ikfast.h template file is not installed.

[hersh]

The build files do not install templates/ikfast.h, so this package only works when people check out the source, not when they install the debian package.

[gavanderhoorn]

@davetcoleman: should that file actually be installed?

[bit-pirate]

@davetcoleman: should that file actually be installed?

Well, the script needs it. So, either the header is installed when installing the deb or the script should look in the specified solver path for it (assuming the generated header there is the same as in this package).

[gavanderhoorn]

@bit-pirate: ah, do I understand you correctly that this ticket is about the binary debs of moveit_ikfast itself then, rather than the generated plugin packages?

[bit-pirate]

@bit-pirate: ah, do I understand you correctly that this ticket is about the binary debs of moveit_ikfast itself then, rather than the generated plugin packages?

Yes. At least that is what I am assuming. :smiley:

[hersh]

That's right, this ticket is about the debian package of moveit_ikfast being unusable for its intended purpose because the template file is missing.

[pirobot]

This issue still seems to be unfixed in the latest Debian Hydro install under Ubuntu 12.04. The error I get when trying to create the plugin is as follows:

$ rosrun moveit_ikfast create_ikfast_moveit_plugin.py pi_robot right_arm pi_robot_ikfast_right_arm_plugin `pwd`/output_ikfast61.cpp

IKFast Plugin Generator
Loading robot from 'pi_robot_moveit_config' package ... 
Creating plugin in 'pi_robot_ikfast_right_arm_plugin' package ... 
  found 2 planning groups: right_arm, right_gripper
  found group 'right_arm'
  found source code generated by IKFast version 61

ERROR: can't find ikfast header file at '/opt/ros/hydro/share/moveit_ikfast/templates/ikfast.h'

[gavanderhoorn]

@pirobot: seems you're right. The CMakeLists.txt only contains:

install(
  PROGRAMS
    scripts/create_ikfast_moveit_plugin.py
    scripts/round_collada_numbers.py
  DESTINATION
    ${CATKIN_PACKAGE_BIN_DESTINATION}
)

Nothing for ikfast.h. Or any of the other files in the templates directory.

[davetcoleman]

+1 sorry for being late to the party