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open-dynamic-robot-initiative / robot_properties_solo

BSD 3-Clause "New" or "Revised" License
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Create option to run simulation through ROS and roslaunch with the existing launch files #24

Closed andrew103 closed 2 years ago

andrew103 commented 4 years ago

Currently, this repository is structured in the format of a ROS package and has all the elements of a ROS package including launch files. However, almost all the launch files fail on missing dependencies and there doesn't seem to be a guide on how to get all the dependencies installed and working correctly themselves. One of the dependencies I came across also doesn't seem to exist as a GitHub repository: robot_properties_stuggihop.

Output of ls in my catkin_ws/src/ directory ``` ati_ft_sensor/ mpi_cmake_modules/ serialization_utils/ tf2_msgs/ blmc_drivers/ pinocchio_bullet/ shared_memory/ tf2_py/ blmc_robots/ pybind11/ signal_handler/ tf2_ros/ CMakeLists.txt@ pybind11_catkin/ test_tf2/ tf2_sensor_msgs/ dg_blmc_robots/ real_time_tools/ tf2/ tf2_tools/ dynamic_graph_manager/ robot_interfaces/ tf2_bullet/ time_series/ geometry2/ robot_properties_solo/ tf2_eigen/ yaml_cpp_catkin/ master_board_sdk/ robot_properties_teststand/ tf2_geometry_msgs/ master_board_sdk_catkin/ rqt_dynamic_graph/ tf2_kdl/ ```

All these packages I had to discover from error messages, find on GitHub, install the package, attempt to compile, and repeat. After that process, there were other errors preventing catkin_make from compiling successfully that I have yet to solve.

From catkin_ws/build/CMakeFiles/CMakeError.log ``` Determining if the pthread_create exist failed with the following output: Change Dir: /home/andrew/Documents/School/MQP/solo_sim/catkin_ws/build/CMakeFiles/CMakeTmp Run Build Command:"/usr/bin/make" "cmTC_916b0/fast" /usr/bin/make -f CMakeFiles/cmTC_916b0.dir/build.make CMakeFiles/cmTC_916b0.dir/build make[1]: Entering directory '/home/andrew/Documents/School/MQP/solo_sim/catkin_ws/build/CMakeFiles/CMakeTmp' Building C object CMakeFiles/cmTC_916b0.dir/CheckSymbolExists.c.o /usr/bin/cc -o CMakeFiles/cmTC_916b0.dir/CheckSymbolExists.c.o -c /home/andrew/Documents/School/MQP/solo_sim/catkin_ws/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c Linking C executable cmTC_916b0 /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_916b0.dir/link.txt --verbose=1 /usr/bin/cc -rdynamic CMakeFiles/cmTC_916b0.dir/CheckSymbolExists.c.o -o cmTC_916b0 CMakeFiles/cmTC_916b0.dir/CheckSymbolExists.c.o: In function `main': CheckSymbolExists.c:(.text+0x1b): undefined reference to `pthread_create' collect2: error: ld returned 1 exit status CMakeFiles/cmTC_916b0.dir/build.make:97: recipe for target 'cmTC_916b0' failed make[1]: *** [cmTC_916b0] Error 1 make[1]: Leaving directory '/home/andrew/Documents/School/MQP/solo_sim/catkin_ws/build/CMakeFiles/CMakeTmp' Makefile:126: recipe for target 'cmTC_916b0/fast' failed make: *** [cmTC_916b0/fast] Error 2 File /home/andrew/Documents/School/MQP/solo_sim/catkin_ws/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c: /* */ #include int main(int argc, char** argv) { (void)argv; #ifndef pthread_create return ((int*)(&pthread_create))[argc]; #else (void)argc; return 0; #endif } Determining if the function pthread_create exists in the pthreads failed with the following output: Change Dir: /home/andrew/Documents/School/MQP/solo_sim/catkin_ws/build/CMakeFiles/CMakeTmp Run Build Command:"/usr/bin/make" "cmTC_3810d/fast" /usr/bin/make -f CMakeFiles/cmTC_3810d.dir/build.make CMakeFiles/cmTC_3810d.dir/build make[1]: Entering directory '/home/andrew/Documents/School/MQP/solo_sim/catkin_ws/build/CMakeFiles/CMakeTmp' Building C object CMakeFiles/cmTC_3810d.dir/CheckFunctionExists.c.o /usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_3810d.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.10/Modules/CheckFunctionExists.c Linking C executable cmTC_3810d /usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_3810d.dir/link.txt --verbose=1 /usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -rdynamic CMakeFiles/cmTC_3810d.dir/CheckFunctionExists.c.o -o cmTC_3810d -lpthreads /usr/bin/ld: cannot find -lpthreads collect2: error: ld returned 1 exit status CMakeFiles/cmTC_3810d.dir/build.make:97: recipe for target 'cmTC_3810d' failed make[1]: *** [cmTC_3810d] Error 1 make[1]: Leaving directory '/home/andrew/Documents/School/MQP/solo_sim/catkin_ws/build/CMakeFiles/CMakeTmp' Makefile:126: recipe for target 'cmTC_3810d/fast' failed make: *** [cmTC_3810d/fast] Error 2 ```
MaximilienNaveau commented 2 years ago

Hi, I am sorry I did not notice this issue before, this package has for sole purpose to provide configuration files and meshes for the solo robot. The launch files where prototype for the rviz compatibility. This package has been remodeled as a pure python package. Best