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ayushgaud / path_planning

Quadcopter path planning using RRT* and minimum jerk trajectory generation
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Problem in building the package. #14

Open bharath0404 opened 4 years ago

bharath0404 commented 4 years ago

Just like issue #11, I get a lot of errors. A little introduction to my system - ROS Melodic - Ubuntu 18.04. I have installed and built FCL Library many times in many workspaces. Didn't resolve the problem. Tried installing 0.5.0 as stated in a different issue. It didn't work. Please address this problem.

The errors are depicted as follows:

Errors << path_planning:make /home/bharath/drone_ws/logs/path_planning/build.make.009.log In file included from /usr/local/include/fcl/BV/RSS.h:41:0, from /usr/local/include/fcl/ccd/motion_base.h:46, from /usr/local/include/fcl/collision_object.h:45, from /usr/local/include/fcl/octree.h:52, from /home/bharath/drone_ws/src/path_planning/src/old_path_planning.cpp:40: /home/bharath/drone_ws/devel/include/fcl/math/constants.h:131:1: error: expected primary-expression before ‘typedef’ typedef typename detail::ScalarTrait::type Real; ^ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:131:1: error: expected ‘}’ before ‘typedef’ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:131:1: error: expected ‘;’ before ‘typedef’ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:134:18: error: ‘S’ does not name a type static constexpr S pi() { return S(3.141592653589793238462643383279502884197169399375105820974944592L); } ^ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:137:18: error: ‘S’ does not name a type static constexpr S phi() { return S(1.618033988749894848204586834365638117720309179805762862135448623L); } ^ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:145:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real gjk_default_tolerance() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:151:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real eps() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:160:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real eps_78() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:166:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real eps_34() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:172:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real eps_12() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:179:20: error: ‘constants’ does not name a type; did you mean ‘constexpr’? using constantsf = constants; ^ constexpr /home/bharath/drone_ws/devel/include/fcl/math/constants.h:180:20: error: ‘constants’ does not name a type; did you mean ‘constexpr’? using constantsd = constants; ^ constexpr /home/bharath/drone_ws/devel/include/fcl/math/constants.h:182:1: error: expected declaration before ‘}’ token } // namespace fcl ^ In file included from /usr/local/include/fcl/BV/RSS.h:41:0, from /usr/local/include/fcl/ccd/motion_base.h:46, from /usr/local/include/fcl/collision_object.h:45, from /usr/local/include/fcl/octree.h:52, from /home/bharath/drone_ws/src/path_planning/src/path_planning.cpp:41: /home/bharath/drone_ws/devel/include/fcl/math/constants.h:131:1: error: expected primary-expression before ‘typedef’ typedef typename detail::ScalarTrait::type Real; ^ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:131:1: error: expected ‘}’ before ‘typedef’ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:131:1: error: expected ‘;’ before ‘typedef’ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:134:18: error: ‘S’ does not name a type static constexpr S pi() { return S(3.141592653589793238462643383279502884197169399375105820974944592L); } ^ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:137:18: error: ‘S’ does not name a type static constexpr S phi() { return S(1.618033988749894848204586834365638117720309179805762862135448623L); } ^ /home/bharath/drone_ws/devel/include/fcl/math/constants.h:145:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real gjk_default_tolerance() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:151:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real eps() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:160:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real eps_78() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:166:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real eps_34() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:172:8: error: ‘Real’ does not name a type; did you mean ‘read’? static Real eps_12() { ^ read /home/bharath/drone_ws/devel/include/fcl/math/constants.h:179:20: error: ‘constants’ does not name a type; did you mean ‘constexpr’? using constantsf = constants; ^ constexpr /home/bharath/drone_ws/devel/include/fcl/math/constants.h:180:20: error: ‘constants’ does not name a type; did you mean ‘constexpr’? using constantsd = constants; ^ constexpr /home/bharath/drone_ws/devel/include/fcl/math/constants.h:182:1: error: expected declaration before ‘}’ token } // namespace fcl ^ make[2]: [CMakeFiles/old_path_planning.dir/src/old_path_planning.cpp.o] Error 1 make[1]: [CMakeFiles/old_path_planning.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... make[2]: [CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o] Error 1 make[1]: [CMakeFiles/path_planning_node.dir/all] Error 2 make: [all] Error 2 cd /home/bharath/drone_ws/build/path_planning; catkin build --get-env path_planning | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

viswanarayanans commented 4 years ago

This could be due to fcl version conflict. Try removing all previously installed fcl related files (probably in usr/local/lib, include, lib/cmake) from the system and install fcl version 0.5.

ayushgaud commented 4 years ago

You may also use the fcl-0.6 branch. It works with ROS melodic.

hichamhendy commented 1 year ago

You may also use the fcl-0.6 branch. It works with ROS melodic.

I tried that but nothing. I get /home/rnd/catkin_ws/src/path_planning/src/old_path_planning.cpp:280:29: error: expected ‘;’ before ‘temp’ 280 | fcl::CollisionObject temp((std::shared_ptr(tree))); | ^~~~~ | ; /home/rnd/catkin_ws/src/path_planning/src/old_path_planning.cpp:280:83: error: statement cannot resolve address of overloaded function 280 | fcl::CollisionObject temp((std::shared_ptr(tree))); | ^ /home/rnd/catkin_ws/src/path_planning/src/old_path_planning.cpp:281:9: error: ‘treeObj’ was not declared in this scope; did you mean ‘tree’? 281 | treeObj = temp; | ^~~ | tree /home/rnd/catkin_ws/src/path_planning/src/old_path_planning.cpp:281:19: error: ‘temp’ was not declared in this scope; did you mean ‘tm’? 281 | treeObj = temp; | ^~~~ | tm make[2]: [CMakeFiles/path_planning_node.dir/src/path_planning.cpp.o] Error 1 make[1]: [CMakeFiles/path_planning_node.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs....

pkg-config fcl --modversion 0.7.0