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justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
188 stars 58 forks source link

Solved the "calling KDL's removed function" problem of building progress #45

Closed mufengjun260 closed 3 years ago

mufengjun260 commented 3 years ago

The building will failed with b35c424e77ebc5b7e6f1c5e5c34f8a4666fbf5bc, but it's OK with the newest version.

justagist commented 3 years ago

The building will failed with b35c424e77ebc5b7e6f1c5e5c34f8a4666fbf5bc

What do you mean when you say the build fails? The build succeeds for me and in the CI test. Do you see any build error? If so, please share this.

but it's OK with the newest version

Do you mean the 'master' branch of the 'orocos_kinematics_dynamics' package, or any specific release version?

Also, more importantly, is this version compatible with the native moveit_dynamics_solver in ROS? You can test this by running the MoveIt demo mentioned in the README.

mufengjun260 commented 3 years ago

Hi @justagist , thanks for your great work! My envs is Ubuntu 20.04 + ROS noetic + Python3.6, and the error logs of "catkin build" shown that python_orocos_kdl uses the deleted functions.

After changing as I committed, I can build the panda_simulator successfully, and tested with Moveit Demo, the "plan and execute" works well (And I show that with my co-worker). HOWEVER, today when I did the exact same test on the Moveit Demo, It's so wired that I met the error caused by libmoveit_dynamics_solver (undefined symbol: _ZNK3KDL6Vector4NormEv), maybe this is because my colleague modified the environment of our Ubuntu platform. Sorry to disturb you, I will do further re-check to find out the reason why it works well yesterday and what causes the different behaviors on the demo.

justagist commented 3 years ago

Hi, do let me know if you manage to get it working with a newer version of kdl. The error message seems to be because you are using a newer version of SIP that is not compatible with the older commit of 'orocos_kinematics_dynamics' (b35c424e) required for this package. See https://github.com/orocos/orocos_kinematics_dynamics/issues/260. You might have to use an older SIP version to make this package work.