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cambel / ur3

ROS-based UR3/UR3e controller with simulation in Gazebo. Adaptable to other UR robots
MIT License
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Can't run scripts Error: package 'ur_control' not found #19

Closed ksjz closed 2 years ago

ksjz commented 2 years ago

i have a same issue: https://github.com/cambel/ur3/issues/11.

Here is the result of the compilation (catkin build)

Profile: default Extending: [env] /home/ksjz/ur10e_hande_ws/devel:/home/ksjz/ros_ws/devel:/opt/ros/melodic Workspace: /home/ksjz/ros_ws

Build Space: [exists] /home/ksjz/ros_ws/build Devel Space: [exists] /home/ksjz/ros_ws/devel Install Space: [unused] /home/ksjz/ros_ws/install Log Space: [missing] /home/ksjz/ros_ws/logs Source Space: [exists] /home/ksjz/ros_ws/src DESTDIR: [unused] None

Devel Space Layout: linked Install Space Layout: None

Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False

Whitelisted Packages: None Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '39' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.6 seconds ]
Starting >>> controller_stopper
Starting >>> gazebo_ros_link_attacher
Starting >>> orocos_kdl
Starting >>> robotiq_description
Starting >>> robotiq_ft_sensor
Starting >>> robotiq_gazebo
Starting >>> robotiq_msgs
Starting >>> robotiq_urcap_control
Finished <<< robotiq_description [ 3.7 seconds ]

Warnings << robotiq_ft_sensor:cmake /home/ksjz/ros_ws/logs/robotiq_ft_sensor/build.cmake.000.log CMake Warning (dev) at CMakeLists.txt:54 (add_dependencies): Policy CMP0046 is not set: Error on non-existent dependency in add_dependencies. Run "cmake --help-policy CMP0046" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

The dependency target "robotiq_ft_sensor_gencfg" of target "rq_test_sensor" does not exist. This warning is for project developers. Use -Wno-dev to suppress it.

CMake Warning (dev) at CMakeLists.txt:50 (add_dependencies): Policy CMP0046 is not set: Error on non-existent dependency in add_dependencies. Run "cmake --help-policy CMP0046" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

The dependency target "robotiq_ft_sensor_gencfg" of target "rq_sensor" does not exist. This warning is for project developers. Use -Wno-dev to suppress it.

cd /home/ksjz/ros_ws/build/robotiq_ft_sensor; catkin build --get-env robotiq_ft_sensor | catkin env -si /usr/bin/cmake /home/ksjz/ros_ws/src/robotiq/robotiq_ft_sensor --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/ksjz/ros_ws/devel/.private/robotiq_ft_sensor -DCMAKE_INSTALL_PREFIX=/home/ksjz/ros_ws/install; cd - ...............................................................................

Warnings << gazebo_ros_link_attacher:cmake /home/ksjz/ros_ws/logs/gazebo_ros_link_attacher/build.cmake.000.log CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if): Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted. Run "cmake --help-policy CMP0054" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Quoted variables like "chrono" will no longer be dereferenced when the policy is set to NEW. Since the policy is not set the OLD behavior will be used. Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES) /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package) CMakeLists.txt:28 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

cd /home/ksjz/ros_ws/build/gazebo_ros_link_attacher; catkin build --get-env gazebo_ros_link_attacher | catkin env -si /usr/bin/cmake /home/ksjz/ros_ws/src/gazebo_ros_link_attacher --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/ksjz/ros_ws/devel/.private/gazebo_ros_link_attacher -DCMAKE_INSTALL_PREFIX=/home/ksjz/ros_ws/install; cd - ............................................................................... Finished <<< robotiq_urcap_control [ 8.8 seconds ]

Warnings << robotiq_gazebo:cmake /home/ksjz/ros_ws/logs/robotiq_gazebo/build.cmake.000.log CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if): Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted. Run "cmake --help-policy CMP0054" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Quoted variables like "chrono" will no longer be dereferenced when the policy is set to NEW. Since the policy is not set the OLD behavior will be used. Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES) /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package) CMakeLists.txt:11 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

cd /home/ksjz/ros_ws/build/robotiq_gazebo; catkin build --get-env robotiq_gazebo | catkin env -si /usr/bin/cmake /home/ksjz/ros_ws/src/robotiq/robotiq_gazebo --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/ksjz/ros_ws/devel/.private/robotiq_gazebo -DCMAKE_INSTALL_PREFIX=/home/ksjz/ros_ws/install; cd - ............................................................................... Finished <<< controller_stopper [ 11.3 seconds ]

Warnings << robotiq_ft_sensor:make /home/ksjz/ros_ws/logs/robotiq_ft_sensor/build.make.000.log In file included from /usr/include/termios.h:25:0, from /home/ksjz/ros_ws/src/robotiq/robotiq_ft_sensor/src/rq_sensor_com.cpp:49: /usr/include/features.h:184:3: warning: #warning "_BSD_SOURCE and _SVID_SOURCE are deprecated, use _DEFAULT_SOURCE" [-Wcpp]

warning "_BSD_SOURCE and _SVID_SOURCE are deprecated, use _DEFAULT_SOURCE"

^~~ cd /home/ksjz/ros_ws/build/robotiq_ft_sensor; catkin build --get-env robotiq_ft_sensor | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - ............................................................................... Finished <<< robotiq_ft_sensor [ 12.9 seconds ]
Finished <<< robotiq_msgs [ 14.3 seconds ]
Starting >>> trac_ik_lib
Finished <<< gazebo_ros_link_attacher [ 23.9 seconds ]
Finished <<< robotiq_gazebo [ 25.0 seconds ]
Starting >>> ur_dashboard_msgs
Starting >>> ur_description
Starting >>> ur_e_description
Starting >>> ur_handeye_calibration
Starting >>> ur_kinematics
Starting >>> ur_msgs

Warnings << orocos_kdl:make /home/ksjz/ros_ws/logs/orocos_kdl/build.make.000.log /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp: In static member function ‘static KDL::Path KDL::Path::Read(std::istream&)’: /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:81:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] auto_ptr orient( RotationalInterpolation::Read(is) ); ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:102:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] auto_ptr orient( RotationalInterpolation::Read(is) ); ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:122:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] auto_ptr orient( RotationalInterpolation::Read(is) ); ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:123:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] auto_ptr tr( ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:142:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] auto_ptr tr( new Path_Composite() ); ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:155:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] auto_ptr tr( Path::Read(is) ); ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.cpp:45: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_composite.cpp: In member function ‘virtual KDL::Path KDL::Path_Composite::Clone()’: /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_composite.cpp:113:7: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] std::auto_ptr comp( new Path_Composite() ); ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/frames_io.hpp:79, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_composite.hpp:48, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_composite.cpp:43: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp: In member function ‘void KDL::Path_RoundedComposite::Add(const KDL::Frame&)’: /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp:108:9: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] std::auto_ptr < Path ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/frames_io.hpp:79, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.hpp:51, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.hpp:47, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp:43: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp:112:9: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] std::auto_ptr < Path ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/frames_io.hpp:79, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path.hpp:51, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.hpp:47, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/path_roundedcomposite.cpp:43: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp: In static member function ‘static KDL::Trajectory* KDL::Trajectory::Read(std::istream&)’: /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp:65:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] auto_ptr geom( Path::Read(is) ); ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp:44: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp:66:3: warning: ‘template class std::auto_ptr’ is deprecated [-Wdeprecated-declarations] auto_ptr motprof( VelocityProfile::Read(is) ); ^~~~ In file included from /usr/include/c++/7/bits/locale_conv.h:41:0, from /usr/include/c++/7/locale:43, from /usr/include/c++/7/iomanip:43, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/utility_io.h:28, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/utilities/error_stack.h:42, from /home/ksjz/ros_ws/src/ur3/docker/orocos_kinematics_dynamics/orocos_kdl/src/trajectory.cpp:44: /usr/include/c++/7/bits/unique_ptr.h:51:28: note: declared here template class auto_ptr; ^~~~ cd /home/ksjz/ros_ws/build/orocos_kdl; catkin build --get-env orocos_kdl | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - ............................................................................... Finished <<< orocos_kdl [ 32.4 seconds ]
Starting >>> ur_pykdl

Errors << trac_ik_lib:make /home/ksjz/ros_ws/logs/trac_ik_lib/build.make.000.log /usr/bin/ld: cannot find -lnlopt_cxx collect2: error: ld returned 1 exit status make[2]: [/home/ksjz/ros_ws/devel/.private/trac_ik_lib/lib/libtrac_ik.so] Error 1 make[1]: [CMakeFiles/trac_ik.dir/all] Error 2 make: *** [all] Error 2 cd /home/ksjz/ros_ws/build/trac_ik_lib; catkin build --get-env trac_ik_lib | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - ............................................................................... Failed << trac_ik_lib:make [ Exited with code 2 ] Failed <<< trac_ik_lib [ 21.7 seconds ]
Abandoned <<< ur3_description [ Unrelated job failed ] Abandoned <<< robotiq_control [ Unrelated job failed ] Abandoned <<< python_orocos_kdl [ Unrelated job failed ] Abandoned <<< orocos_kinematics_dynamics [ Unrelated job failed ] Abandoned <<< trac_ik_examples [ Unrelated job failed ] Abandoned <<< trac_ik_kinematics_plugin [ Unrelated job failed ] Abandoned <<< trac_ik_python [ Unrelated job failed ] Abandoned <<< ur3_gazebo [ Unrelated job failed ] Abandoned <<< ur_control [ Unrelated job failed ] Abandoned <<< ur10_moveit_config [ Unrelated job failed ] Abandoned <<< ur10e_moveit_config [ Unrelated job failed ] Abandoned <<< ur16e_moveit_config [ Unrelated job failed ] Abandoned <<< ur3_moveit_config [ Unrelated job failed ] Abandoned <<< ur3e_moveit_config [ Unrelated job failed ] Abandoned <<< ur5_moveit_config [ Unrelated job failed ] Abandoned <<< ur5e_moveit_config [ Unrelated job failed ] Abandoned <<< ur_gazebo [ Unrelated job failed ] Abandoned <<< ur_gripper_85_moveit_config [ Unrelated job failed ] Abandoned <<< ur_hande_moveit_config [ Unrelated job failed ] Abandoned <<< ur_robot_driver [ Unrelated job failed ] Abandoned <<< ur_calibration [ Unrelated job failed ] Finished <<< ur_description [ 5.2 seconds ]
Finished <<< ur_e_description [ 4.9 seconds ]
Finished <<< ur_handeye_calibration [ 5.1 seconds ]
Finished <<< ur_pykdl [ 6.8 seconds ]
Finished <<< ur_dashboard_msgs [ 17.4 seconds ]
Finished <<< ur_msgs [ 10.8 seconds ]

Warnings << ur_kinematics:make /home/ksjz/ros_ws/logs/ur_kinematics/build.make.000.log In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:75:0: /opt/ros/melodic/include/class_loader/class_loader.h:36:2: warning: #warning Including header <class_loader/class_loader.h> is deprecated, include <class_loader/class_loader.hpp> instead. [-Wcpp]

warning Including header <class_loader/class_loader.h> is deprecated, \

^~~ In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:75:0: /opt/ros/melodic/include/class_loader/class_loader.h:36:2: warning: #warning Including header <class_loader/class_loader.h> is deprecated, include <class_loader/class_loader.hpp> instead. [-Wcpp]

warning Including header <class_loader/class_loader.h> is deprecated, \

^~~ In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:75:0: /opt/ros/melodic/include/class_loader/class_loader.h:36:2: warning: #warning Including header <class_loader/class_loader.h> is deprecated, include <class_loader/class_loader.hpp> instead. [-Wcpp]

warning Including header <class_loader/class_loader.h> is deprecated, \

^~~ /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp: In member function ‘virtual bool ur_kinematics::URKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’: /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:174:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations] setValues(robot_description, group_name, base_frame, tip_frame, search_discretization); ^ In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:100:0, from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name, ^~~~~ /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp: In member function ‘virtual bool ur_kinematics::URKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’: /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:174:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations] setValues(robot_description, group_name, base_frame, tip_frame, search_discretization); ^ In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:100:0, from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name, ^~~~~ /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp: In member function ‘virtual bool ur_kinematics::URKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’: /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:174:88: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations] setValues(robot_description, group_name, base_frame, tip_frame, search_discretization); ^ In file included from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:100:0, from /home/ksjz/ros_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88: /opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:344:31: note: declared here [[deprecated]] virtual void setValues(const std::string& robot_description, const std::string& group_name, ^~~~~ cd /home/ksjz/ros_ws/build/ur_kinematics; catkin build --get-env ur_kinematics | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd - ............................................................................... Finished <<< ur_kinematics [ 14.9 seconds ]
[build] Summary: 16 of 38 packages succeeded.
[build] Ignored: 2 packages were skipped or are blacklisted.
[build] Warnings: 5 packages succeeded with warnings.
[build] Abandoned: 21 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 48.7 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

ksjz commented 2 years ago

in addition: in ur3/docker folder, there is no launch_docker.sh Is this the cause of the compilation problem?

cambel commented 2 years ago

Hi, it seems you have a problem compiling trac_ik_lib shown here in your trace:

Errors << trac_ik_lib:make /home/ksjz/ros_ws/logs/trac_ik_lib/build.make.000.log
/usr/bin/ld: cannot find -lnlopt_cxx
collect2: error: ld returned 1 exit status
make[2]: *** [/home/ksjz/ros_ws/devel/.private/trac_ik_lib/lib/libtrac_ik.so] Error 1
make[1]: *** [CMakeFiles/trac_ik.dir/all] Error 2
make: *** [all] Error 2

I am not sure why though. I would suggest trying to update the ros dependencies using the following commands from the workspace directory:

rosdep fix-permissions
rosdep update -q
rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -y