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ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
GNU Lesser General Public License v3.0
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catkin_make error when using socketcan_interface to build robotiq package #399

Closed Yitian-Xian closed 3 years ago

Yitian-Xian commented 3 years ago

Hi, I am trying to attach a robotiq 2-finger gripper on the ur5 arm robot in ROS. I downloaded the package from https://github.com/ros-industrial/robotiq and I am using ubuntu 18.04 and ROS melodic version. To bulid robotiq package downloaded from the link mentioned, we would need socketcan_interface package. However, when I tried to catkin_make this package in my workspace, it seems that there is one node that could not be bulit, and the error is as follows:

CMakeFiles/robotiq_3f_gripper_can_node.dir/src/robotiq_3f_gripper_can_node.cpp.o: In functionboost::date_time::counted_time_system<boost::date_time::counted_time_rep >::subtract_times(boost::date_time::counted_time_rep const&, boost::date_time::counted_time_rep const&)': /home/xian/ros_ws/src/ros_canopen-melodic-devel/socketcan_interface/include/socketcan_interface/socketcan.h:24: multiple definition of can::parse_error_mask(std::shared_ptr<can::Settings const>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)' CMakeFiles/robotiq_3f_gripper_can_node.dir/src/robotiq_3f_gripper_control/robotiq_3f_gripper_can_client.cpp.o:/home/xian/ros_ws/src/ros_canopen-melodic-devel/socketcan_interface/include/socketcan_interface/socketcan.h:24: first defined here collect2: error: ld returned 1 exit status robotiq/robotiq_3f_gripper_control/CMakeFiles/robotiq_3f_gripper_can_node.dir/build.make:152: recipe for target '/home/xian/ros_ws/devel/lib/robotiq_3f_gripper_control/robotiq_3f_gripper_can_node' failed make[2]: *** [/home/xian/ros_ws/devel/lib/robotiq_3f_gripper_control/robotiq_3f_gripper_can_node] Error 1 CMakeFiles/Makefile2:2471: recipe for target 'robotiq/robotiq_3f_gripper_control/CMakeFiles/robotiq_3f_gripper_can_node.dir/all' failed make[1]: *** [robotiq/robotiq_3f_gripper_control/CMakeFiles/robotiq_3f_gripper_can_node.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed

From the result we can know that there are multiple definition of something in socketcan_interface package, but I do not have any idea on how to fix this problem. Can anyone help me? Thanks!

mathias-luedtke commented 3 years ago

Thanks for reporting!

I looked into it and can confirm the problem. It is more a problem with the robotiq driver, which includes socketcan,h instead of interface.h. In a way it is a regression of #362, I will try to rewrite it..

mathias-luedtke commented 3 years ago

@Yitian-Xian:please try again with #400

Yitian-Xian commented 3 years ago

Hi @ipa-mdl, thanks for your revision!

However, after I revised the h file, I still met this problem. Could you give a check? Thanks!

CMakeFiles/robotiq_3f_gripper_can_node.dir/src/robotiq_3f_gripper_can_node.cpp.o: In functioncan::parse_error_mask(std::shared_ptr, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, unsigned int)': robotiq_3f_gripper_can_node.cpp:(.text+0x121): multiple definition of can::parse_error_mask(std::shared_ptr<can::Settings const>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int)' CMakeFiles/robotiq_3f_gripper_can_node.dir/src/robotiq_3f_gripper_control/robotiq_3f_gripper_can_client.cpp.o:robotiq_3f_gripper_can_client.cpp:(.text+0xa6): first defined here collect2: error: ld returned 1 exit status robotiq/robotiq_3f_gripper_control/CMakeFiles/robotiq_3f_gripper_can_node.dir/build.make:152: recipe for target '/home/xian/ros_ws/devel/lib/robotiq_3f_gripper_control/robotiq_3f_gripper_can_node' failed make[2]: *** [/home/xian/ros_ws/devel/lib/robotiq_3f_gripper_control/robotiq_3f_gripper_can_node] Error 1 CMakeFiles/Makefile2:11920: recipe for target 'robotiq/robotiq_3f_gripper_control/CMakeFiles/robotiq_3f_gripper_can_node.dir/all' failed make[1]: *** [robotiq/robotiq_3f_gripper_control/CMakeFiles/robotiq_3f_gripper_can_node.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed

mathias-luedtke commented 3 years ago

You might have to clean the build (delete the build directory) first.

Yitian-Xian commented 3 years ago

Hi @ipa-mdl , I followed your advice and it works well! Thank you!

mathias-luedtke commented 3 years ago

fixed in #400