sktometometo
commented
1 year ago https://github.com/iory/catkin_virtualenv/tree/unitree seems have some workaround about this problem.
Open sktometometo opened 1 year ago
sktometometo
commented
1 year ago https://github.com/iory/catkin_virtualenv/tree/unitree seems have some workaround about this problem.
sktometometo
commented
1 year ago With that, still I have got the same error.
[esp_now_ros:make] catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/genlisp/cmake/../../../lib/genlisp/gen_lisp.py /opt/jsk/User/src/esp_now_ros/msg/Packet.msg -Iesp_now_ros:/opt/jsk/User/src/esp_now_ros/msg -Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg -p esp_now_ros -o /opt/jsk/User/devel/.private/esp_now_ros/share/common-lisp/ros/esp_now_ros/ms
g
[esp_now_ros:make] [ 62%] Generating C++ code from esp_now_ros/Packet.msge (56%) - 01:10.6] [unitreeeus:make (100%) - 05:3...
[esp_now_ros:make] cd /opt/jsk/User/src/esp_now_ros && /opt/jsk/User/build/esp_now_ros/catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py /opt/jsk/User/src/esp_now_ros/msg/Packet.msg -Iesp_now_ros:/opt/jsk/User/src/esp_now_ros/msg -Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg -p esp_now_ros -o /opt/jsk/Use
r/devel/.private/esp_now_ros/include/esp_now_ros -e /opt/ros/melodic/share/gencpp/cmake/..
[esp_now_ros:make] [ 68%] Generating Python from MSG esp_now_ros/Packetake (62%) - 01:10.7] [unitreeeus:make (100%) - 05:3...
[esp_now_ros:make] catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/genpy/cmake/../../../lib/genpy/genmsg_py.py /opt/jsk/User/src/esp_now_ros/msg/Packet.msg -Iesp_now_ros:/opt/jsk/User/src/esp_now_ros/msg -Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg -p esp_now_ros -o /opt/jsk/User/devel/.private/esp_now_ros/lib/python2.7/dist-packages/esp_now_ros
/msg
[esp_now_ros:make] make[2]: Leaving directory '/opt/jsk/User/build/esp_now_ros') - 01:11.8] [unitreeeus:make (100%) - 05:3...
[esp_now_ros:make] [ 75%] Generating EusLisp manifest code for esp_now_ros (68%) - 01:12.1] [unitreeeus:make (100%) - 05:3...
[esp_now_ros:make] catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/geneus/cmake/../../../lib/geneus/gen_eus.py -m -o /opt/jsk/User/devel/.private/esp_now_ros/share/roseus/ros/esp_now_ros esp_now_ros std_msgs
[esp_now_ros:make] [ 75%] Built target esp_now_ros_generate_messages_lisp
[esp_now_ros:make] Traceback (most recent call last):ed] [esp_now_ros:make (75%) - 01:13.2] [unitreeeus:make (100%) - 05:3...
[esp_now_ros:make] File "/opt/jsk/User/src/catkin_virtualenv/catkin_virtualenv/scripts/venv_init", line 23, in <module>
[esp_now_ros:make] from catkin_virtualenv import configure_logging
[esp_now_ros:make] File "/opt/jsk/User/devel/lib/python2.7/dist-packages/catkin_virtualenv/__init__.py", line 34, in <module>
[esp_now_ros:make] exec(__fh.read())
[esp_now_ros:make] File "<string>", line 21, in <module>
[esp_now_ros:make] File "/usr/lib/python3.6/logging/config.py", line 30, in <module>
[esp_now_ros:make] import logging.handlers
[esp_now_ros:make] File "/usr/lib/python3.6/logging/handlers.py", line 28, in <module>
[esp_now_ros:make] import queue
[esp_now_ros:make] File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/future-0.15.2-py2.7.egg/queue/__init__.py", line 8, in <module>
[esp_now_ros:make] raise ImportError('This package should not be accessible on Python 3. '
[esp_now_ros:make] ImportError: This package should not be accessible on Python 3. Either you are trying to run from the python-future src folder or your installation of python-future is corrupted.
[esp_now_ros:make] Error in sys.excepthook:
[esp_now_ros:make] Traceback (most recent call last):
[esp_now_ros:make] File "/usr/lib/python3/dist-packages/apport_python_hook.py", line 72, in apport_excepthook
[esp_now_ros:make] from apport.fileutils import likely_packaged, get_recent_crashes
[esp_now_ros:make] File "/usr/lib/python3/dist-packages/apport/__init__.py", line 5, in <module>
[esp_now_ros:make] from apport.report import Report
[esp_now_ros:make] File "/usr/lib/python3/dist-packages/apport/report.py", line 21, in <module>
[esp_now_ros:make] from urllib.request import urlopen
[esp_now_ros:make] File "/usr/lib/python3.6/urllib/request.py", line 88, in <module>
[esp_now_ros:make] import http.client
[esp_now_ros:make] File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/future-0.15.2-py2.7.egg/http/__init__.py", line 7, in <module>
[esp_now_ros:make] raise ImportError('This package should not be accessible on Python 3. '
[esp_now_ros:make] ImportError: This package should not be accessible on Python 3. Either you are trying to run from the python-future src folder or your installation of python-future is corrupted.
[esp_now_ros:make]
[esp_now_ros:make] Original exception was:
[esp_now_ros:make] Traceback (most recent call last):
[esp_now_ros:make] File "/opt/jsk/User/src/catkin_virtualenv/catkin_virtualenv/scripts/venv_init", line 23, in <module>
[esp_now_ros:make] from catkin_virtualenv import configure_logging
[esp_now_ros:make] File "/opt/jsk/User/devel/lib/python2.7/dist-packages/catkin_virtualenv/__init__.py", line 34, in <module>
[esp_now_ros:make] exec(__fh.read())
[esp_now_ros:make] File "<string>", line 21, in <module>
[esp_now_ros:make] File "/usr/lib/python3.6/logging/config.py", line 30, in <module>
[esp_now_ros:make] import logging.handlers
[esp_now_ros:make] File "/usr/lib/python3.6/logging/handlers.py", line 28, in <module>
[esp_now_ros:make] import queue
[esp_now_ros:make] File "/opt/jsk/System/ros1_dependencies/lib/python2.7/site-packages/future-0.15.2-py2.7.egg/queue/__init__.py", line 8, in <module>
[esp_now_ros:make] raise ImportError('This package should not be accessible on Python 3. '
[esp_now_ros:make] ImportError: This package should not be accessible on Python 3. Either you are trying to run from the python-future src folder or your installation of python-future is corrupted.
[esp_now_ros:make] CMakeFiles/esp_now_ros_generate_virtualenv.dir/build.make:75: recipe for target 'venv/bin/python' failed..
[esp_now_ros:make] make[2]: *** [venv/bin/python] Error 1
[esp_now_ros:make] make[2]: Leaving directory '/opt/jsk/User/build/esp_now_ros'
[esp_now_ros:make] CMakeFiles/Makefile2:391: recipe for target 'CMakeFiles/esp_now_ros_generate_virtualenv.dir/all' failed
[esp_now_ros:make] make[1]: *** [CMakeFiles/esp_now_ros_generate_virtualenv.dir/all] Error 2
[esp_now_ros:make] make[1]: *** Waiting for unfinished jobs....
[esp_now_ros:make] [ 81%] Generating Python msg __init__.py for esp_now_ros(75%) - 01:13.7] [unitreeeus:make (100%) - 05:3...
[esp_now_ros:make] catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/genpy/cmake/../../../lib/genpy/genmsg_py.py -o /opt/jsk/User/devel/.private/esp_now_ros/lib/python2.7/dist-packages/esp_now_ros/msg --initpy
[esp_now_ros:make] make[2]: Leaving directory '/opt/jsk/User/build/esp_now_ros') - 01:14.0] [unitreeeus:make (100%) - 05:3...
[esp_now_ros:make] [ 81%] Built target esp_now_ros_generate_messages_cppke (81%) - 01:14.2] [unitreeeus:make (100%) - 05:3...
[esp_now_ros:make] make[2]: Leaving directory '/opt/jsk/User/build/esp_now_ros') - 01:15.2] [unitreeeus:make (100%) - 05:4...
[esp_now_ros:make] [ 81%] Built target esp_now_ros_generate_messages_pyake (81%) - 01:15.4] [unitreeeus:make (100%) - 05:4...
[esp_now_ros:make] make[2]: Leaving directory '/opt/jsk/User/build/esp_now_ros') - 01:18.4] [unitreeeus:make (100%) - 05:4...
[esp_now_ros:make] [ 81%] Built target esp_now_ros_generate_messages_euske (81%) - 01:18.6] [unitreeeus:make (100%) - 05:4...
[esp_now_ros:make] make[1]: Leaving directory '/opt/jsk/User/build/esp_now_ros'
[esp_now_ros:make] Makefile:129: recipe for target 'all' failed
[esp_now_ros:make] make: *** [all] Error 2
Failed <<< esp_now_ros [ 1 minute and 18.7 seconds ] And git diff result is
diff --git a/jsk_unitree_robot/cross/build_user.sh b/jsk_unitree_robot/cross/build_user.sh
index f18831c41..7b4a15ed5 100755
--- a/jsk_unitree_robot/cross/build_user.sh
+++ b/jsk_unitree_robot/cross/build_user.sh
@@ -35,7 +35,8 @@ for dir in $(find ${SOURCE_ROOT}/src/jsk_robot -maxdepth 1 -mindepth 1 -type d);
done
# add unitree repos
-[ ${UPDATE_SOURCE_ROOT} -eq 0 ] || vcs import ${SOURCE_ROOT}/src < repos/unitree.repos
+#[ ${UPDATE_SOURCE_ROOT} -eq 0 ] || vcs import ${SOURCE_ROOT}/src < repos/unitree.repos
+vcs import ${SOURCE_ROOT}/src < repos/unitree.repos
# check if /proc/sys/fs/binfmt_misc/qemu-* is updated
# See https://github.com/k-okada/jsk_robot/issues/61
diff --git a/jsk_unitree_robot/cross/repos/unitree.repos b/jsk_unitree_robot/cross/repos/unitree.repos
index 172aae74f..780d47ab2 100644
--- a/jsk_unitree_robot/cross/repos/unitree.repos
+++ b/jsk_unitree_robot/cross/repos/unitree.repos
@@ -9,7 +9,7 @@ repositories:
unitree_ros:
type: git
url: https://github.com/unitreerobotics/unitree_ros.git
- veresion: master
+ version: 5dee20c
unitree_ros_to_real:
type: git
url: https://github.com/k-okada/unitree_ros_to_real.git
@@ -24,3 +24,11 @@ repositories:
# enable to run simple apps parallel to other apps
# https://github.com/PR2/app_manager/pull/59 have been merged,
# but 1.4.0 have not released yet.
+ esp_now_ros:
+ type: git
+ url: https://github.com/sktometometo/esp_now_ros
+ version: master
+ catkin_virtualenv:
+ type: git
+ url: https://github.com/iory/catkin_virtualenv
+ version: unitree
diff --git a/jsk_unitree_robot/jsk_unitree_startup/package.xml b/jsk_unitree_robot/jsk_unitree_startup/package.xml
index 9723686b9..85056213c 100644
--- a/jsk_unitree_robot/jsk_unitree_startup/package.xml
+++ b/jsk_unitree_robot/jsk_unitree_startup/package.xml
@@ -16,6 +16,7 @@
<run_depend>rosserial_python</run_depend>
<run_depend>teleop_twist_joy</run_depend>
<run_depend>respeaker_ros</run_depend>
+ <run_depend>esp_now_ros</run_depend>
<!-- for diagnostic aggregator -->
<run_depend>diagnostic_aggregator</run_depend>
diff --git a/jsk_unitree_robot/unitree.rosinstall b/jsk_unitree_robot/unitree.rosinstall
index b10a4d6fa..35f1b06d5 100644
--- a/jsk_unitree_robot/unitree.rosinstall
+++ b/jsk_unitree_robot/unitree.rosinstall
@@ -4,11 +4,11 @@
uri: https://github.com/k-okada/unitree_legged_sdk.git
version: develop
- git:
- # Use 50ff98 commit since unitree_ros has unitree_ros_to_real as submodule and
- # causes https://github.com/jsk-ros-pkg/jsk_robot/issues/1858
+ # Use a version before 2e566b7 commit since unitree_ros has unitree_ros_to_real as submodule
+ # and it causes https://github.com/jsk-ros-pkg/jsk_robot/issues/1858
local-name: unitree_ros
uri: https://github.com/unitreerobotics/unitree_ros.git
- version: 50ff982dfbd4b9d2d08f1a05d66f141ab9f8d7f9
+ version: 5dee20c
- git:
# waiting for https://github.com/unitreerobotics/unitree_ros_to_real/pull/22 - 25
local-name: unitree_ros_to_real
diff --git a/jsk_unitree_robot/unitreeeus/.gitignore b/jsk_unitree_robot/unitreeeus/.gitignore
index 650db6302..36a0c2b41 100644
--- a/jsk_unitree_robot/unitreeeus/.gitignore
+++ b/jsk_unitree_robot/unitreeeus/.gitignore
@@ -1 +1,2 @@
*go1.l
+*go1-simple.l
diff --git a/jsk_unitree_robot/unitreeeus/go1-utils.l b/jsk_unitree_robot/unitreeeus/go1-utils.l
index 8bb8bdcb7..32ab1da61 100644
--- a/jsk_unitree_robot/unitreeeus/go1-utils.l
+++ b/jsk_unitree_robot/unitreeeus/go1-utils.l
@@ -1,18 +1,18 @@
(require :go1 "package://unitreeeus/go1.l")
-(defun go1 () (setq *go1* (instance go1_description-robot :init)))
+(defun go1 () (setq *go1* (instance go1-robot :init)))
;; euscollada can not generate end-coords without limbs...
;; head-end-coords:
;; parent : camera_optical_face_lk
;; translate : [0, -12.5, -6.7]
;; rotate : [0, 1, 0, 0]
-(defmethod go1_description-robot
+(defmethod go1-robot
(:head-end-coords (&rest args) (forward-message-to camera_optical_face_lk args))
)
;; define ik methods
-(defmethod go1_description-robot
+(defmethod go1-robot
(:fullbody-inverse-kinematics
;; see https://github.com/euslisp/jskeus/pull/349 for detail
(target-coords move-target &rest args &key
diff --git a/jsk_unitree_robot/unitreeeus/package.xml b/jsk_unitree_robot/unitreeeus/package.xml
index c1ffe079f..5ae25828c 100644
--- a/jsk_unitree_robot/unitreeeus/package.xml
+++ b/jsk_unitree_robot/unitreeeus/package.xml
@@ -20,6 +20,7 @@
<run_depend>roseus</run_depend>
<run_depend>pr2eus</run_depend>
+ <run_depend>unitree_legged_msgs</run_depend>
<export>
</export>
diff --git a/jsk_unitree_robot/unitreeeus/unitree-interface.l b/jsk_unitree_robot/unitreeeus/unitree-interface.l
index f449e84ef..f7d9756cf 100644
--- a/jsk_unitree_robot/unitreeeus/unitree-interface.l
+++ b/jsk_unitree_robot/unitreeeus/unitree-interface.l
@@ -36,7 +36,7 @@
(:init
(&rest args)
(prog1
- (send-super* :init :robot go1_description-robot :base-frame-id "base_lk" :odom-topic "/odom_combined" :base-controller-action-name nil args)
+ (send-super* :init :robot go1-robot :base-frame-id "base_lk" :odom-topic "/odom_combined" :base-controller-action-name nil args)
(setq body-pose-topic "/go1/body_pose")
(ros::advertise body-pose-topic geometry_msgs::Pose 1)
(setq cmd-vel-topic "/go1/cmd_vel")
It may be necessary to build python library from catkin package as Python3
When I have tried to build a catkin package with
catkin_generate_virtualenv(). I have got error below.Host PC is ubuntu 20.04 with ROS Noetic
git diff to master is