Merge / Fast forward main into humble

shu-13 commented 2 years ago

Description

Hi, I'm having trouble with building the main branch. I get an error from the moveit_ros _planning package. However, when I switch to the humble branch, it then works.

On the other hand, I get a build error from moveit_task_constructor_core which apparently uses the library referenced from moveit2's main branch.

Thus, it would be nice if the humble branch gets fast forwarded or gets the main branch merged into it.

Your environment

ROS Distro: [Humble]
OS Version: Ubuntu 20.04
Source build
If source, which branch? main branch

Steps to reproduce

Here's my build command.

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to moveit

Expected behaviour

A clean build.

Actual behaviour

An error as shown below.

Starting >>> moveit_configs_utils
Starting >>> moveit_resources_prbt_support
--- stderr: moveit_configs_utils                                                                                                              
/usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
  warnings.warn(
---
Finished <<< moveit_configs_utils [0.68s]
Finished <<< moveit_common [0.71s]                                                                              
Starting >>> moveit_core
Finished <<< moveit_resources_prbt_support [0.78s]                               
Finished <<< moveit_core [1min 46s]                               
Starting >>> moveit_ros_occupancy_map_monitor
Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin
Starting >>> moveit_simple_controller_manager
Starting >>> pilz_industrial_motion_planner_testutils
Finished <<< moveit_simple_controller_manager [12.8s]                                                                                                                
Starting >>> moveit_plugins
Finished <<< moveit_plugins [0.73s]                                                                                                                                 
Finished <<< pilz_industrial_motion_planner_testutils [16.6s]                                                                                                       
Finished <<< moveit_resources_prbt_ikfast_manipulator_plugin [20.9s]                                                                                             
Finished <<< moveit_ros_occupancy_map_monitor [22.7s] 
Starting >>> moveit_ros_planning                           
--- stderr: moveit_ros_planning                                          
/usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `/usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
/usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
collect2: error: ld returned 1 exit status
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_scene_monitor/CMakeFiles/current_state_monitor_tests.dir/build.make:320: planning_scene_monitor/current_state_monitor_tests] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:788: planning_scene_monitor/CMakeFiles/current_state_monitor_tests.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake[2]: *** [planning_scene_monitor/CMakeFiles/trajectory_monitor_tests.dir/build.make:320: planning_scene_monitor/trajectory_monitor_tests] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:820: planning_scene_monitor/CMakeFiles/trajectory_monitor_tests.dir/all] Error 2
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_evaluate_collision_checking_speed.dir/build.make:318: planning_components_tools/moveit_evaluate_collision_checking_speed] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:1020: planning_components_tools/CMakeFiles/moveit_evaluate_collision_checking_speed.dir/all] Error 2
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_visualize_robot_collision_volume.dir/build.make:319: planning_components_tools/moveit_visualize_robot_collision_volume] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:990: planning_components_tools/CMakeFiles/moveit_visualize_robot_collision_volume.dir/all] Error 2
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_publish_scene_from_text.dir/build.make:318: planning_components_tools/moveit_publish_scene_from_text] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:1050: planning_components_tools/CMakeFiles/moveit_publish_scene_from_text.dir/all] Error 2
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_print_planning_scene_info.dir/build.make:318: planning_components_tools/moveit_print_planning_scene_info] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:930: planning_components_tools/CMakeFiles/moveit_print_planning_scene_info.dir/all] Error 2
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_display_random_state.dir/build.make:318: planning_components_tools/moveit_display_random_state] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:960: planning_components_tools/CMakeFiles/moveit_display_random_state.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< moveit_ros_planning [1min 13s, exited with code 2]

vatanaksoytezer commented 2 years ago

Hello @shu-rt thank you for reporting your issue. Please try to use main branch for moveit2 and moveit2_tutorials and ros2 branch for moveit_task_constructor for now. If that is the case, please issue clean build by removing build and install folders and running the build command?

vatanaksoytezer commented 2 years ago

My bad, so I just noticed we have fast-forwarded humble into 2.5.3, so this issue should not be relevant for moveit2. However, we should take similar action for moveit2_tutorials which has a separate issue already. Thus, I'm closing this issue. Please feel free to re-open or open a new issue if you still experience problems.

moveit / moveit2