search

moveit / moveit_tutorials

A sphinx-based centralized documentation repo for MoveIt
https://moveit.github.io/moveit_tutorials/
BSD 3-Clause "New" or "Revised" License
463 stars 692 forks source link

Errors When adding EIT* to moveit #806

Closed yw1055 closed 5 months ago

yw1055 commented 7 months ago

Hello, I am trying to add EIT* to move it!, and integrate our planner later, but I encountered the following error:

Starting >>> pilz_industrial_motion_planner

Errors << moveit_planners_ompl:make /home/user/logs/moveit_planners_ompl/build.make.025.log
/home/user/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp:74:10: fatal error: ompl/geometric/planners/informedtrees/EITstar.h: No such file or directory 74 | #include <ompl/geometric/planners/informedtrees/EITstar.h> | ^~~~~~~~~~~~~ compilation terminated. make[2]: [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/build.make:90: ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/planning_context_manager.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:2545: ompl_interface/CMakeFiles/moveit_ompl_interface.dir/all] Error 2 make: *** [Makefile:146: all] Error 2 cd /home/user/build/moveit_planners_ompl; catkin build --get-env moveit_planners_ompl | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

........................................................................................................................................................................................................ Failed << moveit_planners_ompl:make [ Exited with code 2 ]
Failed <<< moveit_planners_ompl [ 2.6 seconds ]
Abandoned <<< moveit [ Unrelated job failed ]
Abandoned <<< moveit_planners [ Unrelated job failed ]
Abandoned <<< moveit_ros [ Unrelated job failed ]
Abandoned <<< moveit_runtime [ Unrelated job failed ]
Abandoned <<< panda_moveit_config [ Unrelated job failed ]
Abandoned <<< moveit_tutorials [ Unrelated job failed ]
Finished <<< moveit_servo [ 0.8 seconds ]
Finished <<< pilz_industrial_motion_planner [ 0.4 seconds ]
Finished <<< moveit_setup_assistant [ 0.4 seconds ]
Finished <<< moveit_ros_benchmarks [ 17.4 seconds ]
[build] Summary: 41 of 48 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 6 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 22.6 seconds total.

Has anyone else faced this issue? If so, could you share how you resolved it? Any help or suggestions would be greatly appreciated! Thank you!

welcome[bot] commented 7 months ago

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

rhaschke commented 7 months ago

Obviously you are using a too old version of OMPL: Missing include: ompl/geometric/planners/informedtrees/EITstar.h

yw1055 commented 7 months ago

I think I am using the latest version！😄

Get Outlook for iOShttps://aka.ms/o0ukef

From: Robert Haschke @.> Sent: Monday, December 11, 2023 5:56:08 AM To: ros-planning/moveit_tutorials @.> Cc: Yi Wang @.>; Author @.> Subject: Re: [ros-planning/moveit_tutorials] Errors When adding EIT* to moveit (Issue #806)

CAUTION: This email originated from outside of the University System. Do not click links or open attachments unless you recognize the sender and know the content is safe.

Obviously you are using a too old version of OMPL: Missing include: ompl/geometric/planners/informedtrees/EITstar.h

— Reply to this email directly, view it on GitHubhttps://github.com/ros-planning/moveit_tutorials/issues/806#issuecomment-1849827565, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AM5T7RJHFOJXIVIMVVZFY33YI3RERAVCNFSM6AAAAABAPB3RCSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQNBZHAZDONJWGU. You are receiving this because you authored the thread.Message ID: @.***>

rhaschke commented 7 months ago

OMPL 1.6 (the default in Focal/Noetic) doesn't include EITstar.h:

> ls /opt/ros/noetic/include/ompl-1.6/ompl/geometric/planners/informedtrees
ABITstar.h  aitstar  AITstar.h  bitstar  BITstar.h

Check that the file actually exists and that you MoveIt is using the OMPL version you are thinking it should use.

yw1055 commented 7 months ago

I cloned the ompl into user/src: ls /home/user/src/ompl/src/ompl/geometric/planners/informedtrees ABITstar.h AITstar.h BITstar.h eitstar src aitstar bitstar EIRMstar.h EITstar.h

BTW, user is ws_moveit. Do you mean I have to link to /opt/ros/noetic/include/ ? Thanks a lot for your help!

From: Robert Haschke @.> Sent: Monday, December 11, 2023 9:02 AM To: ros-planning/moveit_tutorials @.> Cc: Yi Wang @.>; Author @.> Subject: Re: [ros-planning/moveit_tutorials] Errors When adding EIT* to move it (Issue #806)

You don't often get email from @.*** Learn why this is importanthttps://aka.ms/LearnAboutSenderIdentification CAUTION: This email originated from outside of the University System. Do not click links or open attachments unless you recognize the sender and know the content is safe.

OMPL 1.6 (the default in Focal/Noetic) doesn't include EITstar.h:

ls /opt/ros/noetic/include/ompl-1.6/ompl/geometric/planners/informedtrees ABITstar.h aitstar AITstar.h bitstar BITstar.h

Check that the file actually exists and that you MoveIt is using the OMPL version you are thinking it should use.

— Reply to this email directly, view it on GitHubhttps://github.com/ros-planning/moveit_tutorials/issues/806#issuecomment-1850142817, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AM5T7ROZ5SWMVHZO2J6XHHTYI4HABAVCNFSM6AAAAABAPB3RCSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMYTQNJQGE2DEOBRG4. You are receiving this because you authored the thread.

rhaschke commented 7 months ago

You need to point the MoveIt build to your own OMPL build by passing -DOMPL_DIR=... to cmake.

yw1055 commented 7 months ago

ok, thanks a lot for your suggestion.

simonschmeisser commented 7 months ago

Simply putting everything in a catkin workspace and cleaning and recompiling everything should also work

Am Montag, 11. Dezember 2023 schrieb Robert Haschke:

You need to point the MoveIt build to your own OMPL build by passing -DOMPL_DIR=... to cmake.

-- Reply to this email directly or view it on GitHub: https://github.com/ros-planning/moveit_tutorials/issues/806#issuecomment-1850257574 You are receiving this because you are subscribed to this thread.

Message ID: @.***

-- Gesendet von meinem Sailfish

yw1055 commented 7 months ago

Simply putting everything in a catkin workspace and cleaning and recompiling everything should also work Am Montag, 11. Dezember 2023 schrieb Robert Haschke: … You need to point the MoveIt build to your own OMPL build by passing -DOMPL_DIR=... to cmake. -- Reply to this email directly or view it on GitHub: #806 (comment) You are receiving this because you are subscribed to this thread. Message ID: @.*** -- Gesendet von meinem Sailfish

I am trying to follow your suggestion, but when I clean build and develop, I got new errors: /home/user/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h:39:10: fatal error: ompl/base/StateSpace.h: No such file or directory 39 | #include <ompl/base/StateSpace.h> | ^~~~~~~~ compilation terminated. But, thanks your suggestion and I have to fix these errors.

yw1055 commented 7 months ago

You need to point the MoveIt build to your own OMPL build by passing -DOMPL_DIR=... to cmake. Hi Robert, Thanks for your response. I tried following your suggestion about configuring OMPL with MoveIt using "cmake -DOMPL_DIR=/home/user/src/ompl " , but I'm still facing challenges. I'm quite familiar with OMPL but new to MoveIt. Would you be able to provide more detailed instructions or steps? Additionally, I've been trying to locate where the path is set to /opt/ros/noetic/include/, but haven't had success with that either. Any further guidance would be greatly appreciated. Thank you so much for your help!

rhaschke commented 7 months ago

This is nothing specific to MoveIt. You just need to apply standard cmake rules. Thus, if you installed OMPL, you need to point OMPL_DIR to the location of the installed omplConfig.cmake file. Simon pointed out an even simpler solution: putting both OMPL and MoveIt into your catkin workspace and building everything from there.

yw1055 commented 7 months ago

This is nothing specific to MoveIt. You just need to apply standard cmake rules. Thus, if you installed OMPL, you need to point OMPL_DIR to the location of the installed omplConfig.cmake file. Simon pointed out an even simpler solution: putting both OMPL and MoveIt into your catkin workspace and building everything from there.

I appreciate your suggestion and have attempted to follow it, but unfortunately, the issue persists. It appears that integrating a custom planner into MoveIt is more complex than implementing a planner directly in OMPL. Thank you again.

simonschmeisser commented 7 months ago

It should be as simple as

mkdir -p ws/src
cd ws/src
git clone https://github.com/ompl/ompl
git clone https://github.com/ros-planning/moveit
source /opt/ros/noetic/setup.bash
cd ..
catkin build

if you still run into issues please provide more details like catkin config, logs, etc.

yw1055 commented 7 months ago

It should be as simple as

mkdir -p ws/src
cd ws/src
git clone https://github.com/ompl/ompl
git clone https://github.com/ros-planning/moveit
source /opt/ros/noetic/setup.bash
cd ..
catkin build

if you still run into issues please provide more details like catkin config, logs, etc.

Errors << moveit_planners_ompl:make /home/yw1055/logs/moveit_planners_ompl/build.make.073.log In file included from /home/yw1055/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:39, from /home/yw1055/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:39, from /home/yw1055/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:39, from /home/yw1055/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37: /home/yw1055/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h:39:10: fatal error: ompl/base/StateSpace.h: No such file or directory 39 | #include <ompl/base/StateSpace.h> | ^~~~~~~~ compilation terminated. make[2]: [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/build.make:76: ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/ompl_interface.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:2545: ompl_interface/CMakeFiles/moveit_ompl_interface.dir/all] Error 2 make: *** [Makefile:146: all] Error 2 cd /home/yw1055/build/moveit_planners_ompl; catkin build --get-env moveit_planners_ompl | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

............................................................................... Failed << moveit_planners_ompl:make [ Exited with code 2 ] Failed <<< moveit_planners_ompl [ 3.3 seconds ] Abandoned <<< moveit [ Unrelated job failed ] Abandoned <<< moveit_planners [ Unrelated job failed ] Abandoned <<< moveit_plugins [ Unrelated job failed ] Abandoned <<< moveit_commander [ Unrelated job failed ] Abandoned <<< moveit_ros [ Unrelated job failed ] Abandoned <<< moveit_runtime [ Unrelated job failed ] Abandoned <<< panda_moveit_config [ Unrelated job failed ] Abandoned <<< moveit_ros_move_group [ Unrelated job failed ] Abandoned <<< moveit_ros_manipulation [ Unrelated job failed ] Abandoned <<< moveit_ros_benchmarks [ Unrelated job failed ] Abandoned <<< moveit_ros_planning_interface [ Unrelated job failed ] Abandoned <<< moveit_planners_chomp [ Unrelated job failed ] Abandoned <<< moveit_ros_visualization [ Unrelated job failed ] Abandoned <<< moveit_servo [ Unrelated job failed ] Abandoned <<< moveit_setup_assistant [ Unrelated job failed ] Abandoned <<< moveit_tutorials [ Unrelated job failed ] Abandoned <<< pilz_industrial_motion_planner_testutils [ Unrelated job failed ] Abandoned <<< pilz_industrial_motion_planner [ Unrelated job failed ] Finished <<< moveit_fake_controller_manager [ 20.1 seconds ]
Finished <<< moveit_ros_robot_interaction [ 37.7 seconds ]
Finished <<< moveit_ros_perception [ 1 minute and 3.1 seconds ]
Finished <<< moveit_visual_tools [ 1 minute and 10.0 seconds ]
Finished <<< moveit_kinematics [ 1 minute and 11.3 seconds ]
Finished <<< moveit_ros_warehouse [ 1 minute and 11.5 seconds ]
[build] Summary: 30 of 49 packages succeeded.
[build] Ignored: None.
[build] Warnings: 30 packages succeeded with warnings.
[build] Abandoned: 18 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 8 minutes and 21.0 seconds total.

Hi Simon,

Thank you for your suggestion. I've been following the steps you outlined, but I'm still encountering errors similar to those I experienced yesterday. Specifically, I attempted to point OMPL_INCLUDE_DIRS in src/moveit/moveit_planners/ompl/CMakeLists.txt to /usr/local/include/ompl-1.6/ompl this morning. I made this change because I noticed that EITstar.h is located in that directory. Despite this adjustment, the errors persist. BTW, only clone git clone https://github.com/ros-planning/moveit, you will lost other directories, like geometric_shapes.

Could you provide any further guidance or suggestions? Resolving this issue is crucial for me, as the manipulator problem is the last experimental comparison I need to make with the current state-of-the-art planners.

Thank you so much for your help.

simonschmeisser commented 7 months ago

I assumed you have all MoveIt packages and dependencies installed as debian packages as well.

Did you clone and build ompl as well? Please provide the full output via https://gist.github.com/ or similar

yw1055 commented 7 months ago

I assumed you have all MoveIt packages and dependencies installed as debian packages as well. Yes, I have installed all MoveIt packages and their dependencies as debian packages. I found that merely following your seven-line suggestion led to errors, such as the absence of 'geometric_shapes'. Did you clone and build ompl as well? Please provide the full output via https://gist.github.com/ or similar I have only cloned OMPL but have not proceeded with building it. I followed your instructions precisely, since I am concerned about potential errors if I deviate from these instructions.

yw1055 commented 7 months ago

For anyone who will meet the same issue: I already successfully added EITstar to moveit! Following is my resolution:

  1. mkdir -p build/Release
  2. cd build/Release
  3. cmake ../..
  4. cmake -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic ../..
  5. go to ~/src/moveit/moveit_planners/ompl. In CmakeLists.txt, change find_package(ompl REQUIRED) to change find_package(ompl)
  6. cd ~/src/moveit/moveit_planners/ompl/ompl_interface, after line1 add set(OMPL_LIBRARIES "/opt/ros/noetic/lib/x86_64-linux-gnu/libompl.so")
  7. following above should work Mine works. I hope this resolution can help and save your time.

EDIT from maintainer: The suggested modifications to MoveIt cmake files are not needed! If so, cmake wasn't able to find OMPL correctly.

yw1055 commented 7 months ago

It should be as simple as

mkdir -p ws/src
cd ws/src
git clone https://github.com/ompl/ompl
git clone https://github.com/ros-planning/moveit
source /opt/ros/noetic/setup.bash
cd ..
catkin build

if you still run into issues please provide more details like catkin config, logs, etc.

I have solved this problem and post my resolution, but I got another issues, do you have any suggestions: when I run EIT* on Moveit, it shows the following errors:

[ INFO] [1702963608.130321083]: Using planning pipeline 'ompl' [ERROR] [1702963608.137822379]: Unknown planner: 'geometric::EITstar' [ INFO] [1702963608.137979514]: Planner configuration 'panda_arm[EITstar]' will use planner 'geometric::EITstar'. Additional configuration parameters will be set when the planner is constructed. [ERROR] [1702963608.138928178]: Exception caught executing adapter 'Fix Start State Path Constraints': bad_function_call Skipping adapter instead. [ WARN] [1702963608.146283620]: Goal sampling thread never did any work. [ERROR] [1702963608.149505999]: Unknown planner: 'geometric::EITstar' [ INFO] [1702963608.149638935]: Planner configuration 'panda_arm[EITstar]' will use planner 'geometric::EITstar'. Additional configuration parameters will be set when the planner is constructed. [ERROR] [1702963608.150060330]: Exception caught executing adapter 'Fix Start State In Collision': bad_function_call Skipping adapter instead. [ WARN] [1702963608.158429168]: Goal sampling thread never did any work. [ERROR] [1702963608.162115396]: Unknown planner: 'geometric::EITstar' [ INFO] [1702963608.162285068]: Planner configuration 'panda_arm[EITstar]' will use planner 'geometric::EITstar'. Additional configuration parameters will be set when the planner is constructed. [ERROR] [1702963608.162727207]: Exception caught executing adapter 'Fix Start State Path Constraints': bad_function_call Skipping adapter instead. [ WARN] [1702963608.170903737]: Goal sampling thread never did any work. [ERROR] [1702963608.174163551]: Unknown planner: 'geometric::EITstar' [ INFO] [1702963608.174270955]: Planner configuration 'panda_arm[EITstar]' will use planner 'geometric::EITstar'. Additional configuration parameters will be set when the planner is constructed. [ERROR] [1702963608.174698925]: Exception caught executing adapter 'Fix Start State Bounds': bad_function_call Skipping adapter instead. [ WARN] [1702963608.182978372]: Goal sampling thread never did any work. [ERROR] [1702963608.186507855]: Unknown planner: 'geometric::EITstar' [ INFO] [1702963608.186623227]: Planner configuration 'panda_arm[EITstar]' will use planner 'geometric::EITstar'. Additional configuration parameters will be set when the planner is constructed. [ERROR] [1702963608.187023258]: Exception caught executing ad

yw1055 commented 7 months ago

This is nothing specific to MoveIt. You just need to apply standard cmake rules. Thus, if you installed OMPL, you need to point OMPL_DIR to the location of the installed omplConfig.cmake file. Simon pointed out an even simpler solution: putting both OMPL and MoveIt into your catkin workspace and building everything from there.

Iusse has been solved. Thanks for your previous suggestion.

rhaschke commented 7 months ago

[ERROR] [1702963608.137822379]: Unknown planner: 'geometric::EITstar'

You need to register the planner with MoveIt: https://github.com/ros-planning/moveit/tree/master/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp#L304-L306

simonschmeisser commented 7 months ago

Your solution looks very hacky to me, the official why like I wrote it or how it is written in the documentation should work. But without logs it is hard to help you

yw1055 commented 7 months ago

[ERROR] [1702963608.137822379]: Unknown planner: 'geometric::EITstar'

You need to register the planner with MoveIt: https://github.com/ros-planning/moveit/tree/master/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp#L304-L306

The errors occur after registering the planner.

yw1055 commented 7 months ago

Your solution looks very hacky to me, the official why like I wrote it or how it is written in the documentation should work. But without logs it is hard to help you

Thank you for your input. I understand that the method you suggested aligns with the official documentation, and under normal circumstances, it should work effectively. However, when I tried implementing it, I ran into the above errors.

yw1055 commented 5 months ago

A new update: Hi Robert and Simon, I have been working on another project and already submitted my results to IJCAI, so now I'm back to working on the sampling-based planner. I reinstalled OMPL and MoveIt, and it looks like Simon's previous suggestion kind of works, but only when using catkin_make_isolated. Anyway, I finally managed to add a custom planner (EIT*) to MoveIt 20 minutes ago. The new problem is a symbol lookup error in move_group:

[ INFO] [1705899674.055363957]: Using planning pipeline 'ompl' /home/yiwang/new_ws/devel_isolated/moveit_ros_move_group/lib/moveit_ros_move_group/move_group: symbol lookup error: /home/yiwang/new_ws/devel_isolated/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.1.1.13: undefined symbol: _ZN4ompl5tools9BenchmarkC1ERNS_9geometric11SimpleSetupERKNSt7cxx1112basic_stringIcSt11char_traitsIcESaIcEEE [move_group-5] process has died [pid 54234, exit code 127, cmd /home/yiwang/new_ws/devel_isolated/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --debug name:=move_group __log:=/home/yiwang/.ros/log/2576f3de-b8e3-11ee-9347-fbcb5429de13/move_group-5.log]. log file: /home/yiwang/.ros/log/2576f3de-b8e3-11ee-9347-fbcb5429de13/move_group-5*.log

I have less experience with MoveIt, so do you have any suggestions on how to resolve this error? Thank you.

yw1055 commented 5 months ago

I have successfully integrated the EIT* planner into MoveIt using Simon's method. It's unclear why this approach didn't work on my computer two months ago, but it's now functioning correctly. For anyone encountering issues, building with sudo catkin build or sudo catkin_make may offer a solution. I consider this issue resolved and am closing it.