Closed jacknlliu closed 6 years ago
Could anyone share something about how to compile this package with gazebo9 and dart dynamics engine?
@j-rivero Hi, I found you maintain the ros-kinetic-gazebo9-ros-pkgs
from the package meta-information, did you meet this issue? Any suggestion for this?
Thanks in advance!
I found the packages depend on gazebo_ros
can't compile with this package, or it will get the previous error. But the gazebo_ros_pkgs
can be compiled with gazebo and dart.
I close this issue and I will have more exploration about this.
Hi @jacknlliu
I faced the same problems as you. Have you found a solution for this? Can you share with me?
Best, Samuel
Never saw the problem before. Do you have installed protobuf and ignition-math4?
Hi @j-rivero
Yes, i do have both protobuf and ignition-math4 installed. Looks like this is resulted by having Gazebo 9 with ROS Kinetic. For my case, although these errors pop out during catkin_make. But the catkin_make still can be done when you attempt to catkin_make again. Hope there's a way to solve this.
Best, Samuel
@j-rivero Same error (as described by @HappySamuel ) happens for me on ROS Melodic with Gazebo 9. Any updates on how to solve this?
@j-rivero Could you provide your procure to package it? Then we can follow your method and repeat it.
Same error (as described by @HappySamuel ) happens for me on ROS Melodic with Gazebo 9.
could you please provide instructions about how to reproduce the problem? (platform used, versions used)
@j-rivero Could you provide your procure to package it?
The build.sh script in the buidlfarm could probably provide some hints about the packaging procedure for non official gazebo_ros_pkgs.
@j-rivero
could you please provide instructions about how to reproduce the problem? (platform used, versions used)
I'm on ROS Melodic on Ubuntu 18.04 using Gazebo 9.0.0. You can reproduce the problem by cloning Kuka LWR into your catkin workspace, switching branch into melodic-devel
and catkin_make
. You will see that an error pops out during catkin_make
, but the second catkin_make
does not show the error anymore.
Thanks @gpollayil for the instructions, I was able to reproduce it. Could you please try this patch:
diff --git a/lwr_controllers/CMakeLists.txt b/lwr_controllers/CMakeLists.txt
index 606db30..8f39100 100644
--- a/lwr_controllers/CMakeLists.txt
+++ b/lwr_controllers/CMakeLists.txt
@@ -20,6 +20,10 @@ find_package(catkin REQUIRED COMPONENTS
tf_conversions
)
+# bug in gazebo dependencies
+# See https://bitbucket.org/ignitionrobotics/ign-cmake/issues/40
+ign_import_target(UUID)
+
add_definitions (-fpermissive -std=c++11)
include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
diff --git a/lwr_hw/CMakeLists.txt b/lwr_hw/CMakeLists.txt
index 325e6a0..1eb6f2b 100644
--- a/lwr_hw/CMakeLists.txt
+++ b/lwr_hw/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
pluginlib
kdl_parser
transmission_interface
+ gazebo_dev
gazebo_ros
std_msgs
)
@@ -36,6 +37,7 @@ catkin_package(
pluginlib
kdl_parser
transmission_interface
+ gazebo_dev
gazebo_ros
std_msgs
INCLUDE_DIRS include
@@ -60,6 +62,10 @@ target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
)
+# bug in gazebo dependencies
+# See https://bitbucket.org/ignitionrobotics/ign-cmake/issues/40
+ign_import_target(UUID)
+
## REAL
# KUKA FRI library
add_library(friremote
@@ -110,9 +116,6 @@ target_link_libraries(lwr_hw_fril_node
## SIMULATION
# lwr hw sim gazebo plugin
-find_package(gazebo REQUIRED)
-include_directories(${GAZEBO_INCLUDE_DIRS})
-link_directories(${GAZEBO_LIBRARY_DIRS})
add_library(lwr_hw_gazebo_plugin src/lwr_hw_gazebo_plugin.cpp
include/${PROJECT_NAME}/lwr_hw_gazebo.hpp
)
@@ -122,7 +125,6 @@ add_dependencies(lwr_hw_gazebo_plugin
target_link_libraries(lwr_hw_gazebo_plugin
${PROJECT_NAME}
${catkin_LIBRARIES}
- ${GAZEBO_LIBRARIES}
)
## INSTALLATION
diff --git a/lwr_hw/package.xml b/lwr_hw/package.xml
index 0f418cf..55c314d 100644
--- a/lwr_hw/package.xml
+++ b/lwr_hw/package.xml
@@ -7,13 +7,13 @@
<maintainer email="marco.esposito@tum.de">Marco Esposito</maintainer>
<license>GPLv2</license>
-
+
<buildtool_depend>catkin</buildtool_depend>
<depend>control_toolbox</depend>
<depend>controller_interface</depend>
- <depend>gazebo</depend>
<depend>gazebo_ros</depend>
+ <depend>gazebo_dev</depend>
<depend>hardware_interface</depend>
<depend>transmission_interface</depend>
<depend>realtime_tools</depend>
Thank you @j-rivero ! The patch seems to do the job.
Thank you @j-rivero ! The patch seems to do the job.
would you mind sending it to upstream please?
@j-rivero Do you mean, push the changes? P.S. Sorry for the delay: I completely missed your reply. :/
@j-rivero Do you mean, push the changes? P.S. Sorry for the delay: I completely missed your reply. :/
No worries. I meant send my patch in the form of pull request to the upstream repository (in this case https://github.com/CentroEPiaggio/kuka-lwr).
@j-rivero But I am not working on a fork... As I have access to the original repo, I have pushed the changes on the melodic-devel of the kuka-lwr repository... Is that ok for you?
@j-rivero But I am not working on a fork... As I have access to the original repo, I have pushed the changes on the melodic-devel of the kuka-lwr repository... Is that ok for you?
perfect, thanks!
I had similar problem, added lines from patch and then there is issue like this. Can anyone help me with this one? @j-rivero maybe You know what to do with this one? I will be really gratefeul for help.
`marcin@marcin-VirtualBox:~/inz_ws$ catkin_make Base path: /home/marcin/inz_ws Source space: /home/marcin/inz_ws/src Build space: /home/marcin/inz_ws/build Devel space: /home/marcin/inz_ws/devel Install space: /home/marcin/inz_ws/install
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Scanning dependencies of target lwr_hw
[ 45%] Building CXX object kuka-lwr/lwr_hw/CMakeFiles/lwr_hw.dir/src/lwr_hw.cpp.o
/home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp: In member function ‘void lwr_hw::LWRHW::registerJointLimits(const string&, const hardware_interface::JointHandle&, const hardware_interface::JointHandle&, const hardware_interface::JointHandle&, const hardware_interface::JointHandle&, const hardware_interface::JointHandle&, const urdf::Model, double, double, double, double, double, double, double)’:
/home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:324:83: error: conversion from ‘urdf::JointConstSharedPtr {aka std::shared_ptr
/home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:325:93: error: conversion from ‘urdf::JointConstSharedPtr {aka std::shared_ptr<const urdf::Joint>}’ to non-scalar type ‘const boost::shared_ptr<const urdf::Joint>’ requested
d_ptr<const urdf::Joint> urdf_joint_sitffness = urdf_model->getJoint(joint_name + std::string("_stiffness"));
~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:326:91: error: conversion from ‘urdf::JointConstSharedPtr {aka std::shared_ptr<const urdf::Joint>}’ to non-scalar type ‘const boost::shared_ptr<const urdf::Joint>’ requested
red_ptr<const urdf::Joint> urdf_joint_damping = urdf_model->getJoint(joint_name + std::string("_damping"));
~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:330:70: error: no matching function for call to ‘getJointLimits(const boost::shared_ptr<const urdf::Joint>&, joint_limits_interface::JointLimits&)’
if (joint_limits_interface::getJointLimits(urdf_joint, limits))
^
In file included from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/include/lwr_hw/lwr_hw.h:18:0,
from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate: bool joint_limits_interface::getJointLimits(const string&, const ros::NodeHandle&, joint_limits_interface::JointLimits&)
inline bool getJointLimits(const std::string& joint_name, const ros::NodeHandle& nh, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate expects 3 arguments, 2 provided
In file included from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/include/lwr_hw/lwr_hw.h:19:0,
from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: candidate: bool joint_limits_interface::getJointLimits(urdf::JointConstSharedPtr, joint_limits_interface::JointLimits&)
inline bool getJointLimits(urdf::JointConstSharedPtr urdf_joint, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: no known conversion for argument 1 from ‘const boost::shared_ptr<const urdf::Joint>’ to ‘urdf::JointConstSharedPtr {aka std::shared_ptr<const urdf::Joint>}’
/home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:332:90: error: no matching function for call to ‘getJointLimits(const boost::shared_ptr<const urdf::Joint>&, joint_limits_interface::JointLimits&)’
joint_limits_interface::getJointLimits(urdf_joint_sitffness, limits_stiffness))
^
In file included from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/include/lwr_hw/lwr_hw.h:18:0,
from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate: bool joint_limits_interface::getJointLimits(const string&, const ros::NodeHandle&, joint_limits_interface::JointLimits&)
inline bool getJointLimits(const std::string& joint_name, const ros::NodeHandle& nh, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate expects 3 arguments, 2 provided
In file included from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/include/lwr_hw/lwr_hw.h:19:0,
from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: candidate: bool joint_limits_interface::getJointLimits(urdf::JointConstSharedPtr, joint_limits_interface::JointLimits&)
inline bool getJointLimits(urdf::JointConstSharedPtr urdf_joint, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: no known conversion for argument 1 from ‘const boost::shared_ptr<const urdf::Joint>’ to ‘urdf::JointConstSharedPtr {aka std::shared_ptr<const urdf::Joint>}’
/home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:334:86: error: no matching function for call to ‘getJointLimits(const boost::shared_ptr<const urdf::Joint>&, joint_limits_interface::JointLimits&)’
if (joint_limits_interface::getJointLimits(urdf_joint_damping, limits_damping))
^
In file included from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/include/lwr_hw/lwr_hw.h:18:0,
from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate: bool joint_limits_interface::getJointLimits(const string&, const ros::NodeHandle&, joint_limits_interface::JointLimits&)
inline bool getJointLimits(const std::string& joint_name, const ros::NodeHandle& nh, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate expects 3 arguments, 2 provided
In file included from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/include/lwr_hw/lwr_hw.h:19:0,
from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: candidate: bool joint_limits_interface::getJointLimits(urdf::JointConstSharedPtr, joint_limits_interface::JointLimits&)
inline bool getJointLimits(urdf::JointConstSharedPtr urdf_joint, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: no known conversion for argument 1 from ‘const boost::shared_ptr<const urdf::Joint>’ to ‘urdf::JointConstSharedPtr {aka std::shared_ptr<const urdf::Joint>}’
/home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:336:79: error: no matching function for call to ‘getSoftJointLimits(const boost::shared_ptr<const urdf::Joint>&, joint_limits_interface::SoftJointLimits&)’
if (joint_limits_interface::getSoftJointLimits(urdf_joint, soft_limits))
^
In file included from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/include/lwr_hw/lwr_hw.h:18:0,
from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:194:13: note: candidate: bool joint_limits_interface::getSoftJointLimits(const string&, const ros::NodeHandle&, joint_limits_interface::SoftJointLimits&)
inline bool getSoftJointLimits(const std::string& joint_name, const ros::NodeHandle& nh, SoftJointLimits& soft_limits)
^~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:194:13: note: candidate expects 3 arguments, 2 provided
In file included from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/include/lwr_hw/lwr_hw.h:19:0,
from /home/marcin/inz_ws/src/kuka-lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:84:13: note: candidate: bool joint_limits_interface::getSoftJointLimits(urdf::JointConstSharedPtr, joint_limits_interface::SoftJointLimits&)
inline bool getSoftJointLimits(urdf::JointConstSharedPtr urdf_joint, SoftJointLimits& soft_limits)
^~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:84:13: note: no known conversion for argument 1 from ‘const boost::shared_ptr<const urdf::Joint>’ to ‘urdf::JointConstSharedPtr {aka std::shared_ptr<const urdf::Joint>}’
kuka-lwr/lwr_hw/CMakeFiles/lwr_hw.dir/build.make:62: recipe for target 'kuka-lwr/lwr_hw/CMakeFiles/lwr_hw.dir/src/lwr_hw.cpp.o' failed
make[2]: *** [kuka-lwr/lwr_hw/CMakeFiles/lwr_hw.dir/src/lwr_hw.cpp.o] Error 1
CMakeFiles/Makefile2:6990: recipe for target 'kuka-lwr/lwr_hw/CMakeFiles/lwr_hw.dir/all' failed
make[1]: *** [kuka-lwr/lwr_hw/CMakeFiles/lwr_hw.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1 -l1" failed
`
@j-rivero I'm on ROS Melodic on Ubuntu 18.04 using Gazebo 9.0.0 . i'm trying to run catkin_make and i get that
-- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.2.5 -- Checking for module 'uuid' -- Found uuid, version 2.31.1 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.0.0 -- Looking for dlfcn.h - found -- Looking for libdl - found -- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES -- Checking for module 'gts' -- Found gts, version 0.7.6 -- Checking for module 'libswscale' -- Found libswscale, version 4.8.100 -- Checking for module 'libavdevice >= 56.4.100' -- Found libavdevice , version 57.10.100 -- Checking for module 'libavformat' -- Found libavformat, version 57.83.100 -- Checking for module 'libavcodec' -- Found libavcodec, version 57.107.100 -- Checking for module 'libavutil' -- Found libavutil, version 55.78.100 -- Checking for module 'jsoncpp' -- Found jsoncpp, version 1.7.4 -- Checking for module 'yaml-0.1' -- Found yaml-0.1, version 0.1.7 -- Checking for module 'libzip' -- Found libzip, version 1.1.2 -- +++ processing catkin package: 'pal_gripper_description' -- ==> add_subdirectory(tiago_description_complete/pal_gripper/pal_gripper_description) -- +++ processing catkin package: 'pal_wsg_gripper_description' -- ==> add_subdirectory(tiago_description_complete/pal_wsg_gripper/pal_wsg_gripper_description) -- Configuring done -- Generating done -- Build files have been written to: /home/kora/simulator/sim_env_ws/build
[ 0%] Built target gazebo_msgs_generate_messages_py [ 0%] Built target trajectory_msgs_generate_messages_nodejs [ 0%] Built target trajectory_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target trajectory_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_nodejs [ 0%] Built target rosgraph_msgs_generate_messages_nodejs [ 0%] Built target rosgraph_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_py [ 0%] Built target actionlib_msgs_generate_messages_lisp [ 0%] Built target actionlib_msgs_generate_messages_eus [ 0%] Built target actionlib_generate_messages_eus [ 0%] Built target actionlib_msgs_generate_messages_cpp [ 0%] Built target rosgraph_msgs_generate_messages_eus [ 0%] Built target roscpp_generate_messages_cpp [ 0%] Built target actionlib_generate_messages_cpp [ 0%] Built target rosgraph_msgs_generate_messages_lisp [ 0%] Built target actionlib_generate_messages_lisp [ 0%] Built target actionlib_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target actionlib_generate_messages_py [ 0%] Built target roscpp_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_nodejs [ 0%] Built target trajectory_msgs_generate_messages_eus [ 0%] Built target roscpp_generate_messages_py [ 0%] Built target roscpp_generate_messages_nodejs [ 0%] Built target roscpp_generate_messages_eus [ 0%] Built target geometry_msgs_generate_messages_eus [ 0%] Built target rosgraph_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target trajectory_msgs_generate_messages_cpp [ 0%] Built target sensor_msgs_generate_messages_eus [ 0%] Built target sensor_msgs_generate_messages_cpp [ 0%] Built target tf_generate_messages_cpp [ 0%] Built target sensor_msgs_generate_messages_py [ 0%] Built target tf_generate_messages_py [ 0%] Built target gazebo_msgs_generate_messages_eus [ 0%] Built target tf_generate_messages_eus [ 0%] Built target std_srvs_generate_messages_cpp [ 0%] Built target gazebo_ros_gencfg [ 0%] Built target sensor_msgs_generate_messages_nodejs [ 0%] Built target tf_generate_messages_nodejs [ 0%] Built target tf2_msgs_generate_messages_nodejs [ 0%] Built target sensor_msgs_generate_messages_lisp [ 0%] Built target std_srvs_generate_messages_eus [ 0%] Built target std_srvs_generate_messages_lisp [ 0%] Built target tf_generate_messages_lisp [ 0%] Built target tf2_msgs_generate_messages_eus [ 0%] Built target std_srvs_generate_messages_nodejs [ 0%] Built target gazebo_msgs_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_cpp [ 0%] Built target tf2_msgs_generate_messages_py [ 0%] Built target tf2_msgs_generate_messages_lisp [ 0%] Built target dynamic_reconfigure_generate_messages_cpp [ 0%] Built target dynamic_reconfigure_generate_messages_eus [ 0%] Built target dynamic_reconfigure_generate_messages_lisp [ 0%] Built target dynamic_reconfigure_generate_messages_nodejs [ 0%] Built target dynamic_reconfigure_generate_messages_py [ 0%] Built target dynamic_reconfigure_gencfg [ 0%] Built target std_srvs_generate_messages_py [ 0%] Built target gazebo_msgs_generate_messages_lisp [ 0%] Built target gazebo_msgs_generate_messages_nodejs [ 33%] Linking CXX shared library /home/kora/simulator/sim_env_ws/devel/lib/librealsense_gazebo_plugin.so [100%] Built target realsense_gazebo_plugin [100%] Built target pal_gripper_description_xacro_generated_to_develspace [100%] Built target pal_wsg_gripper_description_xacro_generated_to_develspace
I compile this package with gazebo9, but it prints following errors
My system information