search

bdaiinstitute / spot_ros2

ROS 2 driver package for Boston Dynamics' Spot
Other
181 stars 62 forks source link

Packages not installing properly, can't colcon build #346

Closed T-Lemmel closed 7 months ago

T-Lemmel commented 7 months ago

**Hi, I am having a few problems trying to install Ros2 for spot, I am using an Ubuntu 22.04 and Ros2 humble

Here is what happens what i colcon build :**

colcon build --symlink-install --packages-ignore proto2ros_tests Starting >>> bdai_ros2_wrappers Starting >>> spot_description Starting >>> spot_msgs Starting >>> spot_wrapper Starting >>> proto2ros --- stderr: spot_wrapper
/home/udf-pc1/.local/lib/python3.10/site-packages/setuptools/command/develop.py:40: EasyInstallDeprecationWarning: easy_install command is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` and ``easy_install``.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://github.com/pypa/setuptools/issues/917 for details.
    ********************************************************************************

!! easy_install.initialize_options(self)

Finished <<< spot_wrapper [1.26s] --- stderr: bdai_ros2_wrappers /home/udf-pc1/.local/lib/python3.10/site-packages/setuptools/command/develop.py:40: EasyInstallDeprecationWarning: easy_install command is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` and ``easy_install``.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://github.com/pypa/setuptools/issues/917 for details.
    ********************************************************************************

!! easy_install.initialize_options(self)

Finished <<< bdai_ros2_wrappers [1.28s] Starting >>> spot_examples --- stderr: spot_msgs
CMake Error at CMakeLists.txt:25 (find_package): By not providing "Findbosdyn_api_msgs.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "bosdyn_api_msgs", but CMake did not find one.

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

bosdyn_api_msgsConfig.cmake
bosdyn_api_msgs-config.cmake

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

Failed <<< spot_msgs [1.44s, exited with code 1] Aborted <<< spot_description [1.56s]
Aborted <<< proto2ros [1.65s]
Aborted <<< spot_examples [0.50s]

Summary: 2 packages finished [2.00s] 1 package failed: spot_msgs 3 packages aborted: proto2ros spot_description spot_examples 3 packages had stderr output: bdai_ros2_wrappers spot_msgs spot_wrapper 1 package not processed

So i checked the installation and some are missing :

pip list | grep bosdyn bosdyn-api 4.0.0 bosdyn-choreography-client 4.0.0 bosdyn-choreography-protos 4.0.0 bosdyn-client 4.0.0 bosdyn-core 4.0.0 bosdyn-mission 4.0.0 bosdyn-msgs 3.3.2

./install_spot_ros2.sh does not return errors

I tried to install bosdyn-msgs from source, here is what i get :

Starting >>> proto2ros Starting >>> bosdyn_cmake_module Starting >>> bdai_ros2_wrappers Starting >>> spot_description Starting >>> spot_wrapper Finished <<< bosdyn_cmake_module [0.89s]
--- stderr: spot_wrapper
/home/udf-pc1/.local/lib/python3.10/site-packages/setuptools/command/develop.py:40: EasyInstallDeprecationWarning: easy_install command is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` and ``easy_install``.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://github.com/pypa/setuptools/issues/917 for details.
    ********************************************************************************

!! easy_install.initialize_options(self)

Finished <<< spot_wrapper [1.26s] --- stderr: bdai_ros2_wrappers /home/udf-pc1/.local/lib/python3.10/site-packages/setuptools/command/develop.py:40: EasyInstallDeprecationWarning: easy_install command is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` and ``easy_install``.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://github.com/pypa/setuptools/issues/917 for details.
    ********************************************************************************

!! easy_install.initialize_options(self)

Finished <<< bdai_ros2_wrappers [1.29s] Starting >>> spot_examples Finished <<< spot_description [1.64s]
--- stderr: spot_examples
/home/udf-pc1/.local/lib/python3.10/site-packages/setuptools/command/develop.py:40: EasyInstallDeprecationWarning: easy_install command is deprecated. !!

    ********************************************************************************
    Please avoid running ``setup.py`` and ``easy_install``.
    Instead, use pypa/build, pypa/installer or other
    standards-based tools.

    See https://github.com/pypa/setuptools/issues/917 for details.
    ********************************************************************************

!! easy_install.initialize_options(self)

Finished <<< spot_examples [1.15s] Finished <<< proto2ros [5.68s]
Starting >>> bosdyn_api_msgs Starting >>> proto2ros_tests --- stderr: proto2ros_tests
Traceback (most recent call last): File "/usr/lib/python3.10/runpy.py", line 196, in _run_module_as_main return _run_code(code, main_globals, None, File "/usr/lib/python3.10/runpy.py", line 86, in _run_code exec(code, run_globals) File "/home/udf-pc1/Tom/ros2_ws/install/proto2ros/local/lib/python3.10/dist-packages/proto2ros/cli/generate.py", line 15, in from proto2ros.dependencies import fix_dependency_cycles File "/home/udf-pc1/Tom/ros2_ws/install/proto2ros/local/lib/python3.10/dist-packages/proto2ros/dependencies.py", line 10, in from proto2ros.compatibility import networkx as nx File "/home/udf-pc1/Tom/ros2_ws/install/proto2ros/local/lib/python3.10/dist-packages/proto2ros/compatibility.py", line 10, in import networkx ModuleNotFoundError: No module named 'networkx' CMake Error at /home/udf-pc1/Tom/ros2_ws/install/proto2ros/share/proto2ros/cmake/proto2ros_generate.cmake:116 (execute_process): execute_process failed command indexes:

1: "Child return code: 1"

Call Stack (most recent call first): CMakeLists.txt:18 (proto2ros_generate)

Failed <<< proto2ros_tests [1.06s, exited with code 1] --- stderr: bosdyn_api_msgs
Traceback (most recent call last): File "/usr/lib/python3.10/runpy.py", line 196, in _run_module_as_main return _run_code(code, main_globals, None, File "/usr/lib/python3.10/runpy.py", line 86, in _run_code exec(code, run_globals) File "/home/udf-pc1/Tom/ros2_ws/install/proto2ros/local/lib/python3.10/dist-packages/proto2ros/cli/generate.py", line 15, in from proto2ros.dependencies import fix_dependency_cycles File "/home/udf-pc1/Tom/ros2_ws/install/proto2ros/local/lib/python3.10/dist-packages/proto2ros/dependencies.py", line 10, in from proto2ros.compatibility import networkx as nx File "/home/udf-pc1/Tom/ros2_ws/install/proto2ros/local/lib/python3.10/dist-packages/proto2ros/compatibility.py", line 10, in import networkx ModuleNotFoundError: No module named 'networkx' CMake Error at /home/udf-pc1/Tom/ros2_ws/install/proto2ros/share/proto2ros/cmake/proto2ros_generate.cmake:116 (execute_process): execute_process failed command indexes:

1: "Child return code: 1"

Call Stack (most recent call first): /home/udf-pc1/Tom/ros2_ws/install/proto2ros/share/proto2ros/cmake/proto2ros_vendor_package.cmake:30 (proto2ros_generate) CMakeLists.txt:23 (proto2ros_vendor_package)

Failed <<< bosdyn_api_msgs [22.9s, exited with code 1]

Summary: 6 packages finished [28.8s] 2 packages failed: bosdyn_api_msgs proto2ros_tests 5 packages had stderr output: bdai_ros2_wrappers bosdyn_api_msgs proto2ros_tests spot_examples spot_wrapper 12 packages not processed

Does someone have an idea ? Thanks in advance, Tom

khughes-bdai commented 7 months ago

Hello, I think the first set of error messages came from the Boston Dynamics specific packages not being installed correctly on your system. Can you try installing them following this guide from Boston Dynamics? https://dev.bostondynamics.com/docs/python/quickstart#install-spot-python-packages . Additionally, what is the output of dpkg -l spot-cpp-sdk? The C++ SDK for Spot should have gotten installed with the install script, but I want to make sure it's actually there. For the second error, you should be able to resolve this with pip install networkx.

T-Lemmel commented 7 months ago

Hello, thanks for helping, it seems like the error was only due to networkx that i forgot to install, after building the missing packages from source, it looks ok. Still don't know why they weren't installed through the install script though. Anyway, it seems to work now so thanks.