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philwall3 / UR5-with-Robotiq-Gripper-and-Kinect

This package enables an UR5 arm with a Robotiq 85 Gripper to be used with ros_control and MoveIt!. A Microsoft Kinect is used to create an Octomap.
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Cannot build; dependencies unclear #2

Open felixvd opened 6 years ago

felixvd commented 6 years ago

I found this repository from this thread. I cloned it into a clean workspace but sadly I cannot build it. It seems that there are some undeclared dependencies, but I am not sure if something else is going wrong, too.

Until now, I did this:

  1. Add this openni_camera package
  2. Install the modbus drivers as described here, via easy_install -U pymodbus
  3. Comment "catkin_python_setup()" in robotiq_85_gripper-master/robotiq_85_driver/CMakeLists.txt
  4. Add add_definitions (-std=c++11) to robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/CMakeLists.txt

But I am still getting a significant amount of errors:

Errors     << robotiq_2f_hw_usb:cmake /root/catkin_ws/logs/robotiq_2f_hw_usb/build.cmake.007.log
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'modbus' but neither 'modbus_INCLUDE_DIRS' nor
  'modbus_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  CMakeLists.txt:93 (catkin_package)

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
MODBUS_INCLUDE_DIR (ADVANCED)
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
   used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
MODBUS_LIBRARIES (ADVANCED)
    linked by target "robotiq_2f_hw_usb_node" in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb

cd /root/catkin_ws/build/robotiq_2f_hw_usb; catkin build --get-env robotiq_2f_hw_usb | catkin env -si  /usr/bin/cmake /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/catkin_ws/devel/.private/robotiq_2f_hw_usb -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install; cd -

Failed     << robotiq_2f_hw_usb:cmake                       [ Exited with code 1 ]
Failed    <<< robotiq_2f_hw_usb                             [ 1.1 seconds ]
Abandoned <<< common_sensors                                [ Unrelated job failed ]
Abandoned <<< robotiq_85_bringup                            [ Unrelated job failed ]
Abandoned <<< ur_driver                                     [ Unrelated job failed ]
Abandoned <<< ur_modern_driver                              [ Unrelated job failed ]
Abandoned <<< robotiq_c_model_control                       [ Unrelated job failed ]
Abandoned <<< robotiq_action_server                         [ Unrelated job failed ]
Abandoned <<< robotiq_s_model_control                       [ Unrelated job failed ]
Abandoned <<< robotiq_joint_state_publisher                 [ Unrelated job failed ]
Abandoned <<< ur_bringup                                    [ Unrelated job failed ]

Errors     << ur_kinematics:make /root/catkin_ws/logs/ur_kinematics/build.make.007.log
In file included from /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/universal_robot-indigo-devel/ur_kinematics/src/ur_moveit_plugin.cpp:88:0:
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/universal_robot-indigo-devel/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:89:48: fatal error: moveit_msgs/GetKinematicSolverInfo.h: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/ur10_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/ur10_moveit_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/universal_robot-indigo-devel/ur_kinematics/src/ur_moveit_plugin.cpp:88:0:
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/universal_robot-indigo-devel/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:89:48: fatal error: moveit_msgs/GetKinematicSolverInfo.h: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/ur5_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/ur5_moveit_plugin.dir/all] Error 2
make: *** [all] Error 2
cd /root/catkin_ws/build/ur_kinematics; catkin build --get-env ur_kinematics | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

Failed     << ur_kinematics:make                            [ Exited with code 2 ]
Failed    <<< ur_kinematics                                 [ 1.3 seconds ]
[build - 2.8] [30/44 complete] [6/8 jobs] [0 queued] [2 failed] [ur5_moveit_config:cmake - 0.4] [roboticsgroup_gazebo_plugins:make (50%) - 2.5] [robotiq_ethercat:make (50%) - 0.7] [ur3_moveit_config:cmake - 0.5] [ur_gazebo:loadenv - ...
Errors     << robotiq_ethercat:make /root/catkin_ws/logs/robotiq_ethercat/build.make.003.log
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_ethercat/src/ethercat_manager.cpp:10:26: fatal error: ethercattype.h: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/robotiq_ethercat.dir/src/ethercat_manager.cpp.o] Error 1
make[1]: *** [CMakeFiles/robotiq_ethercat.dir/all] Error 2
make: *** [all] Error 2
cd /root/catkin_ws/build/robotiq_ethercat; catkin build --get-env robotiq_ethercat | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

Failed     << robotiq_ethercat:make                         [ Exited with code 2 ]
Failed    <<< robotiq_ethercat                              [ 0.8 seconds ]
[build - 2.9] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.5] [roboticsgroup_gazeb[build - 3.0] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.6] [roboticsgroup_gazeb[build - 3.1] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.7] [roboticsgroup_gazeb[build - 3.2] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.8] [roboticsgroup_gazeb[build - 3.3] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.9] [roboticsgroup_gazeb[build - 3.4] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.0] [roboticsgroup_gazeb[build - 3.5] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.1] [roboticsgroup_gazeb[build - 3.6] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.2] [roboticsgroup_gazeb[build - 3.7] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.3] [roboticsgroup_gazeb[build - 3.8] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.4] [roboticsgroup_gazeb[build - 3.9] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.5] [roboticsgroup_gazeb[build - 4.0] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.6] [roboticsgroup_gazebFinished  <<< ur3_moveit_config                             [ 1.8 seconds ]e - ...
Finished  <<< ur5_moveit_config                             [ 1.7 seconds ]
[build - 4.1] [33/44 complete] [3/8 jobs] [0 queued] [3 failed] [roboticsgroup_gazebo_plugins:make (50%) - 3.8] [ur_[build - 4.2] [33/44 complete] [3/8 jobs] [0 queued] [3 failed] [roboticsgroup_gazebo_plugins:make (50%) - 3.9] [ur_[build - 4.3] [33/44 complete] [3/8 jobs] [0 queued] [3 failed] [roboticsgroup_gazebo_plugins:make (50%) - 4.0] [ur_Finished  <<< ur_gazebo                                     [ 1.6 seconds ]
[build - 6.3] [34/44 complete] [1/8 jobs] [0 queued] [3 failed] [roboticsgroup_gazebo_plugins:make (75%) - ...
Errors     << roboticsgroup_gazebo_plugins:make /root/catkin_ws/logs/roboticsgroup_gazebo_plugins/build.make.007.log
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp: In member function 'virtual void gazebo::MimicJointPlugin::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)':
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp:142:19: error: 'class gazebo::physics::Joint' has no member named 'SetMaxForce'
     mimic_joint_->SetMaxForce(0,max_effort_);
                   ^
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp: In member function 'void gazebo::MimicJointPlugin::UpdateChild()':
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp:168:21: error: 'class gazebo::physics::Joint' has no member named 'SetAngle'
       mimic_joint_->SetAngle(0, math::Angle(angle));
                     ^
make[2]: *** [CMakeFiles/roboticsgroup_gazebo_mimic_joint_plugin.dir/src/mimic_joint_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/roboticsgroup_gazebo_mimic_joint_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /root/catkin_ws/build/roboticsgroup_gazebo_plugins; catkin build --get-env roboticsgroup_gazebo_plugins | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

Failed     << roboticsgroup_gazebo_plugins:make             [ Exited with code 2 ]
Failed    <<< roboticsgroup_gazebo_plugins                  [ 6.1 seconds ]
[build] Summary: 31 of 44 packages succeeded.
[build]   Ignored:   4 packages were skipped or are blacklisted.
[build]   Warnings:  None.
[build]   Abandoned: 9 packages were abandoned.
[build]   Failed:    4 packages failed.

Is this supposed to run on a fresh system with kinetic? What else could I be missing?

WwYyFan commented 6 years ago

@felixvd Have you compiled it successfully now?

felixvd commented 6 years ago

I didn't try it further with this repository, but I succeeded with the Gazebo tutorial and this gripper package.

WwYyFan commented 6 years ago

@felixvd Thanks , I will try it.

philwall3 commented 6 years ago

Sadly I don't have access to the PC that I was working on anymore. It had a lot of stuff preinstalled and was running Indigo. Those are some packages I found on my old VirtualBox. Maybe try those? https://github.com/HumaRobotics/modbus https://github.com/OpenEtherCATsociety/SOEM

edit: I have also seen that there was some information in the CMakeLists missing. I added those.

yepw commented 5 years ago

Hi, sudo apt-get install libmodbus-dev works for me.

More info can be found here