Closed sktometometo closed 10 months ago
To do this, I have prepared an environment based on https://github.com/jsk-ros-pkg/jsk_robot/blob/sktometometo-patch-2/jsk_unitree_robot/README.md#program-go1-robot
and PC is
Workspace configuration is
~/ros/ws_jsk_unitree/src $ wstool info
workspace: /home/sktometometo/ros/ws_jsk_unitree/src
Localname S SCM Version (Spec) UID (Spec) URI (Spec) [http(s)://...]
--------- - --- -------------- ----------- ---------------------------
unitree_ros_to_real git develop 36a877d87818 github.com/k-okada/unitree_ros_to_real.git
unitree_ros git <detached> (5dee20c5ba1c86dfeb906e24c7870f19cc93d605) 5dee20c5ba1c github.com/unitreerobotics/unitree_ros.git
unitree_legged_sdk git develop b4a01bf3068b github.com/k-okada/unitree_legged_sdk.git
jsk-ros-pkg/jsk_robot git master (-) b9acd239738a github.com/jsk-ros-pkg/jsk_robot.git
https://github.com/unitreerobotics/unitree_ros/pull/41 has changed robot name of urdf. So generated robot class name is changed.
It seems that I am using wrong version of unitree_ros.
After I have changed unitree_ros version to 50ff982. I have got following errors during catkin buld unitreeeus
~/ros/ws_jsk_unitree $ catkin build unitreeeus
-------------------------------------------------------------------------------------
Profile: default
Extending: [cached] /home/sktometometo/ros/ws_wireless/devel:/opt/ros/noetic
Workspace: /home/sktometometo/ros/ws_jsk_unitree
-------------------------------------------------------------------------------------
Build Space: [exists] /home/sktometometo/ros/ws_jsk_unitree/build
Devel Space: [exists] /home/sktometometo/ros/ws_jsk_unitree/devel
Install Space: [unused] /home/sktometometo/ros/ws_jsk_unitree/install
Log Space: [exists] /home/sktometometo/ros/ws_jsk_unitree/logs
Source Space: [exists] /home/sktometometo/ros/ws_jsk_unitree/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
-------------------------------------------------------------------------------------
Buildlisted Packages: None
Skiplisted Packages: None
-------------------------------------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------------------------------------
[build] Found 48 packages in 0.0 seconds.
[build] Updating package table.
Starting >>> go1_description
Finished <<< go1_description [ 0.1 seconds ]
Starting >>> unitreeeus
________________________________________________________________________________________________________
Warnings << unitreeeus:cmake /home/sktometometo/ros/ws_jsk_unitree/logs/unitreeeus/build.cmake.000.log
unitree_urdf:
collada2eus: /opt/ros/noetic/lib/euscollada/collada2eus
cd /home/sktometometo/ros/ws_jsk_unitree/build/unitreeeus; catkin build --get-env unitreeeus | catkin env -si /usr/bin/cmake /home/sktometometo/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/unitreeeus --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/sktometometo/ros/ws_jsk_unitree/devel/.private/unitreeeus -DCMAKE_INSTALL_PREFIX=/home/sktometometo/ros/ws_jsk_unitree/install; cd -
........................................................................................................
________________________________________________________________________________________________________
Errors << unitreeeus:make /home/sktometometo/ros/ws_jsk_unitree/logs/unitreeeus/build.make.000.log
make[2]: *** '/home/sktometometo/ros/ws_jsk_unitree/src/jsk-ros-pkg/jsk_robot/jsk_unitree_robot/unitreeeus/go1.l' に必要なターゲット '/home/sktometometo/ros/ws_jsk_unitree/devel/.private/go1_description/share/go1_description/urdf/go1.urdf' を make するルールがありません. 中止.
make[1]: *** [CMakeFiles/Makefile2:256: CMakeFiles/compile_go1.dir/all] エラー 2
make: *** [Makefile:141: all] エラー 2
cd /home/sktometometo/ros/ws_jsk_unitree/build/unitreeeus; catkin build --get-env unitreeeus | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
........................................................................................................
Failed << unitreeeus:make [ Exited with code 2 ]
Failed <<< unitreeeus [ 1.8 seconds ]
[build] Summary: 1 of 2 packages succeeded.
[build] Ignored: 46 packages were skipped or are skiplisted.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 2.0 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
With https://github.com/jsk-ros-pkg/jsk_robot/pull/1859, go1_description version is 50ff982 . But at this version, there is no URDF in Go1_description (it has only xacro) and current code assumes that source directory has it or generates it during CMake. But it doesn't.
This is why catkin build unitreeus
cannot find go1.urdf
. But as mentioned above. with newer version, robot name of Go1 is different.
To solve this, I am going to take an approach below.
With https://github.com/jsk-ros-pkg/jsk_robot/pull/1867, I can now execute (load "package://unitreeeus/unitree-interface.l")
I have tried following step of this tutorial
And I have got following error when I have tried to load modules