SCM   URI  (Spec) [http(s)://...]
 ---------          ---   ---------------------------
 kinematics_toolbox --git https://github.com/UM-ARM-Lab/kinematics_toolbox.git

But when I run catkin build after clean build and install files, it returns

Errors     << smmap:make /home/deformtrack/catkin_ws/logs/smmap/build.make.003.log                  
/home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp: In function ‘void smmap::GetFreeSpaceGraph(ros::NodeHandle&, arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >&, std::vector<long int>&)’:
/home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:216:50: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘DeserializeSelf’; did you mean ‘deserializeSelf’?
             current_position += free_space_graph.DeserializeSelf(srv_data.response.graph_data_buffer, current_position, value_deserializer_fn);
                                                  ^~~~~~~~~~~~~~~
                                                  deserializeSelf
In file included from /home/deformtrack/catkin_ws/src/smmap_utilities/include/smmap_utilities/grippers.h:6:0,
                 from /home/deformtrack/catkin_ws/src/smmap/include/smmap/ros_communication_helpers.h:8,
                 from /home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:1:
/home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:218:55: error: no matching function for call to ‘arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >::CheckGraphLinkage()’
             assert(free_space_graph.CheckGraphLinkage());
                                                       ^
In file included from /home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/dijkstras.hpp:4:0,
                 from /home/deformtrack/catkin_ws/src/smmap/include/smmap/ros_communication_helpers.h:6,
                 from /home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:1:
/home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/graph.hpp:562:21: note: candidate: static bool arc_dijkstras::Graph<NodeValueType, Allocator>::CheckGraphLinkage(const arc_dijkstras::Graph<NodeValueType, Allocator>&) [with NodeValueType = Eigen::Matrix<double, 3, 1>; Allocator = std::allocator<Eigen::Matrix<double, 3, 1> >]
         static bool CheckGraphLinkage(const Graph<NodeValueType, Allocator>& graph)
                     ^~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/graph.hpp:562:21: note:   candidate expects 1 argument, 0 provided
/home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/graph.hpp:567:21: note: candidate: static bool arc_dijkstras::Graph<NodeValueType, Allocator>::CheckGraphLinkage(const std::vector<arc_dijkstras::GraphNode<NodeValueType, Allocator> >&) [with NodeValueType = Eigen::Matrix<double, 3, 1>; Allocator = std::allocator<Eigen::Matrix<double, 3, 1> >]
         static bool CheckGraphLinkage(const std::vector<GraphNode<NodeValueType, Allocator>>& nodes)
                     ^~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/graph.hpp:567:21: note:   candidate expects 1 argument, 0 provided
In file included from /opt/ros/melodic/include/ros/ros.h:40:0,
                 from /home/deformtrack/catkin_ws/src/smmap/include/smmap/ros_communication_helpers.h:4,
                 from /home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:1:
/home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:219:88: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodesImmutable’
             ROS_INFO_STREAM_NAMED("ros_comms_helpers", "Recieved " << free_space_graph.GetNodesImmutable().size() << " graph nodes");
                                                                                        ^
/home/deformtrack/catkin_ws/src/smmap/nodes/torch_tester.cpp: In function ‘int main(int, char**)’:
/home/deformtrack/catkin_ws/src/smmap/nodes/torch_tester.cpp:5:14: warning: unused parameter ‘argc’ [-Wunused-parameter]
 int main(int argc, char *argv[])
              ^~~~
/home/deformtrack/catkin_ws/src/smmap/nodes/torch_tester.cpp:5:31: warning: unused parameter ‘argv’ [-Wunused-parameter]
 int main(int argc, char *argv[])
                               ^
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:18:17: note: #pragma message: Magic number - Stretching weight multiplication factor here
 #pragma message "Magic number - Stretching weight multiplication factor here"
                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:20:17: note: #pragma message: Magic number - Step size and min progress for forward projection of dijkstras field following
 #pragma message "Magic number - Step size and min progress for forward projection of dijkstras field following"
                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘smmap::ObjectDeltaAndWeight smmap::DijkstrasCoverageTask::calculateErrorCorrectionDeltaFixedCorrespondences(const smmap::WorldState&, const std::vector<std::vector<long int, std::allocator<long int> > >&)’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:892:50: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
                 target_point = free_space_graph_.GetNodeImmutable(target_idx_in_free_space_graph).GetValueImmutable();
                                                  ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘void smmap::DijkstrasCoverageTask::visualizeFreeSpaceGraph() const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:942:43: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodesImmutable’
     const auto& nodes = free_space_graph_.GetNodesImmutable();
                                           ^~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:943:29: error: unable to deduce ‘auto&&’ from ‘nodes’
     for (const auto& node : nodes)
                             ^~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:949:33: error: unable to deduce ‘auto&&’ from ‘out_edges’
         for (const auto& edge : out_edges)
                                 ^~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘void smmap::DijkstrasCoverageTask::visualizeIndividualDijkstrasResult(size_t, const Vector3d&) const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:982:77: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
                     const Eigen::Vector3d next_in_world = free_space_graph_.GetNodeImmutable(next_idx_in_free_space_graph).GetValueImmutable();
                                                                             ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘bool smmap::DijkstrasCoverageTask::saveDijkstrasResults()’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1054:27: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘SerializeSelf’; did you mean ‘serializeSelf’?
         free_space_graph_.SerializeSelf(buffer, &arc_utilities::SerializeEigen<double, 3, 1>);
                           ^~~~~~~~~~~~~
                           serializeSelf
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘bool smmap::DijkstrasCoverageTask::loadDijkstrasResults()’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1095:65: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘SerializeSelf’; did you mean ‘serializeSelf’?
         const uint64_t serialzed_graph_size = free_space_graph_.SerializeSelf(temp_buffer, &arc_utilities::SerializeEigen<double, 3, 1>);
                                                                 ^~~~~~~~~~~~~
                                                                 serializeSelf
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘Eigen::Vector3d smmap::DijkstrasCoverageTask::sumVectorFields(const std::vector<long int, std::allocator<long int> >&, const Vector3d&) const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1142:75: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
     const Eigen::Vector3d& graph_aligned_querry_point = free_space_graph_.GetNodeImmutable(graph_aligned_querry_ind).GetValueImmutable();
                                                                           ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1152:65: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
         const Eigen::Vector3d& target_point = free_space_graph_.GetNodeImmutable(target_ind_in_work_space_graph).GetValueImmutable();
                                                                 ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘virtual smmap::DijkstrasCoverageTask::Correspondences smmap::DistanceBasedCorrespondencesTask::getCoverPointCorrespondences_impl(const smmap::WorldState&) const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1254:39: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
                     free_space_graph_.GetNodeImmutable(best_target_idx_in_free_space_graph).GetValueImmutable());
                                       ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘virtual smmap::DijkstrasCoverageTask::Correspondences smmap::FixedCorrespondencesTask::getCoverPointCorrespondences_impl(const smmap::WorldState&) const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1412:79: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
                 current_correspondences_next_step.push_back(free_space_graph_.GetNodeImmutable(target_ind_in_free_space_graph).GetValueImmutable());
                                                                               ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/least_squares_controller_with_object_avoidance.cpp:9:17: note: #pragma message: Magic number - damping threshold and damping coefficient
 #pragma message "Magic number - damping threshold and damping coefficient"
                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/smmap_infrastructure.dir/src/ros_communication_helpers.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/smmap_infrastructure.dir/src/task_specification.cpp.o] Error 1
make[1]: *** [CMakeFiles/smmap_infrastructure.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/deformtrack/catkin_ws/build/smmap; catkin build --get-env smmap | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

I checked the corresponding functions inside arc_utilities/graph.hpp. I found some functions in it truly have different names like deserializeSelf for DeserializeSelf and so. I am wondering whether it is the reason for the problem.

dmcconachie commented 4 years ago

Looks like the master branch of smmap was never updated to match arc_utiliies. The branch that I was developing on was, but those changes have not made it to master (see commit https://github.com/UM-ARM-Lab/smmap/commit/c9c244229a43e18d83db66998de59b92418b3c7c). For your purposes, I suggest you checkout the OnlineLearning branch. (At least, I think this will fix the problem; if not, then this repo needs to be updated to match arc_utilities again.)

If you then get other build problems related to sdf_tools, checkout the EightConnected branch over there (though I doubt you will need to).

WangYixuan12 commented 4 years ago

When I switch to OnlineLearning branch, it still cannot compile with similar problem. The output is shown below.

Errors     << smmap:make /home/deformtrack/catkin_ws/logs/smmap/build.make.007.log                  
/home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp: In function ‘void smmap::GetFreeSpaceGraph(ros::NodeHandle&, arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >&, std::vector<long int>&)’:
/home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:216:50: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘DeserializeSelf’; did you mean ‘deserializeSelf’?
             current_position += free_space_graph.DeserializeSelf(srv_data.response.graph_data_buffer, current_position, value_deserializer_fn);
                                                  ^~~~~~~~~~~~~~~
                                                  deserializeSelf
In file included from /home/deformtrack/catkin_ws/src/smmap_utilities/include/smmap_utilities/grippers.h:6:0,
                 from /home/deformtrack/catkin_ws/src/smmap/include/smmap/ros_communication_helpers.h:8,
                 from /home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:1:
/home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:218:55: error: no matching function for call to ‘arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >::CheckGraphLinkage()’
             assert(free_space_graph.CheckGraphLinkage());
                                                       ^
In file included from /home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/dijkstras.hpp:4:0,
                 from /home/deformtrack/catkin_ws/src/smmap/include/smmap/ros_communication_helpers.h:6,
                 from /home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:1:
/home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/graph.hpp:562:21: note: candidate: static bool arc_dijkstras::Graph<NodeValueType, Allocator>::CheckGraphLinkage(const arc_dijkstras::Graph<NodeValueType, Allocator>&) [with NodeValueType = Eigen::Matrix<double, 3, 1>; Allocator = std::allocator<Eigen::Matrix<double, 3, 1> >]
         static bool CheckGraphLinkage(const Graph<NodeValueType, Allocator>& graph)
                     ^~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/graph.hpp:562:21: note:   candidate expects 1 argument, 0 provided
/home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/graph.hpp:567:21: note: candidate: static bool arc_dijkstras::Graph<NodeValueType, Allocator>::CheckGraphLinkage(const std::vector<arc_dijkstras::GraphNode<NodeValueType, Allocator> >&) [with NodeValueType = Eigen::Matrix<double, 3, 1>; Allocator = std::allocator<Eigen::Matrix<double, 3, 1> >]
         static bool CheckGraphLinkage(const std::vector<GraphNode<NodeValueType, Allocator>>& nodes)
                     ^~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/arc_utilities/include/arc_utilities/graph.hpp:567:21: note:   candidate expects 1 argument, 0 provided
In file included from /opt/ros/melodic/include/ros/ros.h:40:0,
                 from /home/deformtrack/catkin_ws/src/smmap/include/smmap/ros_communication_helpers.h:4,
                 from /home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:1:
/home/deformtrack/catkin_ws/src/smmap/src/ros_communication_helpers.cpp:219:88: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodesImmutable’
             ROS_INFO_STREAM_NAMED("ros_comms_helpers", "Recieved " << free_space_graph.GetNodesImmutable().size() << " graph nodes");
                                                                                        ^
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:18:17: note: #pragma message: Magic number - Stretching weight multiplication factor here
 #pragma message "Magic number - Stretching weight multiplication factor here"
                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:20:17: note: #pragma message: Magic number - Step size and min progress for forward projection of dijkstras field following
 #pragma message "Magic number - Step size and min progress for forward projection of dijkstras field following"
                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘smmap::ObjectDeltaAndWeight smmap::DijkstrasCoverageTask::calculateErrorCorrectionDeltaFixedCorrespondences(const smmap::WorldState&, const std::vector<std::vector<long int, std::allocator<long int> > >&)’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:892:50: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
                 target_point = free_space_graph_.GetNodeImmutable(target_idx_in_free_space_graph).GetValueImmutable();
                                                  ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘void smmap::DijkstrasCoverageTask::visualizeFreeSpaceGraph() const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:942:43: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodesImmutable’
     const auto& nodes = free_space_graph_.GetNodesImmutable();
                                           ^~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:943:29: error: unable to deduce ‘auto&&’ from ‘nodes’
     for (const auto& node : nodes)
                             ^~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:949:33: error: unable to deduce ‘auto&&’ from ‘out_edges’
         for (const auto& edge : out_edges)
                                 ^~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘void smmap::DijkstrasCoverageTask::visualizeIndividualDijkstrasResult(size_t, const Vector3d&) const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:982:77: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
                     const Eigen::Vector3d next_in_world = free_space_graph_.GetNodeImmutable(next_idx_in_free_space_graph).GetValueImmutable();
                                                                             ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘bool smmap::DijkstrasCoverageTask::saveDijkstrasResults()’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1054:27: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘SerializeSelf’; did you mean ‘serializeSelf’?
         free_space_graph_.SerializeSelf(buffer, &arc_utilities::SerializeEigen<double, 3, 1>);
                           ^~~~~~~~~~~~~
                           serializeSelf
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘bool smmap::DijkstrasCoverageTask::loadDijkstrasResults()’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1095:65: error: ‘class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘SerializeSelf’; did you mean ‘serializeSelf’?
         const uint64_t serialzed_graph_size = free_space_graph_.SerializeSelf(temp_buffer, &arc_utilities::SerializeEigen<double, 3, 1>);
                                                                 ^~~~~~~~~~~~~
                                                                 serializeSelf
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘Eigen::Vector3d smmap::DijkstrasCoverageTask::sumVectorFields(const std::vector<long int, std::allocator<long int> >&, const Vector3d&) const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1142:75: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
     const Eigen::Vector3d& graph_aligned_querry_point = free_space_graph_.GetNodeImmutable(graph_aligned_querry_ind).GetValueImmutable();
                                                                           ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1152:65: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
         const Eigen::Vector3d& target_point = free_space_graph_.GetNodeImmutable(target_ind_in_work_space_graph).GetValueImmutable();
                                                                 ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘virtual smmap::DijkstrasCoverageTask::Correspondences smmap::DistanceBasedCorrespondencesTask::getCoverPointCorrespondences_impl(const smmap::WorldState&) const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1254:39: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
                     free_space_graph_.GetNodeImmutable(best_target_idx_in_free_space_graph).GetValueImmutable());
                                       ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp: In member function ‘virtual smmap::DijkstrasCoverageTask::Correspondences smmap::FixedCorrespondencesTask::getCoverPointCorrespondences_impl(const smmap::WorldState&) const’:
/home/deformtrack/catkin_ws/src/smmap/src/task_specification.cpp:1412:79: error: ‘const class arc_dijkstras::Graph<Eigen::Matrix<double, 3, 1> >’ has no member named ‘GetNodeImmutable’
                 current_correspondences_next_step.push_back(free_space_graph_.GetNodeImmutable(target_ind_in_free_space_graph).GetValueImmutable());
                                                                               ^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap/src/least_squares_controller_with_object_avoidance.cpp:9:17: note: #pragma message: Magic number - damping threshold and damping coefficient
 #pragma message "Magic number - damping threshold and damping coefficient"
                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/smmap_infrastructure.dir/src/ros_communication_helpers.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/smmap_infrastructure.dir/src/task_specification.cpp.o] Error 1
make[1]: *** [CMakeFiles/smmap_infrastructure.dir/all] Error 2
make: *** [all] Error 2
cd /home/deformtrack/catkin_ws/build/smmap; catkin build --get-env smmap | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
dmcconachie commented 4 years ago

I recommend you create a new branch, make the changes needed to match what was done in https://github.com/UM-ARM-Lab/arc_utilities/pull/85 (and whatever else you need to update), and then submit a pull request.

WangYixuan12 commented 4 years ago

I just did it and succeed in compiling it and integrating with cdcpd. The new branch is smmap_cdcpd.