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jesseweisberg / moveo_ros

ROS packages and Arduino scripts that can be used to control the BCN3D Moveo robotic arm in simulation and real-life.
MIT License
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Catkin_make error when building moveo_ros/moveo_moveit/src/move_group_interface_coor_1.cpp #20

Open magnuspyke opened 5 years ago

magnuspyke commented 5 years ago

With a fresh clone of this project on 3/12/2019, I ran into build issues when building moveo_ros/moveo_moveit/src/move_group_interface_coor_1.cpp. Here's the error message:

`[100%] Building CXX object moveo_ros/moveo_moveit/CMakeFiles/move_group_1.dir/src/move_group_interface_coor_1.cpp.o In file included from /usr/include/eigen3/Eigen/Core:347:0, from /usr/include/eigen3/Eigen/Geometry:11, from /home/matt/workspace/catkin_ws/src/moveit/moveit_core/robot_model/include/moveit/robot_model/joint_model.h:47, from /home/matt/workspace/catkin_ws/src/moveit/moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h:41, from /home/matt/workspace/catkin_ws/src/moveit/moveit_core/robot_model/include/moveit/robot_model/robot_model.h:47, from /home/matt/workspace/catkin_ws/src/moveit/moveit_core/robot_state/include/moveit/robot_state/robot_state.h:41, from /home/matt/workspace/catkin_ws/src/moveit/moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h:43, from /home/matt/workspace/catkin_ws/src/moveo_ros/moveo_moveit/src/move_group_interface_coor_1.cpp:1: /usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’: /home/matt/workspace/catkin_ws/src/moveo_ros/moveo_moveit/src/move_group_interface_coor_1.cpp:65:95: required from here /usr/include/eigen3/Eigen/src/Geometry/Transform.h:331:5: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)), ^ moveo_ros/moveo_moveit/CMakeFiles/move_group_1.dir/build.make:62: recipe for target 'moveo_ros/moveo_moveit/CMakeFiles/move_group_1.dir/src/move_group_interface_coor_1.cpp.o' failed make[2]: [moveo_ros/moveo_moveit/CMakeFiles/move_group_1.dir/src/move_group_interface_coor_1.cpp.o] Error 1 CMakeFiles/Makefile2:31755: recipe for target 'moveo_ros/moveo_moveit/CMakeFiles/move_group_1.dir/all' failed make[1]: [moveo_ros/moveo_moveit/CMakeFiles/move_group_1.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j1 -l1" failed ' I found a fix/work around from this issue. Modifying the following line...

// Eigen::Affine3d text_pose = Eigen::Affine3d::Identity(); <-- comment this out, replace with below line Eigen::Isometry3d text_pose = Eigen::Isometry3d::Identity();

...allows the project to build.

jesseweisberg commented 5 years ago

@magnuspyke Thank you for looking into this and finding a solution. I will close when I get around to pushing the fix.