--- stderr: moveit_ros_planning

[Sting2021]

Description

Hi everyone. I'm trying to install Moveit2 with my ROS 2 Galactic environment but i'm having this issue when configuring my colcon workspace. How can I resolve, please?

Your environment

• ROS Distro: Galactic
• OS Version: Ubuntu 20.04
• Binary build
• ROS 2

Steps to reproduce

Building colcon workspace after installing step by step Moveit 2 with GETTING STARTED guide

Expected behaviour

Starting >>> geometric_shapes Starting >>> moveit_msgs Starting >>> moveit_common Starting >>> moveit_resources_panda_description Finished <<< moveit_common [0.64s]
Starting >>> launch_param_builder Finished <<< moveit_resources_panda_description [0.69s]
Starting >>> moveit_resources_panda_moveit_config Finished <<< moveit_resources_panda_moveit_config [0.84s]
Starting >>> moveit_resources_fanuc_description Finished <<< geometric_shapes [1.62s]
Starting >>> moveit_resources_pr2_description Finished <<< moveit_resources_fanuc_description [0.44s]
Starting >>> moveit_resources_fanuc_moveit_config Finished <<< moveit_resources_pr2_description [0.42s] Starting >>> moveit_resources_prbt_support Finished <<< moveit_resources_fanuc_moveit_config [0.31s]
Starting >>> rviz_visual_tools Finished <<< moveit_resources_prbt_support [0.34s] Starting >>> moveit_resources Finished <<< moveit_resources [0.46s]
Finished <<< launch_param_builder [2.29s]
Starting >>> moveit_configs_utils Finished <<< rviz_visual_tools [1.58s]
Finished <<< moveit_configs_utils [1.75s]
Finished <<< moveit_msgs [7.29s]
Starting >>> moveit_core Finished <<< moveit_core [2.04s]
Starting >>> moveit_ros_occupancy_map_monitor Starting >>> moveit_simple_controller_manager Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin Starting >>> chomp_motion_planner Finished <<< moveit_resources_prbt_ikfast_manipulator_plugin [0.57s] Starting >>> pilz_industrial_motion_planner_testutils Finished <<< moveit_simple_controller_manager [0.66s] Starting >>> moveit_plugins Finished <<< chomp_motion_planner [0.70s] Starting >>> moveit_chomp_optimizer_adapter Finished <<< moveit_ros_occupancy_map_monitor [0.80s] Starting >>> moveit_ros_planning Finished <<< moveit_plugins [0.47s]
Starting >>> moveit_planners_chomp Finished <<< pilz_industrial_motion_planner_testutils [0.94s] Starting >>> moveit_ros_control_interface Finished <<< moveit_chomp_optimizer_adapter [0.84s] Finished <<< moveit_planners_chomp [0.88s]
Finished <<< moveit_ros_control_interface [0.60s]

{...}

Backtrace or Console output

--- stderr: moveit_ros_planning
/home/federico/ws_moveit2/src/moveit2/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp: In member function ‘void planning_scene_monitor::PlanningSceneMonitor::excludeWorldObjectFromOctree(const ObjectConstPtr&)’: /home/federico/ws_moveit2/src/moveit2/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:945:81: error: ‘using element_type = const struct collision_detection::World::Object’ {aka ‘const struct collision_detection::World::Object’} has no member named ‘global_shapeposes’; did you mean ‘shapeposes’? 945 | y_shapehandles[obj->id_].push_back(std::make_pair(h, &obj->global_shapeposes[i])); | ^~~~~~~ | shapeposes /home/federico/ws_moveit2/src/moveit2/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp: In member function ‘bool planning_scene_monitor::PlanningSceneMonitor::getShapeTransformCache(const string&, const rclcpp::Time&, occupancy_map_monitor::ShapeTransformCache&) const’: /home/federico/ws_moveit2/src/moveit2/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:1137:47: error: ‘const class moveit::core::AttachedBody’ has no member named ‘getShapePosesInLinkFrame’ 1137 | attached_body_shape_handle.first->getShapePosesInLinkFrame()[attached_body_shape_handle.second[k].second]; | ^~~~~~~~ make[2]: [planning_scene_monitor/CMakeFiles/moveit_planning_scene_monitor.dir/build.make:63: planning_scene_monitor/CMakeFiles/moveit_planning_scene_monitor.dir/src/planning_scene_monitor.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:876: planning_scene_monitor/CMakeFiles/moveit_planning_scene_monitor.dir/all] Error 2 make: *** [Makefile:141: all] Error 2

Failed <<< moveit_ros_planning [25.0s, exited with code 2]

Summary: 23 packages finished [35.5s] 1 package failed: moveit_ros_planning 1 package had stderr output: moveit_ros_planning 21 packages not processed

Thank you!

[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[JafarAbdi]

I think the problem is you have moveit install from both source/debians, running sudo apt remove --purge ros-galactic-moveit* before compiling should fix it, I'm closing this since it's a https://github.com/ros-planning/moveit2/ issue, please create an issue there if the proposed solution still not works

[zouzhe1]

@JafarAbdi i have this problem too. ubuntu22.04 ros2 moveit2