catkin_make plugin fails with ‘kinematics::KinematicsResult’ has not been declared

[pirobot]

I'm trying to get my IKFast plugin to build under Ubuntu 14.04 and ROS Indigo debian install. I am using the source install of moveit_ikfast because of a bug in the debian version that has been fixed in source but not yet pushed to the debs.

As for OpenRave, I am using a source install from the master branch which compiles fine and generates my .cpp file.

After creating my empty plugin package, running catkin_make yields the following error which causes the plugin not to be built:

/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:178:42: error: ‘kinematics::KinematicsResult’ has not been declared

The rest of the output is as follows:

                              kinematics::KinematicsResult& result,
                                          ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:302:41: error: ‘kinematics::DiscretizationMethod’ has not been declared
   bool sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const;
                                         ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp: In constructor ‘ikfast_kinematics_plugin::IKFastKinematicsPlugin::IKFastKinematicsPlugin()’:
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:139:5: error: ‘supported_methods_’ was not declared in this scope
     supported_methods_.push_back(kinematics::DiscretizationMethods::NO_DISCRETIZATION);
     ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:139:46: error: ‘kinematics::DiscretizationMethods’ has not been declared
     supported_methods_.push_back(kinematics::DiscretizationMethods::NO_DISCRETIZATION);
                                              ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:140:46: error: ‘kinematics::DiscretizationMethods’ has not been declared
     supported_methods_.push_back(kinematics::DiscretizationMethods::ALL_DISCRETIZED);
                                              ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:141:46: error: ‘kinematics::DiscretizationMethods’ has not been declared
     supported_methods_.push_back(kinematics::DiscretizationMethods::ALL_RANDOM_SAMPLED);
                                              ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp: In member function ‘void ikfast_kinematics_plugin::IKFastKinematicsPlugin::setSearchDiscretization(const std::map<int, double>&)’:
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:456:3: error: ‘redundant_joint_discretization_’ was not declared in this scope
   redundant_joint_discretization_.clear();
   ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp: At global scope:
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1058:56: error: ‘kinematics::KinematicsResult’ has not been declared
                                            kinematics::KinematicsResult& result,
                                                        ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp: In member function ‘bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::getPositionIK(const std::vector<geometry_msgs::Pose_<std::allocator<void> > >&, const std::vector<double>&, std::vector<std::vector<double> >&, int&, const kinematics::KinematicsQueryOptions&) const’:
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1066:12: error: request for member ‘kinematic_error’ in ‘result’, which is of non-class type ‘int’
     result.kinematic_error = kinematics::KinematicErrors::SOLVER_NOT_ACTIVE;
            ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1066:42: error: ‘kinematics::KinematicErrors’ has not been declared
     result.kinematic_error = kinematics::KinematicErrors::SOLVER_NOT_ACTIVE;
                                          ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1073:12: error: request for member ‘kinematic_error’ in ‘result’, which is of non-class type ‘int’
     result.kinematic_error = kinematics::KinematicErrors::EMPTY_TIP_POSES;
            ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1073:42: error: ‘kinematics::KinematicErrors’ has not been declared
     result.kinematic_error = kinematics::KinematicErrors::EMPTY_TIP_POSES;
                                          ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1080:12: error: request for member ‘kinematic_error’ in ‘result’, which is of non-class type ‘int’
     result.kinematic_error = kinematics::KinematicErrors::MULTIPLE_TIPS_NOT_SUPPORTED;
            ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1080:42: error: ‘kinematics::KinematicErrors’ has not been declared
     result.kinematic_error = kinematics::KinematicErrors::MULTIPLE_TIPS_NOT_SUPPORTED;
                                          ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1105:16: error: ‘const struct kinematics::KinematicsQueryOptions’ has no member named ‘discretization_method’
     if(options.discretization_method == kinematics::DiscretizationMethods::NO_DISCRETIZATION &&
                ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1105:53: error: ‘kinematics::DiscretizationMethods’ has not been declared
     if(options.discretization_method == kinematics::DiscretizationMethods::NO_DISCRETIZATION &&
                                                     ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1114:16: error: request for member ‘kinematic_error’ in ‘result’, which is of non-class type ‘int’
         result.kinematic_error = kinematics::KinematicErrors::IK_SEED_OUTSIDE_LIMITS;
                ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1114:46: error: ‘kinematics::KinematicErrors’ has not been declared
         result.kinematic_error = kinematics::KinematicErrors::IK_SEED_OUTSIDE_LIMITS;
                                              ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1123:38: error: ‘const struct kinematics::KinematicsQueryOptions’ has no member named ‘discretization_method’
     if(!sampleRedundantJoint(options.discretization_method,sampled_joint_vals))
                                      ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1125:14: error: request for member ‘kinematic_error’ in ‘result’, which is of non-class type ‘int’
       result.kinematic_error = kinematics::KinematicErrors::UNSUPORTED_DISCRETIZATION_REQUESTED;
              ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1125:44: error: ‘kinematics::KinematicErrors’ has not been declared
       result.kinematic_error = kinematics::KinematicErrors::UNSUPORTED_DISCRETIZATION_REQUESTED;
                                            ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1191:14: error: request for member ‘kinematic_error’ in ‘result’, which is of non-class type ‘int’
       result.kinematic_error = kinematics::KinematicErrors::OK;
              ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1191:44: error: ‘kinematics::KinematicErrors’ has not been declared
       result.kinematic_error = kinematics::KinematicErrors::OK;
                                            ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1200:10: error: request for member ‘kinematic_error’ in ‘result’, which is of non-class type ‘int’
   result.kinematic_error = kinematics::KinematicErrors::NO_SOLUTION;
          ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1200:40: error: ‘kinematics::KinematicErrors’ has not been declared
   result.kinematic_error = kinematics::KinematicErrors::NO_SOLUTION;
                                        ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp: At global scope:
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1204:63: error: ‘bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::sampleRedundantJoint’ is not a static member of ‘class ikfast_kinematics_plugin::IKFastKinematicsPlugin’
 bool IKFastKinematicsPlugin::sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const
                                                               ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1204:51: error: ‘DiscretizationMethod’ is not a member of ‘kinematics’
 bool IKFastKinematicsPlugin::sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const
                                                   ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1204:111: error: expected primary-expression before ‘&’ token
 bool IKFastKinematicsPlugin::sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const
                                                                                                               ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1204:113: error: ‘sampled_joint_vals’ was not declared in this scope
 bool IKFastKinematicsPlugin::sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const
                                                                                                                 ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1204:131: error: expression list treated as compound expression in initializer [-fpermissive]
 bool IKFastKinematicsPlugin::sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const
                                                                                                                                   ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1204:133: error: expected ‘,’ or ‘;’ before ‘const’
 bool IKFastKinematicsPlugin::sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const
                                                                                                                                     ^
/home/patrick/catkin_ws/src/pi_robot_ikfast_right_arm_plugin/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp:1258:101: error: expected ‘}’ at end of input
 PLUGINLIB_EXPORT_CLASS(ikfast_kinematics_plugin::IKFastKinematicsPlugin, kinematics::KinematicsBase);
                                                                                                     ^
make[2]: *** [pi_robot_ikfast_right_arm_plugin/CMakeFiles/pi_robot_right_arm_moveit_ikfast_plugin.dir/src/pi_robot_right_arm_ikfast_moveit_plugin.cpp.o] Error 1
make[1]: *** [pi_robot_ikfast_right_arm_plugin/CMakeFiles/pi_robot_right_arm_moveit_ikfast_plugin.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

[gavanderhoorn]

Could you add which specific commit you are at? Some changes were recently merged that may affect this, so it's important to know which particular version you are using.

[jrgnicho]

The PR #51 introduced some significant changes that are related to recent api changes in the KinematicsBase class in moveit_core. However, those changes were merged into jade-devel only and so the indigo-devel branch should have not been affected.

[pirobot]

@gavanderhoorn, this is my commit info:

commit b8edeb68fc5c41bc4410f8ae47c3b1365495fdfb Merge: 8f650b1 7cdd86f Author: Dave Coleman davetcoleman@gmail.com Date: Wed Jun 24 23:39:56 2015 -0700

Merge pull request #51 from jrgnicho/kinematic_base_changes

KinematicsBase changes

[jrgnicho]

The changes in that commit should be part of jade-devel only. Is there anyway that you could use the indigo-devel branch instead?

[pirobot]

Ooops--my bad. Did not notice that the default distribution is now jade-devel. Sorry about that. Works fine now that I am using indigo-devel. Closing the ticket.

[gavanderhoorn]

@pirobot & @jrgnicho: that was exactly why I asked. Glad that it worked for you after all @pirobot.