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cyberbotics / webots_ros2

Webots ROS 2 packages
Apache License 2.0
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macOS compile error #70

Closed AndrewJSchoen closed 4 years ago

AndrewJSchoen commented 4 years ago

Describe the Bug On Mac, where the Webots application is installed in /Applications, there is an error when compiling a ROS2 workspace with the webots_ros2_desktop package.

>> colcon build --packages-select webots_ros2_desktop
Starting >>> webots_ros2_desktop
--- stderr: webots_ros2_desktop                     
error: can't copy '../../../../../../../Applications/Webots.app/lib/webots/libzip.dylib': doesn't exist or not a regular file

Steps to Reproduce

  1. Install Webots.app from GitHub releases
  2. Set WEBOTS_HOME to Applications/Webots.app
  3. Add webots_ros2 repo (eloquent branch) to src
  4. colcon build --packages-select webots_ros2_desktop
  5. See error

Expected behavior Successful compilation of package.

Affected Packages List of affected packages:

System

DavidMansolino commented 4 years ago

Nice to have some tester on Mac OS too 😃

First, as a workaround, if you already have Webots installed and WEBOTS_HOME set, you should be able to use all the other packages without the webots_ros2_desktop.

About the compilation issue, can you confirm that you have a Applications/Webots.app/lib/webots/libzip.dylib file on your system?

AndrewJSchoen commented 4 years ago

Hi David,

Thanks for the suggestion. I will proceed that way in the meantime. It seems based on the documentation that I just set the robot controller to extern and publish PoseTrajectory messages?

With regards to the dylib file, all the files are there, which I found a bit strange. I tried modifying the setup.py file to look in slightly different levels, in case there was an issue in the relative paths, but that didn’t seem to work either.

DavidMansolino commented 4 years ago

You're welcome,

To use this you need indeed to set the controller of the robot to <extern>, then you can use the ros nodes available in these packages, for the ABB and URe robots you will find nodes working out of the box: webots_ros2_abb:abb_driver and webots_ros2_universal_robot::universal_robot. You will also find some launch file examples that will launch Webots and the nodes at the same time: https://github.com/cyberbotics/webots_ros2/tree/master/webots_ros2_abb/launch

If you want to use another robot arm than the URe or ABB ones, you can either use the ABB one which is quite generic (except the name), or use the ABB one as example (it is very simple) to write your own node: https://github.com/cyberbotics/webots_ros2/blob/master/webots_ros2_abb/webots_ros2_abb/abb_driver.py

AndrewJSchoen commented 4 years ago

Hmm. I just listed the lib/webots directory in the Webots.app package, and get this:

>> ls -l Webots.app/lib/webots
total 23208
-rwxr-xr-x@ 1 me  admin   471928 Jan 14 07:30 libOIS.dylib
-rwxr-xr-x@ 1 me  admin  4959580 Jan 14 07:30 libassimp.dylib
-rwxr-xr-x@ 1 me  admin  2018220 Jan 14 07:30 libcrypto.1.0.0.dylib
lrwxr-xr-x  1 schoen  admin       21 Jan 14 07:30 libcrypto.dylib -> libcrypto.1.0.0.dylib
-rwxr-xr-x@ 1 me  admin  1495740 Jan 14 07:30 libgd.3.dylib
-rwxr-xr-x@ 1 me  admin   190912 Jan 14 07:30 liblua.dylib
-rwxr-xr-x@ 1 me  admin  1353976 Jan 14 07:30 libode.dylib
-rwxr-xr-x@ 1 me  admin   480768 Jan 14 07:30 libopenal.dylib
-rw-r--r--@ 1 me  admin   475716 Jan 14 07:30 libpico.dylib
lrwxr-xr-x  1 me  admin       14 Jan 14 07:30 libssh.dylib -> libssh.4.dylib
-rwxr-xr-x@ 1 me  admin   414512 Jan 14 07:30 libssl.1.0.0.dylib
lrwxr-xr-x  1 me  admin       18 Jan 14 07:30 libssl.dylib -> libssl.1.0.0.dylib
lrwxr-xr-x  1 me  admin       14 Jan 14 07:30 libzip.dylib -> libzip.2.dylib
drwxr-xr-x@ 4 me  admin      128 Jan 14 07:30 qt

I'm not seeing libzip.2.dylib, but I wonder if that being missing could be part of the issue? Let me know if there is any other info that would be helpful and I can try to get it/try things.

DavidMansolino commented 4 years ago

That my be the problem indeed, it looks like libzip.dylib is just a symlink to libzip.2.dylib, but if libzip.2.dylib doesn't exist it might indeed cause issues. Which version of Webots are you using?

AndrewJSchoen commented 4 years ago

Should be webots-R2020a-rev1

DavidMansolino commented 4 years ago

Ok, may I ask you to try with a beta of R2020a-rev2 that you can download here:https://github.com/cyberbotics/webots/releases We have cleaned/removed many dependencies (libzip for example), that might solve the issue.

AndrewJSchoen commented 4 years ago

Sounds good. I’ll give that a try!