Can this be run on ROS Melodic?

[ssr-diaries]

I have tested this package on ROS Kinetic and works perfectly fine after solving some errors through the steps followed in the issues tab here.

But, I am trying to test it on ROS Melodic as that's what I am mainly working with and when I catkin_make. The following error appears:

"

/home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc: In member function ‘std::pair<float, float> turtlebot_rrt::RRTPlanner::GetRandomPoint()’: /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:159:10: error: ‘random_device’ is not a member of ‘std’ std::random_device rd; ^~~~~ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:159:10: note: suggested alternative: ‘random_shuffle’ std::random_device rd; ^~~~~ random_shuffle /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:160:10: error: ‘mt19937’ is not a member of ‘std’ std::mt19937 gen(rd()); ^~~ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:160:10: note: suggested alternatives: In file included from /usr/include/boost/random.hpp:43:0, from /home/shreyas/catkin_ws/src/turtlebot_rrt/include/turtlebot_rrt/turtlebot_rrt.h:62, from /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:37: /usr/include/boost/random/mersenne_twister.hpp:624:61: note: ‘boost::random::mt19937’ 11,0xffffffff,7,0x9d2c5680,15,0xefc60000,18,1812433253> mt19937; ^~~ /usr/include/boost/random/mersenne_twister.hpp:624:61: note: ‘boost::random::mt19937’ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:163:10: error: ‘uniform_real_distribution’ is not a member of ‘std’ std::uniform_real_distribution<> x(-map_width, map_width); ^~~~~~~~~ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:163:10: note: suggested alternative: ‘uniform_int_distribution’ std::uniform_real_distribution<> x(-map_width, map_width); ^~~~~~~~~ uniform_int_distribution /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:163:36: error: expected primary-expression before ‘>’ token std::uniform_real_distribution<> x(-map_width, map_width); ^ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:163:38: error: ‘x’ was not declared in this scope std::uniform_real_distribution<> x(-map_width, map_width); ^ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:164:10: error: ‘uniform_real_distribution’ is not a member of ‘std’ std::uniform_real_distribution<> y(-map_height, map_height); ^~~~~~~~~ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:164:10: note: suggested alternative: ‘uniform_int_distribution’ std::uniform_real_distribution<> y(-map_height, map_height); ^~~~~~~~~ uniform_int_distribution /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:164:36: error: expected primary-expression before ‘>’ token std::uniform_real_distribution<> y(-map_height, map_height); ^ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:164:38: error: ‘y’ was not declared in this scope std::uniform_real_distribution<> y(-map_height, map_height); ^ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:164:38: note: suggested alternative: ‘yn’ std::uniform_real_distribution<> y(-map_height, map_height); ^ yn /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:166:28: error: ‘gen’ was not declared in this scope random_point.first = x(gen); ^~~ /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc: In member function ‘std::vector<geometrymsgs::PoseStamped<std::allocator > > turtlebot_rrt::RRTPlanner::BuildPlan(int, const PoseStamped&, const PoseStamped&)’: /home/shreyas/catkin_ws/src/turtlebot_rrt/src/turtlebot_rrt.cc:394:34: error: ‘tf’ has not been declared pos.pose.orientation = tf::createQuaternionMsgFromYaw(0); ^~ turtlebot_rrt/CMakeFiles/turtlebot_rrt.dir/build.make:62: recipe for target 'turtlebot_rrt/CMakeFiles/turtlebot_rrt.dir/src/turtlebot_rrt.cc.o' failed make[2]: [turtlebot_rrt/CMakeFiles/turtlebot_rrt.dir/src/turtlebot_rrt.cc.o] Error 1 CMakeFiles/Makefile2:824: recipe for target 'turtlebot_rrt/CMakeFiles/turtlebot_rrt.dir/all' failed make[1]: [turtlebot_rrt/CMakeFiles/turtlebot_rrt.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j8 -l8" failed

"

Is there any way to solve this? Is there a way to run packages built for ROS Kinetic on ROS Melodic?

Would love the opinion of the author of this package as well!

Thanks in Advance!

[bigdoubi]

I add #include && #include <tf/transform_broadcaster.h> into turtlebot_rrt.cc, which solved my error like yours. random tf/transform_broadcaster.h I'm too unskilled with github :(

[ssr-diaries]

Hey me as well! catkin_make worked when I added those 2 lines on turtlebot_rrt.cc. But I, get this error when I roslaunch:

shreyas@done-e495-1:~/catkin_ws$ roslaunch turtlebot_rrt rrt_planner.launch ... logging to /home/shreyas/.ros/log/37c3cb52-5378-11ec-9257-32bad228efc8/roslaunch-done-e495-1-19779.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Resource not found: turtlebot_gazebo ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/shreyas/catkin_ws/src ROS path [2]=/opt/ros/melodic/share The traceback for the exception was written to the log file

Did you get it or know how to solve this?

[asterwyx]

Hey me as well! catkin_make worked when I added those 2 lines on turtlebot_rrt.cc. But I, get this error when I roslaunch:

shreyas@done-e495-1:~/catkin_ws$ roslaunch turtlebot_rrt rrt_planner.launch ... logging to /home/shreyas/.ros/log/37c3cb52-5378-11ec-9257-32bad228efc8/roslaunch-done-e495-1-19779.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Resource not found: turtlebot_gazebo ROS path [0]=/opt/ros/melodic/share/ros ROS path [1]=/home/shreyas/catkin_ws/src ROS path [2]=/opt/ros/melodic/share The traceback for the exception was written to the log file

Did you get it or know how to solve this?

I've also missed the problem. For me, I found the turtlebot3_gazebo package was missed. Then I run

sudo apt install ros-melodic-turtlebot3-*

this command helps me install all packages related to turtlebot3 including turtlebot3_gazebo. I've also modified rrt_plannner.launch. It seems that turtlebot has upgraded when ros was updated to melodic from kinetic. I can only see "turtlebot3_gazebo" but not "turtlebot_gazebo". In file rrt_plannner.launch, I changed "turtlebot _gazebo" to "turtlebot3_gazebo" like below:

<include file="$(find turtlebot3_gazebo)/launch/includes/$(arg base).launch.xml">
    <arg name="base" value="$(arg base)"/>
    <arg name="stacks" value="$(arg stacks)"/>
    <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
</include>

I thought I had solved this problem, but when I run follow command

roslaunch turtlebot_rrt rrt_plannner.launch

I got the below error message:

roslaunch turtlebot_rrt rrt_planner.launch
... logging to /home/robot/.ros/log/d86ce9d2-7f72-11ec-b176-000c29095d53/roslaunch-ubuntu-17993.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

RLException: while processing /opt/ros/melodic/share/turtlebot3_gazebo/launch/includes/kobuki.launch.xml:
Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/opt/ros/melodic/share/turtlebot3_gazebo/launch/includes/kobuki.launch.xml'
The traceback for the exception was written to the log file

I changed directory to /opt/ros/melodic/share/turtlebot3_gazebo/launch, and I didn't find the directory "include". I think turtlebot3_gazebo must have updated its file layouts. For this project, we could not find the launch file this way.

I think this is a gap when you want to migrate turtlebot_rrt to melodic. It will be nice of you if you could fix this.