MoveIt 2 Humble Getting Started colcon build results in CMake Error at CMakeLists.txt:6

jomoengineer commented 2 years ago

Description

Overview of your issue here.

Your environment

ROS Distro: Humble
OS Version: Ubuntu 22.04
Source or Binary build? Source
If binary, which release version?
If source, which git commit or tag? latest

Steps to reproduce

Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.

While running through the MoveIt 2 Humble Getting Started Tutorial, the colcon build step fails running the following:

$ colcon build --mixin release

Expected behaviour

It should build without error

Backtrace or Console output

~/ws_moveit2$ colcon build --mixin release
Starting >>> srdfdom 
Starting >>> moveit_common
Starting >>> moveit_resources_panda_description
Starting >>> launch_param_builder
Finished <<< moveit_common [0.61s]                                                          
Starting >>> moveit_resources_fanuc_description
--- stderr: launch_param_builder                             
/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 <<< launch_param_builder [0.97s]
Starting >>> moveit_task_constructor_msgs                    
Finished <<< moveit_resources_panda_description [1.01s]
Starting >>> moveit_resources_panda_moveit_config
Finished <<< moveit_resources_fanuc_description [0.83s]      
Starting >>> rviz_marker_tools
--- stderr: moveit_task_constructor_msgs                     
CMake Error at CMakeLists.txt:6 (find_package):
  By not providing "Findmoveit_msgs.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "moveit_msgs", but CMake did not find one.

  Could not find a package configuration file provided by "moveit_msgs" with
  any of the following names:

    moveit_msgsConfig.cmake
    moveit_msgs-config.cmake

  Add the installation prefix of "moveit_msgs" to CMAKE_PREFIX_PATH or set
  "moveit_msgs_DIR" to a directory containing one of the above files.  If
  "moveit_msgs" provides a separate development package or SDK, be sure it
  has been installed.

---
Failed   <<< moveit_task_constructor_msgs [0.70s, exited with code 1]
Aborted  <<< moveit_resources_panda_moveit_config [0.68s]               
Aborted  <<< srdfdom [1.78s]
Aborted  <<< rviz_marker_tools [1.66s]                            

Summary: 4 packages finished [3.42s]
  1 package failed: moveit_task_constructor_msgs
  3 packages aborted: moveit_resources_panda_moveit_config rviz_marker_tools srdfdom
  2 packages had stderr output: launch_param_builder moveit_task_constructor_msgs
  42 packages not processed

Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.

vatanaksoytezer commented 2 years ago

Hello, @jomoengineer thank you for reporting an issue. Any chance you missed the rosdep installation step as in: rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y?

Do you mind sharing the output of rosdep?

jomoengineer commented 2 years ago

This is my command history from running through the Getting Started guide:

. ~/ros2_humble/ros2-linux/setup.bash
sudo apt-get update
sudo apt install python3-rosdep
sudo rosdep init
rosdep update
sudo apt update
sudo apt dist-upgrade
sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
sudo apt install python3-vcstool
mkdir -p ~/ws_moveit2/src
cd ws_moveit2/
cd src/
git clone https://github.com/ros-planning/moveit2_tutorials -b main
vcs import < moveit2_tutorials/moveit2_tutorials.repos
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ..
colcon build --mixin release

This is the rosdep version I am running. Just running rosdep just gave an error since it is expecting a parameter.

$ rosdep --version
0.21.0

jomoengineer commented 2 years ago

Well, here is the output of the rosdep command you suggested I missed. It appears there is an issue here though:

$ rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
moveit_hybrid_planning: Cannot locate rosdep definition for [std_srvs]
moveit_ros_benchmarks: Cannot locate rosdep definition for [ament_lint_common]
moveit: Cannot locate rosdep definition for [ament_lint_common]
moveit_resources_prbt_ikfast_manipulator_plugin: Cannot locate rosdep definition for [tf2_kdl]
moveit_ros_perception: Cannot locate rosdep definition for [ament_lint_common]
moveit_configs_utils: Cannot locate rosdep definition for [ament_lint_common]
pilz_industrial_motion_planner_testutils: Cannot locate rosdep definition for [ament_lint_common]
moveit_plugins: Cannot locate rosdep definition for [ament_lint_common]
moveit_visual_tools: Cannot locate rosdep definition for [ament_lint_common]
moveit_simple_controller_manager: Cannot locate rosdep definition for [ament_lint_common]
moveit_ros: Cannot locate rosdep definition for [ament_lint_common]
rosparam_shortcuts: Cannot locate rosdep definition for [ros_testing]
moveit_resources_prbt_moveit_config: Cannot locate rosdep definition for [robot_state_publisher]
moveit_ros_control_interface: Cannot locate rosdep definition for [ament_lint_common]
moveit_kinematics: Cannot locate rosdep definition for [tf2_kdl]
moveit_core: Cannot locate rosdep definition for [ruckig]
moveit_ros_visualization: Cannot locate rosdep definition for [ament_lint_common]
moveit_ros_planning: Cannot locate rosdep definition for [ros_testing]
moveit_servo: Cannot locate rosdep definition for [std_srvs]
moveit_task_constructor_msgs: Cannot locate rosdep definition for [rosidl_default_generators]
rviz_marker_tools: Cannot locate rosdep definition for [urdfdom_headers]
moveit_setup_assistant: Cannot locate rosdep definition for [ament_lint_common]
moveit_ros_planning_interface: Cannot locate rosdep definition for [ament_lint_auto]
moveit_ros_warehouse: Cannot locate rosdep definition for [ament_lint_common]
moveit_planners: Cannot locate rosdep definition for [ament_lint_common]
moveit_ros_robot_interaction: Cannot locate rosdep definition for [ament_lint_common]
moveit_planners_ompl: Cannot locate rosdep definition for [ament_lint_common]
moveit_resources_panda_moveit_config: Cannot locate rosdep definition for [robot_state_publisher]
moveit_resources_fanuc_moveit_config: Cannot locate rosdep definition for [robot_state_publisher]
moveit_task_constructor_visualization: Cannot locate rosdep definition for [launch_testing_ros]
pilz_industrial_motion_planner: Cannot locate rosdep definition for [tf2_eigen_kdl]
moveit_common: Cannot locate rosdep definition for [ament_lint_common]
moveit_planners_chomp: Cannot locate rosdep definition for [ament_lint_common]
moveit2_tutorials: Cannot locate rosdep definition for [robot_state_publisher]
moveit_ros_occupancy_map_monitor: Cannot locate rosdep definition for [ament_lint_common]
moveit_resources: Cannot locate rosdep definition for [robot_state_publisher]
moveit_ros_move_group: Cannot locate rosdep definition for [std_srvs]
srdfdom: Cannot locate rosdep definition for [urdfdom_headers]
moveit_runtime: Cannot locate rosdep definition for [ament_lint_common]
moveit_chomp_optimizer_adapter: Cannot locate rosdep definition for [ament_lint_common]
chomp_motion_planner: Cannot locate rosdep definition for [ament_lint_common]
moveit_task_constructor_core: Cannot locate rosdep definition for [launch_testing_ament_cmake]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

jomoengineer commented 2 years ago

This is the output of the two command prior to the rosdep command:

~/ws_moveit2/src$ git clone https://github.com/ros-planning/moveit2_tutorials -b main
Cloning into 'moveit2_tutorials'...
remote: Enumerating objects: 94549, done.
remote: Counting objects: 100% (2081/2081), done.
remote: Compressing objects: 100% (1204/1204), done.
remote: Total 94549 (delta 1058), reused 1816 (delta 825), pack-reused 92468
Receiving objects: 100% (94549/94549), 762.71 MiB | 6.02 MiB/s, done.
Resolving deltas: 100% (54011/54011), done.

~/ws_moveit2/src$ vcs import < moveit2_tutorials/moveit2_tutorials.repos
.......
=== ./launch_param_builder (git) ===
Cloning into '.'...
=== ./moveit2 (git) ===
Cloning into '.'...
=== ./moveit_resources (git) ===
Cloning into '.'...
=== ./moveit_task_constructor (git) ===
Cloning into '.'...
=== ./moveit_visual_tools (git) ===
Cloning into '.'...
=== ./rosparam_shortcuts (git) ===
Cloning into '.'...
=== ./srdfdom (git) ===
Cloning into '.'...

jomoengineer commented 2 years ago

Okay, I think I resolved the issue. It appeared my humble install was not complete or broken. I ran the 'apt' command again to install humble via binaries and it picked up a bunch of missing packages. After this, I was able to build MoveIt 2 and the tutorials.

This is the output of the build though:

~/ws_moveit2$ colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
Starting >>> srdfdom
Starting >>> geometric_shapes
Starting >>> moveit_common
Starting >>> moveit_resources_panda_description
Finished <<< moveit_common [0.70s]
Starting >>> moveit_resources_fanuc_description
Finished <<< moveit_resources_panda_description [0.96s]
Starting >>> moveit_resources_panda_moveit_config
Finished <<< moveit_resources_fanuc_description [0.75s]
Starting >>> moveit_resources_fanuc_moveit_config
Finished <<< moveit_resources_panda_moveit_config [0.78s]
Starting >>> moveit_resources_pr2_description
Finished <<< moveit_resources_fanuc_moveit_config [1.11s]
Starting >>> moveit_resources_prbt_support
Finished <<< moveit_resources_pr2_description [2.22s]
Starting >>> moveit_resources
Finished <<< moveit_resources_prbt_support [2.33s]
Finished <<< moveit_resources [3.43s]
Finished <<< srdfdom [20.0s]
Starting >>> moveit_configs_utils
--- stderr: moveit_configs_utils
/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 [1.47s]
[Processing: geometric_shapes]
--- stderr: geometric_shapes
In file included from /usr/include/eigen3/Eigen/Core:294,
                 from /usr/include/eigen3/Eigen/Geometry:11,
                 from /home/jomoros/ws_moveit2/src/geometric_shapes/include/geometric_shapes/aabb.h:34,
                 from /home/jomoros/ws_moveit2/src/geometric_shapes/include/geometric_shapes/bodies.h:35,
                 from /home/jomoros/ws_moveit2/src/geometric_shapes/src/bodies.cpp:31:
In member function ‘Eigen::PlainObjectBase<Derived>& Eigen::PlainObjectBase<Derived>::operator=(Eigen::PlainObjectBase<Derived>&&) [with Derived = Eigen::Matrix<double, 3, 1>]’,
    inlined from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>&&) [with _Scalar = double; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’ at /usr/include/eigen3/Eigen/src/Core/Matrix.h:281:22,
    inlined from ‘virtual void bodies::ConvexMesh::useDimensions(const shapes::Shape*)’ at /home/jomoros/ws_moveit2/src/geometric_shapes/src/bodies.cpp:852:46:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:504:7: warning: ‘*(Eigen::DenseStorage<double, 3, 3, 1, 0>*)((char*)&<unnamed> + offsetof(Eigen::Vector3d, Eigen::Matrix<double, 3, 1, 0, 3, 1>::<unnamed>.Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >::<unnamed>.Eigen::MatrixBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >::<unnamed>.Eigen::DenseBase<Eigen::Matrix<double, 3, 1, 0, 3, 1> >::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 3>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 1>::<unnamed>.Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1, 0, 3, 1>, 0>::<unnamed>))’ may be used uninitialized [-Wmaybe-uninitialized]
  504 |       m_storage = std::move(other.m_storage);
      |       ^~~~~~~~~
/home/jomoros/ws_moveit2/src/geometric_shapes/src/bodies.cpp: In member function ‘virtual void bodies::ConvexMesh::useDimensions(const shapes::Shape*)’:
/home/jomoros/ws_moveit2/src/geometric_shapes/src/bodies.cpp:852:46: note: ‘<anonymous>’ declared here
  852 |   mesh_data_->mesh_center_ = Eigen::Vector3d();
      |                                              ^
---
Finished <<< geometric_shapes [56.4s]
Starting >>> moveit_core
[Processing: moveit_core]
[Processing: moveit_core]
[Processing: moveit_core]
[Processing: moveit_core]
[Processing: moveit_core]
[Processing: moveit_core]
[Processing: moveit_core]
[Processing: moveit_core]
Finished <<< moveit_core [4min 10s]
Starting >>> moveit_ros_occupancy_map_monitor
Starting >>> moveit_simple_controller_manager
Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin
Starting >>> chomp_motion_planner
Finished <<< moveit_simple_controller_manager [25.3s]
Starting >>> moveit_plugins
Finished <<< moveit_plugins [2.01s]
Starting >>> pilz_industrial_motion_planner_testutils
Finished <<< moveit_resources_prbt_ikfast_manipulator_plugin [41.8s]
Starting >>> moveit_ros_control_interface
Finished <<< chomp_motion_planner [52.9s]
Starting >>> moveit_chomp_optimizer_adapter
Finished <<< moveit_ros_occupancy_map_monitor [1min 0s]
Starting >>> moveit_ros_planning
Finished <<< moveit_chomp_optimizer_adapter [14.9s]
Starting >>> moveit_planners_chomp
Finished <<< moveit_ros_control_interface [27.7s]
Finished <<< pilz_industrial_motion_planner_testutils [49.5s]
Finished <<< moveit_planners_chomp [27.0s]
[Processing: moveit_ros_planning]
[Processing: moveit_ros_planning]
[Processing: moveit_ros_planning]
[Processing: moveit_ros_planning]
Finished <<< moveit_ros_planning [2min 57s]
Starting >>> moveit_kinematics
Starting >>> moveit_ros_warehouse
Starting >>> moveit_planners_ompl
Starting >>> moveit_ros_robot_interaction
[Processing: moveit_kinematics, moveit_planners_ompl, moveit_ros_robot_interaction, moveit_ros_warehouse]
[Processing: moveit_kinematics, moveit_planners_ompl, moveit_ros_robot_interaction, moveit_ros_warehouse]
[Processing: moveit_kinematics, moveit_planners_ompl, moveit_ros_robot_interaction, moveit_ros_warehouse]
Finished <<< moveit_kinematics [1min 32s]
Starting >>> moveit_ros_move_group
Finished <<< moveit_ros_robot_interaction [1min 33s]
Starting >>> moveit_ros_perception
[Processing: moveit_planners_ompl, moveit_ros_move_group, moveit_ros_perception, moveit_ros_warehouse]
Finished <<< moveit_ros_warehouse [2min 24s]
Starting >>> moveit_ros_benchmarks
[Processing: moveit_planners_ompl, moveit_ros_benchmarks, moveit_ros_move_group, moveit_ros_perception]
Finished <<< moveit_ros_perception [1min 36s]
Finished <<< moveit_ros_benchmarks [57.7s]
[Processing: moveit_planners_ompl, moveit_ros_move_group]
[Processing: moveit_planners_ompl, moveit_ros_move_group]
Finished <<< moveit_ros_move_group [2min 51s]
Starting >>> moveit_resources_prbt_moveit_config
Finished <<< moveit_resources_prbt_moveit_config [1.36s]
Starting >>> moveit_resources_prbt_pg70_support
Finished <<< moveit_resources_prbt_pg70_support [0.73s]
Finished <<< moveit_planners_ompl [4min 39s]
Starting >>> moveit_ros_planning_interface
[Processing: moveit_ros_planning_interface]
Finished <<< moveit_ros_planning_interface [41.4s]
Starting >>> moveit_ros_visualization
Starting >>> pilz_industrial_motion_planner
Starting >>> moveit_hybrid_planning
Starting >>> moveit_servo
[Processing: moveit_hybrid_planning, moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_hybrid_planning, moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_hybrid_planning, moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_hybrid_planning, moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
Finished <<< moveit_hybrid_planning [2min 30s]
[Processing: moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
[Processing: moveit_ros_visualization, moveit_servo, pilz_industrial_motion_planner]
Finished <<< moveit_servo [6min 39s]
Finished <<< pilz_industrial_motion_planner [7min 2s]
Starting >>> moveit_planners
Finished <<< moveit_planners [0.71s]
Starting >>> moveit_runtime
Finished <<< moveit_runtime [0.74s]
[Processing: moveit_ros_visualization]
Finished <<< moveit_ros_visualization [8min 2s]
Starting >>> moveit_ros
Starting >>> moveit_setup_assistant
Finished <<< moveit_ros [0.71s]
Starting >>> moveit
Finished <<< moveit [0.74s]
Finished <<< moveit_setup_assistant [27.9s]

Summary: 41 packages finished [22min 54s]
  2 packages had stderr output: geometric_shapes moveit_configs_utils

vatanaksoytezer commented 2 years ago

Looks good to me! I am closing the issue for now, feel free to open it if you are to have any more issues.

imshaaz21 commented 8 months ago

Hello, @jomoengineer thank you for reporting an issue. Any chance you missed the rosdep installation step as in: rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y?

Do you mind sharing the output of rosdep?

thanks

moveit / moveit2_tutorials