moveit_task_constrctor failed when i colcon build

[galversano]

hello, i follow the tutorial for pick and place, when i build moveit_task_constructor i get a lot of errors (moveit_core)

uctor/merge.h:42:10: fatal error: moveit/trajectory_processing/time_parameterization.h: No such file or directory 42 | #include <moveit/trajectory_processing/time_parameterization.h> | ^~~~~~~~~~~~~~ compilation terminated. make[2]: [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:115: src/CMakeFiles/moveit_task_constructor_core.dir/merge.cpp.o] Error 1 make[2]: Waiting for unfinished jobs.... In file included from /home/gal/ws_moveit2/src/moveit_task_constructor/core/include/moveit/task_constructor/task_p.h:42, from /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/introspection.cpp:38: /home/gal/ws_moveit2/src/moveit_task_constructor/core/include/moveit/task_constructor/task.h:50:10: fatal error: moveit/utils/moveit_error_code.h: No such file or directory 50 | #include <moveit/utils/moveit_error_code.h> | ^~~~~~~~~~ compilation terminated. make[2]: [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:89: src/CMakeFiles/moveit_task_constructor_core.dir/introspection.cpp.o] Error 1 In file included from /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/container.cpp:39: /home/gal/ws_moveit2/src/moveit_task_constructor/core/include/moveit/task_constructor/merge.h:42:10: fatal error: moveit/trajectory_processing/time_parameterization.h: No such file or directory 42 | #include <moveit/trajectory_processing/time_parameterization.h> | ^~~~~~~~~~~~~~ compilation terminated. make[2]: [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:63: src/CMakeFiles/moveit_task_constructor_core.dir/container.cpp.o] Error 1 /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp: In member function ‘virtual bool moveit::task_constructor::Connecting::compatible(const moveit::task_constructor::InterfaceState&, const moveit::task_constructor::InterfaceState&) const’: /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:905:22: error: ‘using element_type = struct collision_detection::World::Object’ {aka ‘struct collisiondetection::World::Object’} has no member named ‘pose’ 905 | if (!(fromobject->pose.matrix() - toobject->pose.matrix()).isZero(1e-4)) { | ^~~~~ /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:905:50: error: ‘using element_type = const struct collision_detection::World::Object’ {aka ‘const struct collisiondetection::World::Object’} has no member named ‘pose’ 905 | if (!(fromobject->pose.matrix() - toobject->pose.matrix()).isZero(1e-4)) { | ^~~~~ /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:955:31: error: ‘const class moveit::core::AttachedBody’ has no member named ‘getShapePosesInLinkFrame’ 955 | auto from_it = from_object->getShapePosesInLinkFrame().cbegin(); | ^~~~~~~~ /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:956:32: error: ‘const class moveit::core::AttachedBody’ has no member named ‘getShapePosesInLinkFrame’ 956 | auto from_end = from_object->getShapePosesInLinkFrame().cend(); | ^~~~~~~~ /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:957:27: error: ‘const class moveit::core::AttachedBody’ has no member named ‘getShapePosesInLinkFrame’ 957 | auto to_it = to_object->getShapePosesInLinkFrame().cbegin(); | ^~~~~~~~ make[2]: [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:141: src/CMakeFiles/moveit_task_constructor_core.dir/stage.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:264: src/CMakeFiles/moveit_task_constructor_core.dir/all] Error 2 make: *** [Makefile:141: all] Error 2

im using ros2 foxy. can anyone help me? thank you.

[rhaschke]

Looks like you are using incompatible versions of various source packages. Please list the versions of MoveIt and MTC you are using from source.

[galversano]

Looks like you are using incompatible versions of various source packages. Please list the versions of MoveIt and MTC you are using from source.

hey, i follow this tutorial: https://moveit.picknik.ai/humble/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.html

i source the MTC with this command: git clone https://github.com/ros-planning/moveit_task_constructor.git -b ros2

and the version of moveit i used is with this command: https://github.com/ros-planning/moveit2_tutorials/tree/foxy

im using ros2 foxy. can you help please?

[Eser-TU]

hello did you solve the problem?

[rhaschke]

The old Foxy release doesn't work with the latest ros2 branch. Try to use the humble branch instead.