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ros-industrial-attic / godel

ROS-Industrial Focused Technical Project: Robotic Blending
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Compilation error for catkin_make? #247

Open shobhitcito opened 4 years ago

shobhitcito commented 4 years ago

System information: Distributor ID: Ubuntu Description: Ubuntu 16.04.6 LTS Release: 16.04 Codename: xenial

ROS version: kinetic

Error:

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:95 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  '**catkin_make_isolated**' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:67 (catkin_workspace)

-- Configuring incomplete, errors occurred!
See also "/home/ra-om1/overlay_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/ra-om1/overlay_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

Following which I also tried catkin_make_isolated, which also ends up giving compilation error: ERROR:

$ catkin_make_isolated
Base path: /home/tihbohs/overlay_ws
Source space: /home/tihbohs/overlay_ws/src
Build space: /home/tihbohs/overlay_ws/build_isolated
Devel space: /home/tihbohs/overlay_ws/devel_isolated
Install space: /home/tihbohs/overlay_ws/install_isolated
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~  traversing 60 packages in topological order:
~~  - abb
~~  - abb_file_suite
~~  - abb_irb1200_5_90_ikfast_manipulator_plugin
~~  - abb_irb1200_support
~~  - abb_irb2400_moveit_config
~~  - abb_irb2400_moveit_plugins
~~  - abb_irb2400_support
~~  - abb_irb4400_support
~~  - abb_irb5400_support
~~  - abb_irb6600_support
~~  - abb_irb6640_moveit_config
~~  - abb_irb6640_support
~~  - abb_resources
~~  - blending_end_effector
~~  - descartes
~~  - descartes_core
~~  - descartes_trajectory
~~  - descartes_moveit
~~  - descartes_planner
~~  - descartes_tests
~~  - descartes_utilities
~~  - godel
~~  - godel_irb1200_support
~~  - godel_irb2400_moveit_config
~~  - godel_irb2400_support
~~  - godel_msgs
~~  - godel_openvoronoi
~~  - godel_param_helpers
~~  - godel_plugins
~~  - godel_process_path_generation
~~  - godel_process_planning
~~  - godel_scan_analysis
~~  - godel_simple_gui
~~  - godel_utils
~~  - industrial_core
~~  - industrial_deprecated
~~  - industrial_msgs
~~  - industrial_robot_simulator
~~  - industrial_trajectory_filters
~~  - industrial_utils
~~  - irb2400_ikfast_manipulator_plugin
~~  - abb_irb2400_descartes
~~  - libsocket (plain cmake)
~~  - keyence_experimental
~~  - meshing_plugins_base
~~  - path_planning_plugins_base
~~  - meshing_plugins
~~  - path_planning_plugins
~~  - godel_polygon_offset
~~  - simple_message
~~  - industrial_robot_client
~~  - abb_driver
~~  - industrial_robot_simulator_service
~~  - godel_path_execution
~~  - swri_profiler_msgs
~~  - swri_profiler
~~  - godel_process_execution
~~  - godel_surface_detection
~~  - godel_irb1200_moveit_config
~~  - swri_profiler_tools
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The packages or cmake arguments have changed, forcing cmake invocation

==> Processing catkin package: 'abb'
==> Creating build directory: 'build_isolated/abb'
==> cmake /home/tihbohs/overlay_ws/src/abb/abb -DCATKIN_DEVEL_PREFIX=/home/tihbohs/overlay_ws/devel_isolated/abb -DCMAKE_INSTALL_PREFIX=/home/tihbohs/overlay_ws/install_isolated -G Unix Makefiles in '/home/tihbohs/overlay_ws/build_isolated/abb'
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/tihbohs/overlay_ws/devel_isolated/abb
-- Using CMAKE_PREFIX_PATH: /home/tihbohs/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/tihbohs/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/tihbohs/overlay_ws/build_isolated/abb/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.19
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tihbohs/overlay_ws/build_isolated/abb
==> make -j8 -l8 in '/home/tihbohs/overlay_ws/build_isolated/abb'
<== Finished processing package [1 of 60]: 'abb'

==> Processing catkin package: 'abb_file_suite'
==> Creating build directory: 'build_isolated/abb_file_suite'
==> Building with env: '/home/tihbohs/overlay_ws/devel_isolated/abb/env.sh'
==> cmake /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/abb_file_suite -DCATKIN_DEVEL_PREFIX=/home/tihbohs/overlay_ws/devel_isolated/abb_file_suite -DCMAKE_INSTALL_PREFIX=/home/tihbohs/overlay_ws/install_isolated -G Unix Makefiles in '/home/tihbohs/overlay_ws/build_isolated/abb_file_suite'
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/tihbohs/overlay_ws/devel_isolated/abb_file_suite
-- Using CMAKE_PREFIX_PATH: /home/tihbohs/overlay_ws/devel_isolated/abb;/home/tihbohs/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/tihbohs/overlay_ws/devel_isolated/abb;/home/tihbohs/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/tihbohs/overlay_ws/build_isolated/abb_file_suite/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.19
-- BUILD_SHARED_LIBS is on
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- abb_file_suite: 0 messages, 1 services
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'curl' but neither 'curl_INCLUDE_DIRS' nor
  'curl_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  CMakeLists.txt:20 (catkin_package)

-- Configuring done
-- Generating done
-- Build files have been written to: /home/tihbohs/overlay_ws/build_isolated/abb_file_suite
==> make -j8 -l8 in '/home/tihbohs/overlay_ws/build_isolated/abb_file_suite'
Scanning dependencies of target _abb_file_suite_generate_messages_check_deps_ExecuteProgram
Scanning dependencies of target std_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_nodejs
Scanning dependencies of target rapid_generator
[  0%] Built target std_msgs_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_cpp
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_nodejs
[  7%] Building CXX object rapid_generator/CMakeFiles/rapid_generator.dir/src/rapid_emitter.cpp.o
[  7%] Built target _abb_file_suite_generate_messages_check_deps_ExecuteProgram
Scanning dependencies of target abb_file_suite_generate_messages_eus
Scanning dependencies of target abb_file_suite_generate_messages_nodejs
Scanning dependencies of target abb_file_suite_generate_messages_py
Scanning dependencies of target abb_file_suite_generate_messages_cpp
Scanning dependencies of target abb_file_suite_generate_messages_lisp
[ 14%] Generating EusLisp code from abb_file_suite/ExecuteProgram.srv
[ 21%] Generating EusLisp manifest code for abb_file_suite
[ 28%] Generating Javascript code from abb_file_suite/ExecuteProgram.srv
[ 42%] Generating Python code from SRV abb_file_suite/ExecuteProgram
[ 42%] Generating C++ code from abb_file_suite/ExecuteProgram.srv
[ 50%] Generating Lisp code from abb_file_suite/ExecuteProgram.srv
[ 50%] Built target abb_file_suite_generate_messages_nodejs
[ 50%] Built target abb_file_suite_generate_messages_lisp
[ 50%] Built target abb_file_suite_generate_messages_cpp
[ 57%] Generating Python srv __init__.py for abb_file_suite
[ 64%] Linking CXX shared library /home/tihbohs/overlay_ws/devel_isolated/abb_file_suite/lib/librapid_generator.so
[ 64%] Built target abb_file_suite_generate_messages_py
[ 64%] Built target rapid_generator
Scanning dependencies of target ros_abb_ftp_interface
[ 71%] Building CXX object CMakeFiles/ros_abb_ftp_interface.dir/src/abb_motion_ftp_downloader.cpp.o
[ 78%] Building CXX object CMakeFiles/ros_abb_ftp_interface.dir/src/ftp_upload.cpp.o
[ 78%] Built target abb_file_suite_generate_messages_eus
Scanning dependencies of target abb_file_suite_generate_messages
[ 78%] Built target abb_file_suite_generate_messages
[ 85%] Linking CXX shared library /home/tihbohs/overlay_ws/devel_isolated/abb_file_suite/lib/libros_abb_ftp_interface.so
[ 85%] Built target ros_abb_ftp_interface
Scanning dependencies of target ros_abb_ftp_interface_node
[ 92%] Building CXX object CMakeFiles/ros_abb_ftp_interface_node.dir/src/abb_motion_ftp_downloader_node.cpp.o
[100%] Linking CXX executable /home/tihbohs/overlay_ws/devel_isolated/abb_file_suite/lib/abb_file_suite/ros_abb_ftp_interface_node
[100%] Built target ros_abb_ftp_interface_node
<== Finished processing package [2 of 60]: 'abb_file_suite'

==> Processing catkin package: 'abb_irb1200_5_90_ikfast_manipulator_plugin'
==> Creating build directory: 'build_isolated/abb_irb1200_5_90_ikfast_manipulator_plugin'
==> Building with env: '/home/tihbohs/overlay_ws/devel_isolated/abb_file_suite/env.sh'
==> cmake /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin -DCATKIN_DEVEL_PREFIX=/home/tihbohs/overlay_ws/devel_isolated/abb_irb1200_5_90_ikfast_manipulator_plugin -DCMAKE_INSTALL_PREFIX=/home/tihbohs/overlay_ws/install_isolated -G Unix Makefiles in '/home/tihbohs/overlay_ws/build_isolated/abb_irb1200_5_90_ikfast_manipulator_plugin'
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/tihbohs/overlay_ws/devel_isolated/abb_irb1200_5_90_ikfast_manipulator_plugin
-- Using CMAKE_PREFIX_PATH: /home/tihbohs/overlay_ws/devel_isolated/abb_file_suite;/home/tihbohs/overlay_ws/devel_isolated/abb;/home/tihbohs/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/tihbohs/overlay_ws/devel_isolated/abb_file_suite;/home/tihbohs/overlay_ws/devel_isolated/abb;/home/tihbohs/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/tihbohs/overlay_ws/build_isolated/abb_irb1200_5_90_ikfast_manipulator_plugin/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.19
-- BUILD_SHARED_LIBS is on
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Looking for sgemm_
-- Looking for sgemm_ - found
-- A library with BLAS API found.
-- Looking for cheev_
-- Looking for cheev_ - found
-- A library with LAPACK API found.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tihbohs/overlay_ws/build_isolated/abb_irb1200_5_90_ikfast_manipulator_plugin
==> make -j8 -l8 in '/home/tihbohs/overlay_ws/build_isolated/abb_irb1200_5_90_ikfast_manipulator_plugin'
Scanning dependencies of target abb_irb1200_5_90_manipulator_moveit_ikfast_plugin
[ 50%] Building CXX object CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp.o
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:324:86: warning: ‘virtual void kinematics::KinematicsBase::setValues(const string&, const string&, const string&, const string&, double)’ is deprecated [-Wdeprecated-declarations]
   setValues(robot_description, group_name, base_name, tip_name, search_discretization);
                                                                                      ^
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:339:34: note: declared here
   MOVEIT_DEPRECATED virtual void setValues(const std::string& robot_description, const std::string& group_name,
                                  ^~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: error: no matching function for call to ‘const_pointer_cast<urdf::Link>(urdf::LinkConstSharedPtr)’
   urdf::LinkSharedPtr link = boost::const_pointer_cast<urdf::Link>(robot_model.getLink(getTipFrame()));
                                                                                                      ^
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
                 from /opt/ros/melodic/include/ros/forwards.h:37,
                 from /opt/ros/melodic/include/ros/common.h:37,
                 from /opt/ros/melodic/include/ros/ros.h:43,
                 from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:49:
/usr/include/boost/smart_ptr/shared_ptr.hpp:888:42: note: candidate: template<class T, class U> boost::shared_ptr<X> boost::const_pointer_cast(const boost::shared_ptr<U>&)
 template<class T, class U> shared_ptr<T> const_pointer_cast( shared_ptr<U> const & r ) BOOST_SP_NOEXCEPT
                                          ^~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:888:42: note:   template argument deduction/substitution failed:
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: note:   ‘urdf::LinkConstSharedPtr {aka std::shared_ptr<const urdf::Link>}’ is not derived from ‘const boost::shared_ptr<U>’
   urdf::LinkSharedPtr link = boost::const_pointer_cast<urdf::Link>(robot_model.getLink(getTipFrame()));
                                                                                                      ^
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
                 from /opt/ros/melodic/include/ros/forwards.h:37,
                 from /opt/ros/melodic/include/ros/common.h:37,
                 from /opt/ros/melodic/include/ros/ros.h:43,
                 from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:49:
/usr/include/boost/smart_ptr/shared_ptr.hpp:930:42: note: candidate: template<class T, class U> boost::shared_ptr<X> boost::const_pointer_cast(boost::shared_ptr<U>&&)
 template<class T, class U> shared_ptr<T> const_pointer_cast( shared_ptr<U> && r ) BOOST_SP_NOEXCEPT
                                          ^~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:930:42: note:   template argument deduction/substitution failed:
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: note:   ‘urdf::LinkConstSharedPtr {aka std::shared_ptr<const urdf::Link>}’ is not derived from ‘boost::shared_ptr<U>’
   urdf::LinkSharedPtr link = boost::const_pointer_cast<urdf::Link>(robot_model.getLink(getTipFrame()));
                                                                                                      ^
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp: In member function ‘virtual bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK(const Pose&, const std::vector<double>&, double, const std::vector<double>&, std::vector<double>&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const’:
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:880:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit - initial_guess) / search_discretization_);
                                                                   ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:880:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (int)((max_limit - initial_guess) / search_discretization_);
                                                                   ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:881:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess - min_limit) / search_discretization_);
                                                                   ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:881:67: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (int)((initial_guess - min_limit) / search_discretization_);
                                                                   ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:885:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]] - initial_guess) / search_discretization_;
                                                                                      ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:885:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_positive_increments = (joint_max_vector_[free_params_[0]] - initial_guess) / search_discretization_;
                                                                                      ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:886:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess - joint_min_vector_[free_params_[0]]) / search_discretization_;
                                                                                      ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:886:86: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     num_negative_increments = (initial_guess - joint_min_vector_[free_params_[0]]) / search_discretization_;
                                                                                      ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:978:32: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess + search_discretization_ * counter;
                                ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
/home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:978:32: warning: ‘kinematics::KinematicsBase::search_discretization_’ is deprecated [-Wdeprecated-declarations]
     vfree[0] = initial_guess + search_discretization_ * counter;
                                ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/tihbohs/overlay_ws/src/godel/godel_robots/abb/godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:50:0:
/opt/ros/melodic/include/moveit/kinematics_base/kinematics_base.h:592:28: note: declared here
   MOVEIT_DEPRECATED double search_discretization_;
                            ^~~~~~~~~~~~~~~~~~~~~~
CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/build.make:62: recipe for target 'CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp.o' failed
make[2]: *** [CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/all' failed
make[1]: *** [CMakeFiles/abb_irb1200_5_90_manipulator_moveit_ikfast_plugin.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'abb_irb1200_5_90_ikfast_manipulator_plugin':
  Command '['/home/tihbohs/overlay_ws/devel_isolated/abb_file_suite/env.sh', 'make', '-j8', '-l8']' returned non-zero exit status 2

Reproduce this error by running:
==> cd /home/tihbohs/overlay_ws/build_isolated/abb_irb1200_5_90_ikfast_manipulator_plugin && /home/tihbohs/overlay_ws/devel_isolated/abb_file_suite/env.sh make -j8 -l8

Command failed, exiting.
AustinDeric commented 4 years ago

I'll try to reprodice this error, see PR #248.

with that said, it does appear there is an error here: 

godel_irb1200/abb_irb1200_5_90_ikfast_manipulator_plugin/src/abb_irb1200_5_90_manipulator_ikfast_moveit_plugin.cpp:366:102: error: no matching function for call to ‘const_pointer_casturdf::Link(urdf::LinkConstSharedPtr)’

it looks like i had a different error though: 


CMake Error at /catkin_ws/src/godel_openvoronoi/src/version_string.cmake:20 (file):
  file failed to open for reading (No such file or directory):

    /catkin_ws/src/godel_openvoronoi/src/git-tag.txt
Call Stack (most recent call first):
  CMakeLists.txt:73 (INCLUDE)
shobhitcito commented 4 years ago

@AustinDeric thanks for looking into it

I am still not able to resolve the problem. I tried to go through the issues faced by other users and it hasn't helped me yet.

What should I do now? Thank you very much for helping out.

sumr4693 commented 4 years ago

Hi, was anyone able to resolve the above issue when doing 'catkin_make_isolated'? I am facing the same issue. But I am using ROS Melodic..

Thanks in advance!

shakthi-balan commented 4 years ago

I am facing the exact same issue as above and I am using ROS melodic. Could anyone please solve this issue.

kvnptl commented 3 years ago

I am also facing the same error on ROS Melodic

kvnptl commented 3 years ago

At least after some debugging, godel packages are now building without any errors (still few warnings are there) on my system (ROS Melodic).

I'll try to list out few changes/resolutions here:

  1. Use catkin build tools instead of catkin_make or anything else. (delete build and devel, if you already built the package with catkin_make)
  2. Replace boost with std in IKFastPlugin : https://github.com/ros-industrial/fanuc/issues/241
  3. For error: `error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION

    define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);` => Resolution: https://github.com/ros-industrial-consortium/descartes/issues/234

  4. Change logError, logInform,etc... with ROS_ERROR, ... check this
  5. For error: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ typedef struct { long long table[LZ4_STREAMSIZE_U64]; } LZ4_stream_t; => Resolution: https://github.com/ethz-asl/lidar_align/issues/16#issuecomment-758960226
  6. For error: error: ‘vector’ in namespace ‘std’ does not name a template type typedef std::vector<Eigen::Affine3d, Eigen::aligned_allocator<Eigen::Affine3d> > PoseVector; => Resolution: add #include <vector> in corresponding error file
  7. For error: error: ‘accumulate’ is not a member of ‘std’ auto cost = std::accumulate(delta_buffer_.cbegin(), delta_buffer_.cend(), 0.0); => Resolution: https://github.com/ros-industrial-consortium/descartes/pull/220/commits/fdfb598c422de04f0f1e08021ff9cd9ecc6b8083
  8. For error: undefined reference totf::poseMsgToEigen(geometrymsgs::Pose<std::allocator > const&, Eigen::Transform<double, 3, 1, 0>&)'=>Resolution: addeigen_conversionsinsidefind_package(catkin REQUIRED COMPONENTS )inCMakeLists.txt. `

NOTE: still haven't tried demo launch files

Please comment if further explanation required or clarification.

gavanderhoorn commented 3 years ago

Looking at forks of a repository is always very worthwhile.

The tecnalia-advancedmanufacturing-robotics/godel and sam-xl/godel forks seem to have resolved many (if not all) of the issues you found.