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ros-industrial-consortium / descartes

ROS-Industrial Special Project: Cartesian Path Planner
Apache License 2.0
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Fail to catkin_make descartes pacakge #188

Closed jasonvank closed 7 years ago

jasonvank commented 7 years ago

I am sorry that I just started to learn the ROS and now want to use the cartesian motion planner for a project. However, I installed the package of descartes, and then catkin_make the package, it will not be compiled successfully. My OS is Linux 14.04 Ubuntu and Indigo. May I request the help how can I solve the problem and then I can continue.

Base path: /home/ros-industrial/catkin_ws
Source space: /home/ros-industrial/catkin_ws/src
Build space: /home/ros-industrial/catkin_ws/build
Devel space: /home/ros-industrial/catkin_ws/devel
Install space: /home/ros-industrial/catkin_ws/install
####
#### Running command: "cmake /home/ros-industrial/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/ros-industrial/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/ros-industrial/catkin_ws/install -G Unix Makefiles" in "/home/ros-industrial/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/ros-industrial/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/ros-industrial/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.11
-- BUILD_SHARED_LIBS is on
WARNING: Package "ompl" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 7 packages in topological order:
-- ~~  - descartes (metapackage)
-- ~~  - descartes_core
-- ~~  - descartes_trajectory
-- ~~  - descartes_planner
-- ~~  - descartes_utilities
-- ~~  - descartes_moveit
-- ~~  - descartes_tutorials
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'descartes'
-- ==> add_subdirectory(descartes/descartes)
-- +++ processing catkin package: 'descartes_core'
-- ==> add_subdirectory(descartes/descartes_core)
-- Using these message generators: gencpp;genlisp;genpy
-- Boost version: 1.54.0
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'descartes_trajectory'
-- ==> add_subdirectory(descartes/descartes_trajectory)
-- Using these message generators: gencpp;genlisp;genpy
-- descartes_core: enabling C++0x (required)
-- Boost version: 1.54.0
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'descartes_planner'
-- ==> add_subdirectory(descartes/descartes_planner)
-- Using these message generators: gencpp;genlisp;genpy
-- descartes_core: enabling C++0x (required)
-- Boost version: 1.54.0
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'descartes_utilities'
-- ==> add_subdirectory(descartes/descartes_utilities)
-- Using these message generators: gencpp;genlisp;genpy
-- descartes_core: enabling C++0x (required)
-- +++ processing catkin package: 'descartes_moveit'
-- ==> add_subdirectory(descartes/descartes_moveit)
-- Using these message generators: gencpp;genlisp;genpy
-- descartes_core: enabling C++0x (required)
-- Boost version: 1.54.0
-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'descartes_tutorials'
-- ==> add_subdirectory(descartes/descartes_tutorials/descartes_tutorials)
-- Using these message generators: gencpp;genlisp;genpy
-- descartes_core: enabling C++0x (required)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ros-industrial/catkin_ws/build
####
#### Running command: "make -j2 -l2" in "/home/ros-industrial/catkin_ws/build"
####
[  6%] [  6%] Built target descartes_core
Built target sensor_msgs_generate_messages_cpp
[  6%] Built target shape_msgs_generate_messages_cpp
[  6%] Built target moveit_msgs_generate_messages_cpp
[  6%] Built target geometry_msgs_generate_messages_lisp
[  6%] Built target moveit_msgs_generate_messages_py
[  6%] Built target octomap_msgs_generate_messages_cpp
[  6%] Built target trajectory_msgs_generate_messages_py
[  6%] [  6%] Built target roscpp_generate_messages_cpp
Built target roscpp_generate_messages_lisp
[  6%] Built target moveit_msgs_generate_messages_lisp
[  6%] Built target geometry_msgs_generate_messages_cpp
[  6%] [  6%] Built target shape_msgs_generate_messages_lisp
Built target shape_msgs_generate_messages_py
[  6%] Built target octomap_msgs_generate_messages_py
[  6%] Built target octomap_msgs_generate_messages_lisp
[  6%] Built target std_msgs_generate_messages_py
[  6%] Built target geometry_msgs_generate_messages_py
[  6%] Built target actionlib_msgs_generate_messages_py
[  6%] Built target sensor_msgs_generate_messages_lisp
[  6%] Built target actionlib_msgs_generate_messages_lisp
[  6%] Built target std_msgs_generate_messages_cpp
[  6%] Built target trajectory_msgs_generate_messages_cpp
[  6%] Built target sensor_msgs_generate_messages_py
[  6%] [  6%] Built target trajectory_msgs_generate_messages_lisp
Built target actionlib_msgs_generate_messages_cpp
[  6%] Built target object_recognition_msgs_generate_messages_lisp
[  6%] Built target object_recognition_msgs_generate_messages_py
[  6%] Built target std_msgs_generate_messages_lisp
[  6%] Built target object_recognition_msgs_generate_messages_cpp
[  6%] Built target rosgraph_msgs_generate_messages_cpp
[  6%] Built target rosgraph_msgs_generate_messages_lisp
[  6%] Built target rosgraph_msgs_generate_messages_py
[  6%] Built target roscpp_generate_messages_py
[ 37%] Built target descartes_trajectory
[ 43%] Built target descartes_utilities
[ 68%] Built target descartes_planner
[ 75%] Building CXX object descartes/descartes_moveit/CMakeFiles/descartes_moveit.dir/src/ikfast_moveit_state_adapter.cpp.o
/home/ros-industrial/catkin_ws/src/descartes/descartes_moveit/src/ikfast_moveit_state_adapter.cpp: In member function ‘virtual bool descartes_moveit::IkFastMoveitStateAdapter::getAllIK(const Affine3d&, std::vector<std::vector<double> >&) const’:
/home/ros-industrial/catkin_ws/src/descartes/descartes_moveit/src/ikfast_moveit_state_adapter.cpp:83:4: error: ‘KinematicsResult’ is not a member of ‘kinematics’
    kinematics::KinematicsResult result;
    ^
/home/ros-industrial/catkin_ws/src/descartes/descartes_moveit/src/ikfast_moveit_state_adapter.cpp:83:33: error: expected ‘;’ before ‘result’
    kinematics::KinematicsResult result;
                                 ^
/home/ros-industrial/catkin_ws/src/descartes/descartes_moveit/src/ikfast_moveit_state_adapter.cpp:86:65: error: ‘result’ was n

    ot declared in this scope
        if (!solver->getPositionIK(poses, dummy_seed, joint_results, result, options))
                                                                     ^
    make[2]: *** [descartes/descartes_moveit/CMakeFiles/descartes_moveit.dir/src/ikfast_moveit_state_adapter.cpp.o] Error 1
    make[1]: *** [descartes/descartes_moveit/CMakeFiles/descartes_moveit.dir/all] Error 2
    make: *** [all] Error 2
    Invoking "make -j2 -l2" failed
gavanderhoorn commented 7 years ago

Is Fail to catkin_make descartes pacakge also by you? Please don't cross-post in the future.