Install moveit within Dockerfile.ros.noetic

[eliabruni]

Hi!

I am trying to build Moveit! from source as explained here within Dockerfile.ros.noetic, but I am having some issues.

Here is what I am trying in the Dockerfile, right after line 54:

# Install Moveit dependencies
RUN apt-get update && \
    apt-get install --no-install-recommends --no-install-suggests --yes \
    clang-format-10 \
    && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# Install Moveit
WORKDIR /
RUN chmod +x ${ROS_ROOT}/setup.bash
RUN /bin/bash -c  '${ROS_ROOT}/setup.bash'

RUN mkdir moveit_catkin_ws && \
    cd moveit_catkin_ws && \
    wstool init src && \
    wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall && \
    wstool update -t src && \
    # ISSUE HERE 
    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=ubuntu:bionic

RUN catkin config --extend /opt/ros/${ROS_DISTRO} --cmake-args -DCMAKE_BUILD_TYPE=Release

And this is what I am getting:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
moveit_ros_move_group: No definition of [rostest] for OS version [bionic]
moveit_chomp_optimizer_adapter: No definition of [pluginlib] for OS version [bionic]
moveit_resources_prbt_pg70_support: No definition of [xacro] for OS version [bionic]
moveit_planners: No definition of [catkin] for OS version [bionic]
moveit: No definition of [catkin] for OS version [bionic]
moveit_ros_occupancy_map_monitor: No definition of [rosunit] for OS version [bionic]
moveit_ros_planning: No definition of [tf2_ros] for OS version [bionic]
moveit_runtime: No definition of [catkin] for OS version [bionic]
moveit_ros_visualization: No definition of [rostest] for OS version [bionic]
moveit_resources_pr2_description: No definition of [catkin] for OS version [bionic]
moveit_ros_control_interface: No definition of [trajectory_msgs] for OS version [bionic]
moveit_ros_manipulation: No definition of [pluginlib] for OS version [bionic]
moveit_ros_perception: No definition of [rosunit] for OS version [bionic]
moveit_ros_warehouse: No definition of [tf2_ros] for OS version [bionic]
rviz_visual_tools: No definition of [rosunit] for OS version [bionic]
moveit_ros: No definition of [catkin] for OS version [bionic]
moveit_resources_prbt_moveit_config: No definition of [rviz] for OS version [bionic]
moveit_tutorials: No definition of [rosunit] for OS version [bionic]
pilz_industrial_motion_planner: No definition of [code_coverage] for OS version [bionic]
moveit_planners_chomp: No definition of [rostest] for OS version [bionic]
moveit_resources_panda_moveit_config: No definition of [topic_tools] for OS version [bionic]
moveit_fake_controller_manager: No definition of [roscpp] for OS version [bionic]
moveit_simple_controller_manager: No definition of [actionlib] for OS version [bionic]
moveit_msgs: No definition of [std_msgs] for OS version [bionic]
moveit_ros_robot_interaction: No definition of [rosunit] for OS version [bionic]
moveit_resources_prbt_support: No definition of [code_coverage] for OS version [bionic]
moveit_commander: No definition of [rostest] for OS version [bionic]
moveit_resources_prbt_ikfast_manipulator_plugin: No definition of [tf2_kdl] for OS version [bionic]
moveit_resources_fanuc_description: No definition of [catkin] for OS version [bionic]
pilz_industrial_motion_planner_testutils: No definition of [catkin] for OS version [bionic]
moveit_core: No definition of [rosunit] for OS version [bionic]
moveit_servo: No definition of [rostest] for OS version [bionic]
moveit_ros_planning_interface: No definition of [eigen_conversions] for OS version [bionic]
moveit_ros_benchmarks: No definition of [pluginlib] for OS version [bionic]
moveit_kinematics: No definition of [xmlrpcpp] for OS version [bionic]
moveit_plugins: No definition of [catkin] for OS version [bionic]
moveit_resources: No definition of [robot_state_publisher] for OS version [bionic]
moveit_visual_tools: No definition of [cmake_modules] for OS version [bionic]
panda_moveit_config: No definition of [topic_tools] for OS version [bionic]
moveit_resources_panda_description: No definition of [catkin] for OS version [bionic]
chomp_motion_planner: No definition of [catkin] for OS version [bionic]
geometric_shapes: No definition of [rosunit] for OS version [bionic]
moveit_setup_assistant: No definition of [rosunit] for OS version [bionic]
moveit_planners_ompl: No definition of [eigen_conversions] for OS version [bionic]
moveit_resources_fanuc_moveit_config: No definition of [xacro] for OS version [bionic]
The command '/bin/sh -c mkdir moveit_catkin_ws &&     cd moveit_catkin_ws &&     wstool init src &&     wstool merge -t src https://raw.githubusercontent.com/ros-planning/moveit/master/moveit.rosinstall &&     wstool update -t src &&     rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --os=ubuntu:bionic' returned a non-zero code: 1

Any ideas how to solve it?

Thanks!

[AWilson10]

Hi, I have the same issue as described here. I tried building within a container and outside of the container. Is it that moveit can not be built from source on jetson? Even though the noetic desktop can ? Are there any more ideas om how to resolve this?

[AWilson10]

Thanks for that - will give it a try - appreciate it.

Kind Regards,

Anthony

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On Sun, Nov 21, 2021 at 8:39 PM Elia Bruni @.***> wrote:

Here is how I solved it:

RUN apt-get update && \ apt-get install --no-install-recommends --no-install-suggests --yes \ build-essential \ cmake \ libbullet-dev \ python3-colcon-common-extensions \ python3-flake8 \ python3-pip \ python3-pytest-cov \ python3-rosdep \ python3-setuptools \ python3-vcstool \ wget \ clang-format-10 \ && \ apt-get clean && \ rm -rf /var/lib/apt/lists/*

install some pip packages needed for testing

RUN python3 -m pip install -U \ argcomplete \ flake8-blind-except \ flake8-builtins \ flake8-class-newline \ flake8-comprehensions \ flake8-deprecated \ flake8-docstrings \ flake8-import-order \ flake8-quotes \ pytest-repeat \ pytest-rerunfailures \ pytest

create workspace

ENV COLCON_WS=/ws_moveit2 RUN mkdir -p $COLCON_WS/src WORKDIR $COLCON_WS/src

get repo

RUN git clone https://github.com/ros-planning/moveit2.git RUN git clone https://github.com/ros-planning/moveit2_tutorials.git RUN vcs import < moveit2/moveit2.repos RUN vcs import < moveit2_tutorials/moveit2_tutorials.repos

install

RUN apt-get update && \ rosdep install -r --from-paths $COLCON_WS/src --ignore-src --rosdistro foxy -y

WORKDIR $COLCON_WS

Set the gcc default back to 9.3

RUN update-alternatives --remove-all gcc && \ update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 800 --slave /usr/bin/g++ g++ /usr/bin/g++-9

build moveit2

moveit2 requires access to the installation of ROS2, hence we need this hacky implementation in which we source

the installation

RUN /bin/bash -c "source $ROS_ROOT/setup.bash ; colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release"

source workspace

RUN echo "source $COLCON_WS/install/setup.bash" >> /root/.bashrc

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/dusty-nv/jetson-containers/issues/46#issuecomment-974892169, or unsubscribe https://github.com/notifications/unsubscribe-auth/AJT6MLSNLQOBL5FQ7M74DRLUNFKJRANCNFSM4XNLPZUA . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

[AWilson10]

Hi Just realised this is for ros2 foxy. We are wanting noetic. Thanks

On Sun, 21 Nov 2021 at 20:39, Elia Bruni @.***> wrote:

Here is how I solved it:

RUN apt-get update && \ apt-get install --no-install-recommends --no-install-suggests --yes \ build-essential \ cmake \ libbullet-dev \ python3-colcon-common-extensions \ python3-flake8 \ python3-pip \ python3-pytest-cov \ python3-rosdep \ python3-setuptools \ python3-vcstool \ wget \ clang-format-10 \ && \ apt-get clean && \ rm -rf /var/lib/apt/lists/*

install some pip packages needed for testing

RUN python3 -m pip install -U \ argcomplete \ flake8-blind-except \ flake8-builtins \ flake8-class-newline \ flake8-comprehensions \ flake8-deprecated \ flake8-docstrings \ flake8-import-order \ flake8-quotes \ pytest-repeat \ pytest-rerunfailures \ pytest

create workspace

ENV COLCON_WS=/ws_moveit2 RUN mkdir -p $COLCON_WS/src WORKDIR $COLCON_WS/src

get repo

RUN git clone https://github.com/ros-planning/moveit2.git RUN git clone https://github.com/ros-planning/moveit2_tutorials.git RUN vcs import < moveit2/moveit2.repos RUN vcs import < moveit2_tutorials/moveit2_tutorials.repos

install

RUN apt-get update && \ rosdep install -r --from-paths $COLCON_WS/src --ignore-src --rosdistro foxy -y

WORKDIR $COLCON_WS

Set the gcc default back to 9.3

RUN update-alternatives --remove-all gcc && \ update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 800 --slave /usr/bin/g++ g++ /usr/bin/g++-9

build moveit2

moveit2 requires access to the installation of ROS2, hence we need this hacky implementation in which we source

the installation

RUN /bin/bash -c "source $ROS_ROOT/setup.bash ; colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release"

source workspace

RUN echo "source $COLCON_WS/install/setup.bash" >> /root/.bashrc

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/dusty-nv/jetson-containers/issues/46#issuecomment-974892169, or unsubscribe https://github.com/notifications/unsubscribe-auth/AJT6MLSNLQOBL5FQ7M74DRLUNFKJRANCNFSM4XNLPZUA . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

[eliabruni]

Hey, indeed that's why I removed the comment. I am not sure we managed to make Noetic work in the end.

[AWilson10]

Ok, thanks.

On Mon, 22 Nov 2021 at 14:51, Elia Bruni @.***> wrote:

Hey, indeed that's why I removed the comment. I am not sure we managed to make Noetic work in the end.

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/dusty-nv/jetson-containers/issues/46#issuecomment-975606343, or unsubscribe https://github.com/notifications/unsubscribe-auth/AJT6MLXH6HLNCUHTM4KXEETUNJKHBANCNFSM4XNLPZUA . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.