MoveIt!のgraspsの環境をつくる

shmpwk / grasp_movement

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MoveIt!のgraspsの環境をつくる #1

Closed shmpwk closed 4 years ago

shmpwk commented 4 years ago

以下のサイトを見ながらMoveIt!の環境づくりをしていく．

https://moveit.ros.org/install/source/ http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/getting_started/getting_started.html

どちらのサイトでもcatkin buildで同じエラーが出た．

$ catkin build
-----------------------------------------------------------------------
Profile:                     default
Extending:        [explicit] /opt/ros/melodic
Workspace:                   /home/shumpeiwakabayashi/ws_moveit
-----------------------------------------------------------------------
Build Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/build
Devel Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/devel
Install Space:      [unused] /home/shumpeiwakabayashi/ws_moveit/install
Log Space:          [exists] /home/shumpeiwakabayashi/ws_moveit/logs
Source Space:       [exists] /home/shumpeiwakabayashi/ws_moveit/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------------------
[build] Found '33' packages in 0.0 seconds.                                                                                                                                
[build] Updating package table.                                                                                                                                            
Starting  >>> geometric_shapes                                                                                                                                             
Starting  >>> moveit_msgs                                                                                                                                                  
Starting  >>> rviz_visual_tools                                                                                                                                            
Finished  <<< geometric_shapes                                [ 17.0 seconds ]                                                                                             
Finished  <<< moveit_msgs                                     [ 29.9 seconds ]                                                                                             
Starting  >>> moveit_core                                                                                                                                                  
Finished  <<< rviz_visual_tools                               [ 47.9 seconds ]                                                                                             
Finished  <<< moveit_core                                     [ 2 minutes and 42.4 seconds ]                                                                               
Starting  >>> chomp_motion_planner                                                                                                                                         
Starting  >>> moveit_ros_occupancy_map_monitor                                                                                                                             
Starting  >>> moveit_simple_controller_manager                                                                                                                             
Finished  <<< moveit_simple_controller_manager                [ 29.4 seconds ]                                                                                             
Starting  >>> moveit_ros_control_interface                                                                                                                                 
Finished  <<< moveit_ros_occupancy_map_monitor                [ 37.3 seconds ]                                                                                             
Starting  >>> moveit_ros_perception                                                                                                                                        
Starting  >>> moveit_ros_planning                                                                                                                                          
Finished  <<< chomp_motion_planner                            [ 38.8 seconds ]                                                                                             
Starting  >>> moveit_chomp_optimizer_adapter                                                                                                                               
___________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_ros_perception:cmake /home/shumpeiwakabayashi/ws_moveit/logs/moveit_ros_perception/build.cmake.000.log                                                
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find GLUT (missing: GLUT_glut_LIBRARY)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.10/Modules/FindGLUT.cmake:116 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
  CMakeLists.txt:21 (find_package)

cd /home/shumpeiwakabayashi/ws_moveit/build/moveit_ros_perception; catkin build --get-env moveit_ros_perception | catkin env -si  /usr/bin/cmake /home/shumpeiwakabayashi/ws_moveit/src/moveit/moveit_ros/perception --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_ros_perception -DCMAKE_INSTALL_PREFIX=/home/shumpeiwakabayashi/ws_moveit/install -DCMAKE_BUILD_TYPE=Release; cd -
...........................................................................................................................................................................
Failed     << moveit_ros_perception:cmake                     [ Exited with code 1 ]                                                                                       
Failed    <<< moveit_ros_perception                           [ 3.9 seconds ]                                                                                              
Abandoned <<< moveit_commander                                [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_fake_controller_manager                  [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_kinematics                               [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_planners_ompl                            [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_ros_move_group                           [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_ros_manipulation                         [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_ros_robot_interaction                    [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_ros_warehouse                            [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_ros_benchmarks                           [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_ros_planning_interface                   [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_planners_chomp                           [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_ros_visualization                        [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_servo                                    [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_setup_assistant                          [ Unrelated job failed ]                                                                                     
Abandoned <<< panda_moveit_config                             [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_visual_tools                             [ Unrelated job failed ]                                                                                     
Abandoned <<< moveit_tutorials                                [ Unrelated job failed ]                                                                                     
Finished  <<< moveit_ros_control_interface                    [ 24.4 seconds ]                                                                                             
Finished  <<< moveit_chomp_optimizer_adapter                  [ 28.6 seconds ]                                                                                             
Finished  <<< moveit_ros_planning                             [ 2 minutes and 18.6 seconds ]                                                                               
[build] Summary: 10 of 28 packages succeeded.                                                                                                                              
[build]   Ignored:   5 packages were skipped or are blacklisted.                                                                                                           
[build]   Warnings:  None.                                                                                                                                                 
[build]   Abandoned: 17 packages were abandoned.                                                                                                                           
[build]   Failed:    1 packages failed.                                                                                                                                    
[build] Runtime: 6 minutes and 8.9 seconds total.                                                                                                                          
[build] Note: Workspace packages have changed, please re-source setup files to use them.

shmpwk commented 4 years ago

GLUT系のパスがおかしいのか．過去に自分のpcl周りの環境を壊した影響がある？

shmpwk commented 4 years ago

エラーをググってみました． https://stackoverflow.com/questions/19760881/cmake-target-link-library-could-not-find-glut-missing-glut-glut-library ここの解答で言われていることをチェックしています．

shmpwk commented 4 years ago

(以下長谷川さんより)

sudo apt install ros-melodic-moveit
sudo apt install ros-melodic-panda-moveit-config

すれば、ワークスペースを作らなくても、 http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html 以降は恐らく動くと思います。

shmpwk commented 4 years ago

apt installは成功し，チュートリアルに沿って

roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

でrvizは立ち上がるのですが，

add the Motion Planning Plugin

でロボットが出てくるはずが，エラーが出て現れませんでした．

$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true
... logging to /home/shumpeiwakabayashi/.ros/log/3d8e8d70-bf62-11ea-a803-287fcf9948c3/roslaunch-shumpeiwakabayashi-ThinkPad-T495s-1970.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://shumpeiwakabayashi-ThinkPad-T495s:40327/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'joints': ['pan...
 * /move_group/hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/initial: [{'pose': 'ready'...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_frame: camera_rgb_optica...
 * /move_group/octomap_resolution: 0.05
 * /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planner_configs/TrajOptDefault/type: geometric::TrajOpt
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
 * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
 * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
 * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.5
 * /rviz_shumpeiwakabayashi_ThinkPad_T495s_1970_7201989318948814665/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_shumpeiwakabayashi_ThinkPad_T495s_1970_7201989318948814665/panda_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_shumpeiwakabayashi_ThinkPad_T495s_1970_7201989318948814665/panda_arm/kinematics_solver_timeout: 0.05
 * /source_list: ['/move_group/fak...

NODES
  /
    joint_state_desired_publisher (topic_tools/relay)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_shumpeiwakabayashi_ThinkPad_T495s_1970_7201989318948814665 (rviz/rviz)
    virtual_joint_broadcaster_1 (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [2144]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3d8e8d70-bf62-11ea-a803-287fcf9948c3
process[rosout-1]: started with pid [2158]
started core service [/rosout]
process[virtual_joint_broadcaster_1-2]: started with pid [2170]
process[joint_state_publisher-3]: started with pid [2171]
process[joint_state_desired_publisher-4]: started with pid [2172]
process[robot_state_publisher-5]: started with pid [2178]
process[move_group-6]: started with pid [2184]
process[rviz_shumpeiwakabayashi_ThinkPad_T495s_1970_7201989318948814665-7]: started with pid [2193]
[ INFO] [1594023927.550467115]: Loading robot model 'panda'...
[ INFO] [1594023927.625500322]: rviz version 1.13.9
[ INFO] [1594023927.625553298]: compiled against Qt version 5.9.5
[ INFO] [1594023927.625564005]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1594023927.636050432]: Forcing OpenGl version 0.
[ INFO] [1594023927.698919109]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1594023927.701471521]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1594023927.701521021]: Starting planning scene monitor
[ INFO] [1594023927.703387870]: Listening to '/planning_scene'
[ INFO] [1594023927.703430229]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1594023927.706903896]: Listening to '/collision_object'
[ INFO] [1594023927.710197921]: Listening to '/planning_scene_world' for planning scene world geometry
[move_group-6] process has died [pid 2184, exit code -11, cmd /home/shumpeiwakabayashi/ws_moveit/devel/lib/moveit_ros_move_group/move_group --debug /joint_states:=/joint_states_desired __name:=move_group __log:=/home/shumpeiwakabayashi/.ros/log/3d8e8d70-bf62-11ea-a803-287fcf9948c3/move_group-6.log].
log file: /home/shumpeiwakabayashi/.ros/log/3d8e8d70-bf62-11ea-a803-287fcf9948c3/move_group-6*.log
[ INFO] [1594023927.950641450]: Stereo is NOT SUPPORTED
[ INFO] [1594023927.950780195]: OpenGl version: 4.5 (GLSL 4.5).
[ERROR] [1594023941.769795395]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load.  Error: Failed to load library /opt/ros/melodic/lib/libmoveit_motion_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_background_processing.so.1.0.2: 共有オブジェクトファイルを開けません: そのようなファイルやディレクトリはありません)
[rviz_shumpeiwakabayashi_ThinkPad_T495s_1970_7201989318948814665-7] process has finished cleanly
log file: /home/shumpeiwakabayashi/.ros/log/3d8e8d70-bf62-11ea-a803-287fcf9948c3/rviz_shumpeiwakabayashi_ThinkPad_T495s_1970_7201989318948814665-7*.log
^C^Z
[1]+  停止                  roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

shmpwk commented 4 years ago

(長谷川さんより) moveit_graspsに関しては、moveit_graspsだけが入ったワークスペースを作ってビルドすれば良くて、 https://ros-planning.github.io/moveit_tutorials/doc/moveit_grasps/moveit_grasps_tutorial.html#install-from-source のcd ~/ws_moveit/srcの前にmkdirする必要がある、くらいの差分でできたりしないでしょうか。

shmpwk commented 4 years ago

こちらも，最初に全体をbuildしようとした際と同じGLUT関係のエラーが出ました．

$ catkin build moveit_grasps
-----------------------------------------------------------------------
Profile:                     default
Extending:        [explicit] /opt/ros/melodic
Workspace:                   /home/shumpeiwakabayashi/ws_moveit
-----------------------------------------------------------------------
Build Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/build
Devel Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/devel
Install Space:      [unused] /home/shumpeiwakabayashi/ws_moveit/install
Log Space:          [exists] /home/shumpeiwakabayashi/ws_moveit/logs
Source Space:       [exists] /home/shumpeiwakabayashi/ws_moveit/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------------------
[build] Found '34' packages in 0.0 seconds.                                    
[build] Updating package table.                                                
Starting  >>> geometric_shapes                                                 
Starting  >>> moveit_msgs                                                      
Starting  >>> rviz_visual_tools                                                
Finished  <<< geometric_shapes                                [ 0.3 seconds ]  
Finished  <<< rviz_visual_tools                               [ 0.9 seconds ]  
Finished  <<< moveit_msgs                                     [ 2.1 seconds ]  
Starting  >>> moveit_core                                                      
Finished  <<< moveit_core                                     [ 1.2 seconds ]  
Starting  >>> moveit_ros_occupancy_map_monitor                                 
Finished  <<< moveit_ros_occupancy_map_monitor                [ 0.3 seconds ]  
Starting  >>> moveit_ros_perception                                            
Starting  >>> moveit_ros_planning                                              
_______________________________________________________________________________
Errors     << moveit_ros_perception:cmake /home/shumpeiwakabayashi/ws_moveit/logs/moveit_ros_perception/build.cmake.002.log
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find GLUT (missing: GLUT_glut_LIBRARY)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.10/Modules/FindGLUT.cmake:116 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
  CMakeLists.txt:21 (find_package)

cd /home/shumpeiwakabayashi/ws_moveit/build/moveit_ros_perception; catkin build --get-env moveit_ros_perception | catkin env -si  /usr/bin/cmake /home/shumpeiwakabayashi/ws_moveit/src/moveit/moveit_ros/perception --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_ros_perception -DCMAKE_INSTALL_PREFIX=/home/shumpeiwakabayashi/ws_moveit/install -DCMAKE_BUILD_TYPE=Release; cd -
...............................................................................
Failed     << moveit_ros_perception:cmake                     [ Exited with code 1 ]
Failed    <<< moveit_ros_perception                           [ 0.2 seconds ]  
Abandoned <<< moveit_fake_controller_manager                  [ Unrelated job failed ]
Abandoned <<< moveit_kinematics                               [ Unrelated job failed ]
Abandoned <<< moveit_planners_ompl                            [ Unrelated job failed ]
Abandoned <<< moveit_ros_move_group                           [ Unrelated job failed ]
Abandoned <<< moveit_ros_manipulation                         [ Unrelated job failed ]
Abandoned <<< moveit_ros_robot_interaction                    [ Unrelated job failed ]
Abandoned <<< moveit_ros_warehouse                            [ Unrelated job failed ]
Abandoned <<< moveit_ros_planning_interface                   [ Unrelated job failed ]
Abandoned <<< moveit_ros_visualization                        [ Unrelated job failed ]
Abandoned <<< panda_moveit_config                             [ Unrelated job failed ]
Abandoned <<< moveit_visual_tools                             [ Unrelated job failed ]
Abandoned <<< moveit_grasps                                   [ Unrelated job failed ]
Finished  <<< moveit_ros_planning                             [ 0.7 seconds ]  
[build] Summary: 6 of 19 packages succeeded.                                   
[build]   Ignored:   15 packages were skipped or are blacklisted.              
[build]   Warnings:  None.                                                     
[build]   Abandoned: 12 packages were abandoned.                               
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 4.7 seconds total.

pazeshun commented 4 years ago

こちらも，最初に全体をbuildしようとした際と同じGLUT関係のエラーが出ました．

ごめん、僕が言いたかったのは、一旦ワークスペースを全部消して、moveit_graspsだけを入れるということでした。

$ cd ~
$ rm -rf ws_moveit
$ mkdir -p ws_moveit/src

した後で、https://ros-planning.github.io/moveit_tutorials/doc/moveit_grasps/moveit_grasps_tutorial.html#install-from-source をするとどうなるでしょう。

shmpwk commented 4 years ago

コメントありがとうございます．こちら，教えていただいたように実行したところ，以下のようにエラーが出ました．

$ catkin build
-----------------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/melodic
Workspace:                   /home/shumpeiwakabayashi/ws_moveit
-----------------------------------------------------------------------
Build Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/build
Devel Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/devel
Install Space:      [unused] /home/shumpeiwakabayashi/ws_moveit/install
Log Space:         [missing] /home/shumpeiwakabayashi/ws_moveit/logs
Source Space:       [exists] /home/shumpeiwakabayashi/ws_moveit/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-----------------------------------------------------------------------
[build] Found '1' packages in 0.0 seconds.                                                                                                                                                                 
[build] Updating package table.                                                                                                                                                                            
Starting  >>> catkin_tools_prebuild                                                                                                                                                                        
Finished  <<< catkin_tools_prebuild                [ 2.7 seconds ]                                                                                                                                         
Starting  >>> moveit_grasps                                                                                                                                                                                
___________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_grasps:make /home/shumpeiwakabayashi/ws_moveit/logs/moveit_grasps/build.make.000.log                                                                                                  
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:39:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:39:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp: In member function ‘double moveit_grasps::GraspGenerator::scoreSuctionGrasp(const Isometry3d&, const GraspDataPtr&, const Isometry3d&, const Vector3d&, std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:797:57: warning: ‘Eigen::Isometry3d moveit_grasps::GraspGenerator::getIdealGraspPose()’ is deprecated: getIdealGraspPose has been renamed to getIdealTCPGraspPose [-Wdeprecated-declarations]
   Eigen::Isometry3d ideal_grasp_tcp = getIdealGraspPose();
                                                         ^
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:39:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:401:98: note: declared here
   [[deprecated("getIdealGraspPose has been renamed to getIdealTCPGraspPose")]] Eigen::Isometry3d getIdealGraspPose()
                                                                                                  ^~~~~~~~~~~~~~~~~
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp: In member function ‘bool moveit_grasps::GraspGenerator::generateSuctionGrasps(const Isometry3d&, double, double, double, moveit_grasps::GraspDataPtr, std::vector<boost::shared_ptr<moveit_grasps::GraspCandidate> >&, moveit_grasps::GraspCandidateConfig)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:978:57: warning: ‘Eigen::Isometry3d moveit_grasps::GraspGenerator::getIdealGraspPose()’ is deprecated: getIdealGraspPose has been renamed to getIdealTCPGraspPose [-Wdeprecated-declarations]
   Eigen::Isometry3d ideal_grasp_tcp = getIdealGraspPose();
                                                         ^
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:39:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:401:98: note: declared here
   [[deprecated("getIdealGraspPose has been renamed to getIdealTCPGraspPose")]] Eigen::Isometry3d getIdealGraspPose()
                                                                                                  ^~~~~~~~~~~~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_filter.h:49,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_planner.h:46,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_planner.cpp:40:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_filter.h:49,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_filter.cpp:40:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:46:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_poses_visualizer_demo.cpp:41:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_filter.h:49:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_planner.h:46,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_planner.cpp:40:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_filter.h:49:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/grasp_filter.cpp:40:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:46:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_poses_visualizer_demo.cpp:41:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp: In constructor ‘moveit_grasps::GraspGeneratorDemo::GraspGeneratorDemo(int)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:156:49: error: ‘using element_type = class moveit_visual_tools::MoveItVisualTools {aka class moveit_visual_tools::MoveItVisualTools}’ has no member named ‘getIdentityPose’
       geometry_msgs::Pose pose = visual_tools_->getIdentityPose();
                                                 ^~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/moveit_grasps_grasp_generator_demo.dir/src/demo/grasp_generator_demo.cpp.o] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_generator_demo.dir/all] Error 2
make[1]: *** 未完了のジョブを待っています....
/usr/bin/ld: warning: libmoveit_planning_scene_monitor.so.1.0.4, needed by /opt/ros/melodic/lib/libmoveit_visual_tools.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_model.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_transforms.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_state.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_trajectory.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_collision_detection.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_scene.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_profiler.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_kinematics_base.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so, not found (try using -rpath or -rpath-link)
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `typeinfo for kinematics::KinematicsBase' に対する定義されていない参照です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_grasps/lib/moveit_grasps/moveit_grasps_grasp_poses_visualizer_demo] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_poses_visualizer_demo.dir/all] Error 2
make: *** [all] Error 2
cd /home/shumpeiwakabayashi/ws_moveit/build/moveit_grasps; catkin build --get-env moveit_grasps | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...........................................................................................................................................................................................................
Failed     << moveit_grasps:make                   [ Exited with code 2 ]                                                                                                                                  
Failed    <<< moveit_grasps                        [ 31.6 seconds ]                                                                                                                                        
[build] Summary: 1 of 2 packages succeeded.                                                                                                                                                                
[build]   Ignored:   None.                                                                                                                                                                                 
[build]   Warnings:  None.                                                                                                                                                                                 
[build]   Abandoned: None.                                                                                                                                                                                 
[build]   Failed:    1 packages failed.                                                                                                                                                                    
[build] Runtime: 34.4 seconds total.                                                                                                                                                                       
[build] Note: Workspace packages have changed, please re-source setup files to use them.

pazeshun commented 4 years ago

/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:156:49: error: ‘using element_type = class moveit_visual_tools::MoveItVisualTools {aka class moveit_visual_tools::MoveItVisualTools}’ has no member named ‘getIdentityPose’ geometry_msgs::Pose pose = visualtools->getIdentityPose(); ^~~~~~~

このエラーに関して、getIdentityPoseが使われるようになったのは https://github.com/ros-planning/moveit_grasps/pull/83 からで、これを見るとhttps://github.com/PickNikRobotics/rviz_visual_tools/commit/cc4ee1e642d94bdb120b51d19585bb274dcc96b0 のせいでこの変更が必要になったと書いてあって、このcommit自体は「This commit does not belong to any branch on this repository.」となってるんだけど、これに類似する変更を探すと、 https://github.com/PickNikRobotics/rviz_visual_tools/commit/0160ae523670e4d4aa94022e69e0536f48a88a51 が見つかって、このgenerateEmptyPoseを消すcommitはmasterブランチに入り、3.9.0でリリースされているようです（タグマークを見るとわかる）。 melodic-develブランチでは、https://github.com/PickNikRobotics/rviz_visual_tools/commit/1a1a4d153acdb465606d4c058cb91dcffdd1eb28 で初めてgetIdentityPoseが追加され、generateEmptyPoseに対してwarningを出すようになっていますが、このcommitがmelodicでリリースされていません（タグマークがついていない）。なので、melodicのaptで入ったrviz_visual_toolsではgetIdentityPoseがなく、エラーが出ています。

この場合、rviz_visual_toolsも一緒にcatkin buildするしかないと思われます。

$ cd ~/ws_moveit/src
$ git clone -b $ROS_DISTRO-devel https://github.com/PickNikRobotics/rviz_visual_tools.git
$ cd ..
$ catkin build

pazeshun commented 4 years ago

/usr/bin/ld: warning: libmoveit_planning_scene_monitor.so.1.0.4, needed by /opt/ros/melodic/lib/libmoveit_visual_tools.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libmoveit_robot_model.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libmoveit_transforms.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libmoveit_robot_state.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libmoveit_robot_trajectory.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libmoveit_collision_detection.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libmoveit_planning_scene.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libmoveit_profiler.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link) /usr/bin/ld: warning: libmoveit_kinematics_base.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so, not found (try using -rpath or -rpath-link) /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION' に対する定義されていない参照です /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so:typeinfo for kinematics::KinematicsBase' に対する定義されていない参照です

ここら辺、怪しいメッセージなんだけど、rosdep installってちゃんと成功してるのかな

shmpwk commented 4 years ago

ありがとうございます．なるほど，commitを遡って問題源を探していくのですね．エラーをググるしかやってこなかったので，参考になります．以下を試したところ，

$ cd ~/ws_moveit/src
$ git clone -b $ROS_DISTRO-devel https://github.com/PickNikRobotics/rviz_visual_tools.git
$ cd ..
$ catkin build

以下のように，getIdentityPoseでエラーがでました．

$ catkin build
-----------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/shumpeiwakabayashi/ws_moveit
-----------------------------------------------------------------------
Build Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/build
Devel Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/devel
Install Space:      [unused] /home/shumpeiwakabayashi/ws_moveit/install
Log Space:          [exists] /home/shumpeiwakabayashi/ws_moveit/logs
Source Space:       [exists] /home/shumpeiwakabayashi/ws_moveit/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------------------
[build] Found '2' packages in 0.0 seconds.                                                                                                                                                                 
[build] Updating package table.                                                                                                                                                                            
Starting  >>> moveit_grasps                                                                                                                                                                                
Starting  >>> rviz_visual_tools                                                                                                                                                                            
___________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_grasps:make /home/shumpeiwakabayashi/ws_moveit/logs/moveit_grasps/build.make.001.log                                                                                                  
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:46:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_filter_demo.cpp:60:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
/usr/bin/ld: warning: libmoveit_planning_scene_monitor.so.1.0.4, needed by /opt/ros/melodic/lib/libmoveit_visual_tools.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_model.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_transforms.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_state.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_trajectory.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_collision_detection.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_scene.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_profiler.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_kinematics_base.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so, not found (try using -rpath or -rpath-link)
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `typeinfo for kinematics::KinematicsBase' に対する定義されていない参照です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_grasps/lib/moveit_grasps/moveit_grasps_grasp_poses_visualizer_demo] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_poses_visualizer_demo.dir/all] Error 2
make[1]: *** 未完了のジョブを待っています....
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_pipeline_demo.cpp:54:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:46:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp: In constructor ‘moveit_grasps::GraspGeneratorDemo::GraspGeneratorDemo(int)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:156:49: error: ‘using element_type = class moveit_visual_tools::MoveItVisualTools {aka class moveit_visual_tools::MoveItVisualTools}’ has no member named ‘getIdentityPose’
       geometry_msgs::Pose pose = visual_tools_->getIdentityPose();
                                                 ^~~~~~~~~~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_pipeline_demo.cpp:54:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_filter_demo.cpp:60:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/moveit_grasps_grasp_generator_demo.dir/src/demo/grasp_generator_demo.cpp.o] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_generator_demo.dir/all] Error 2
/usr/bin/ld: warning: libmoveit_planning_scene_monitor.so.1.0.4, needed by /opt/ros/melodic/lib/libmoveit_visual_tools.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_model.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_transforms.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_state.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_trajectory.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_collision_detection.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_scene.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_profiler.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_kinematics_base.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so, not found (try using -rpath or -rpath-link)
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `typeinfo for kinematics::KinematicsBase' に対する定義されていない参照です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_grasps/lib/moveit_grasps/moveit_grasps_grasp_filter_demo] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_filter_demo.dir/all] Error 2
/usr/bin/ld: warning: libmoveit_planning_scene_monitor.so.1.0.4, needed by /opt/ros/melodic/lib/libmoveit_visual_tools.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_model.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_robot_model_loader.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_profiler.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_robot_model_loader.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_transforms.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_state.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_trajectory.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_interface.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_collision_detection.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_scene.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_request_adapter.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_kinematics_base.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so, not found (try using -rpath or -rpath-link)
/opt/ros/melodic/lib/libmoveit_planning_pipeline.so: `robot_trajectory::RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory_<std::allocator<void> >&) const' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `typeinfo for kinematics::KinematicsBase' に対する定義されていない参照です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_grasps/lib/moveit_grasps/moveit_grasps_grasp_pipeline_demo] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_pipeline_demo.dir/all] Error 2
make: *** [all] Error 2
cd /home/shumpeiwakabayashi/ws_moveit/build/moveit_grasps; catkin build --get-env moveit_grasps | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...........................................................................................................................................................................................................
Failed     << moveit_grasps:make               [ Exited with code 2 ]                                                                                                                                      
Failed    <<< moveit_grasps                    [ 28.9 seconds ]                                                                                                                                            
Finished  <<< rviz_visual_tools                [ 48.7 seconds ]                                                                                                                                            
[build] Summary: 1 of 2 packages succeeded.                                                                                                                                                                
[build]   Ignored:   None.                                                                                                                                                                                 
[build]   Warnings:  None.                                                                                                                                                                                 
[build]   Abandoned: None.                                                                                                                                                                                 
[build]   Failed:    1 packages failed.                                                                                                                                                                    
[build] Runtime: 48.9 seconds total.                                                                                                                                                                       
[build] Note: Workspace packages have changed, please re-source setup files to use them.

僕も，commitを遡って原因を探っていきたいと思います．

shmpwk commented 4 years ago

rosdep installは問題なさそうです．

$ rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO
#All required rosdeps installed successfully

pazeshun commented 4 years ago

以下のように，getIdentityPoseでエラーがでました．

RvizVisualToolsクラスにはgetIdentityPoseが入っているんですが、使っているのはその子クラスであるMoveitVisualToolsなので、そのビルドが必要なのかもしれません。

$ cd ~/ws_moveit/src
$ git clone -b $ROS_DISTRO-devel https://github.com/ros-planning/moveit_visual_tools.git
$ cd ..
$ catkin build

ただ、今更見つけた以下のコメントを見ると、それではだめかもしれないです。 https://github.com/ros-planning/moveit_grasps/issues/92#issuecomment-593746028 以下を見ると、rviz_visual_toolsはmasterブランチにし、moveit_visual_toolsは消し、moveit_graspsはmelodic-develブランチにすると上手くいくのかもしれません。 https://github.com/ros-planning/moveit_grasps/issues/92#issuecomment-593840001

shmpwk commented 4 years ago

cloneしたものを全て消してから，

$ cd ~/ws_moveit/src
$ git clone https://github.com/PickNikRobotics/rviz_visual_tools.git
$ git clone -b $ROS_DISTRO-devel https://github.com/ros-planning/moveit_grasps.git
$ rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO
$ cd ../
$ catkin build

まだだめですね．．．

$ catkin build 
-----------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/shumpeiwakabayashi/ws_moveit
-----------------------------------------------------------------------
Build Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/build
Devel Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/devel
Install Space:      [unused] /home/shumpeiwakabayashi/ws_moveit/install
Log Space:          [exists] /home/shumpeiwakabayashi/ws_moveit/logs
Source Space:       [exists] /home/shumpeiwakabayashi/ws_moveit/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------------------
[build] Found '2' packages in 0.0 seconds.                                                                                                                                                                 
[build] Package table is up to date.                                                                                                                                                                       
Starting  >>> moveit_grasps                                                                                                                                                                                
Starting  >>> rviz_visual_tools                                                                                                                                                                            
Finished  <<< rviz_visual_tools                [ 1.2 seconds ]                                                                                                                                             
___________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_grasps:make /home/shumpeiwakabayashi/ws_moveit/logs/moveit_grasps/build.make.003.log                                                                                                  
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:46:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_filter_demo.cpp:60:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
/usr/bin/ld: warning: libmoveit_planning_scene_monitor.so.1.0.4, needed by /opt/ros/melodic/lib/libmoveit_visual_tools.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_model.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_transforms.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_state.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_trajectory.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_collision_detection.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_scene.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_profiler.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_kinematics_base.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so, not found (try using -rpath or -rpath-link)
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `typeinfo for kinematics::KinematicsBase' に対する定義されていない参照です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_grasps/lib/moveit_grasps/moveit_grasps_grasp_poses_visualizer_demo] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_poses_visualizer_demo.dir/all] Error 2
make[1]: *** 未完了のジョブを待っています....
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_pipeline_demo.cpp:54:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_pipeline_demo.cpp:54:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:46:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp: In constructor ‘moveit_grasps::GraspGeneratorDemo::GraspGeneratorDemo(int)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:156:49: error: ‘using element_type = class moveit_visual_tools::MoveItVisualTools {aka class moveit_visual_tools::MoveItVisualTools}’ has no member named ‘getIdentityPose’
       geometry_msgs::Pose pose = visual_tools_->getIdentityPose();
                                                 ^~~~~~~~~~~~~~~
In file included from /home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/src/demo/grasp_filter_demo.cpp:60:0:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/shumpeiwakabayashi/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/moveit_grasps_grasp_generator_demo.dir/src/demo/grasp_generator_demo.cpp.o] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_generator_demo.dir/all] Error 2
/usr/bin/ld: warning: libmoveit_planning_scene_monitor.so.1.0.4, needed by /opt/ros/melodic/lib/libmoveit_visual_tools.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_model.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_transforms.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_state.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_trajectory.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_collision_detection.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_scene.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_profiler.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_kinematics_base.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so, not found (try using -rpath or -rpath-link)
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `typeinfo for kinematics::KinematicsBase' に対する定義されていない参照です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_grasps/lib/moveit_grasps/moveit_grasps_grasp_filter_demo] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_filter_demo.dir/all] Error 2
/usr/bin/ld: warning: libmoveit_planning_scene_monitor.so.1.0.4, needed by /opt/ros/melodic/lib/libmoveit_visual_tools.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_model.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_robot_model_loader.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_profiler.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_robot_model_loader.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_transforms.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_state.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_trajectory.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_interface.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_collision_detection.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_scene.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_request_adapter.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_pipeline.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_kinematics_base.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so, not found (try using -rpath or -rpath-link)
/opt/ros/melodic/lib/libmoveit_planning_pipeline.so: `robot_trajectory::RobotTrajectory::getRobotTrajectoryMsg(moveit_msgs::RobotTrajectory_<std::allocator<void> >&) const' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `typeinfo for kinematics::KinematicsBase' に対する定義されていない参照です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_grasps/lib/moveit_grasps/moveit_grasps_grasp_pipeline_demo] Error 1
make[1]: *** [CMakeFiles/moveit_grasps_grasp_pipeline_demo.dir/all] Error 2
make: *** [all] Error 2
cd /home/shumpeiwakabayashi/ws_moveit/build/moveit_grasps; catkin build --get-env moveit_grasps | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...........................................................................................................................................................................................................
Failed     << moveit_grasps:make               [ Exited with code 2 ]                                                                                                                                      
Failed    <<< moveit_grasps                    [ 24.0 seconds ]                                                                                                                                            
[build] Summary: 1 of 2 packages succeeded.                                                                                                                                                                
[build]   Ignored:   None.                                                                                                                                                                                 
[build]   Warnings:  None.                                                                                                                                                                                 
[build]   Abandoned: None.                                                                                                                                                                                 
[build]   Failed:    1 packages failed.                                                                                                                                                                    
[build] Runtime: 24.1 seconds total.

同じように，この操作でできていない人もいますしね，，，

pazeshun commented 4 years ago

catkin cleanしないと、前のビルド結果が残っちゃうので、念のためcatkin cleanしてからもう一回ビルドしてみてください

shmpwk commented 4 years ago

なるほど，ありがとうございます． catkin clean後，先程と同じように試しましたが，同じエラーがでました．

shmpwk commented 4 years ago

個人的に状況を正しく理解できているのか不安なのですが，以下のような状態であっていますでしょうか．

まず，moveit_grasps単体でbuildすると，MoveitVisualToolsクラスが，getIdentityPoseの持たないRvizVisualToolsクラスを継承し， ~getIdentityPoseの親は，MoveitVisualToolsクラスになってしまう．なのに，肝心のmoveit_visual_toolsレポジトリでは，どこにもMoveitVisualToolsクラスにgetIdentityPoseがあると書かれていないので，エラーがでてしまう．~ moveit_graspsのbuild中に呼ばれるgetIdentityPoseの親は，それとなってしまいエラーがでてしまう．

そこで，master branchのrviz_visual_toolsをgit cloneしてrosdep install，buildすれば，RvizVisualToolsクラスの参照先が，rviz_visual_toolsのmaster branchに変わる．(これを反映させるために，念の為$ source ~/ws_moveit/devel/setup.bash した)

~その場合，moveit_graspsのbuild時に呼ばれるgetIdentityPoseの親は，MoveitVisualToolsクラスから，master branchのRvizVisualToolsクラスにかわるはず．~

その場合，moveit_graspsのbuild時に呼ばれるgetIdentityPoseの親は，MoveitVisualToolsクラスの継承元である，getIdentityPoseの定義されていないRvizVisualToolsクラスから，getIdentityPoseの定義されているmaster branchのRvizVisualToolsクラスにかわるはず．

~ところが，moveit_graspsのbuild時のエラー文を見ると，getIdentityPoseの親は，MoveitVisualToolsクラスのままである．~ ところが，moveit_graspsのbuild時のエラー文を見ると，getIdentityPoseの親は，getIdentityPoseの定義されていないRvizVisualToolsクラス(MoveitVisualToolsクラス)のままである．

という感じでしょうか．

pazeshun commented 4 years ago

遅れてすみません。

まず、かなり前の以下の話ですが、

apt installは成功し，チュートリアルに沿って
roslaunch panda_moveit_config demo.launch rviz_tutorial:=true
でrvizは立ち上がるのですが，

add the Motion Planning Plugin

でロボットが出てくるはずが，エラーが出て現れませんでした．

僕の手元でmelodicの入ったdockerコンテナを作って試してみたところ、roslaunch panda_moveit_config demo.launch rviz_tutorial:=trueした時点で怪しめのエラーが出つつも、Motion Planning Pluginをaddしたらロボットが出てきました。 dockerコンテナはかなり綺麗な環境（のはず）なので、 @shmpwk の手元環境の問題かもしれません。 dockerコンテナを作って試してもらっても良いでしょうか。コンテナ内で立ち上げたGUIを表示するためにかなり怪しいことをしているので、ますます環境を壊しちゃうかもしれないのですが・・・。

$ sudo docker pull osrf/ros:melodic-desktop-bionic
$ sudo docker run --device=/dev/dri -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -it osrf/ros:melodic-desktop-bionic /bin/bash  # ちゃんと確認できてないが、これをした後、ウインドウ指定のスクリーンショットやKazamがうまく動かなくなった気がする・・・
# adduser --uid （ホストと同じID） --ingroup sudo --disabled-password --gecos "" （ホストと同じユーザ名）  # ホストのIDはidコマンドで確認
# echo "（ユーザ名） ALL=(ALL) NOPASSWD:ALL" | sudo tee -a /etc/sudoers
# su （ユーザ名）
$ sudo apt update
$ sudo apt dist-upgrade  # かなり多くのパッケージが更新される
$ sudo apt install ros-melodic-moveit
$ sudo apt install ros-melodic-panda-moveit-config
$ source /opt/ros/melodic/setup.bash
$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

... logging to /home/pazeshun/.ros/log/3e44df60-c031-11ea-9f53-0242ac110002/roslaunch-4fe5a8a42b93-7716.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://4fe5a8a42b93:43751/

SUMMARY
========

PARAMETERS
 * /joint_state_publisher/use_gui: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'joints': ['pan...
 * /move_group/hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/initial: [{'pose': 'ready'...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_fake_contr...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_frame: camera_rgb_optica...
 * /move_group/octomap_resolution: 0.05
 * /move_group/panda_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/panda_arm_hand/planner_configs: ['SBLkConfigDefau...
 * /move_group/planner_configs/BFMTkConfigDefault/balanced: 0
 * /move_group/planner_configs/BFMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/BFMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/BFMTkConfigDefault/heuristics: 1
 * /move_group/planner_configs/BFMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/BFMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/BFMTkConfigDefault/optimality: 1
 * /move_group/planner_configs/BFMTkConfigDefault/radius_multiplier: 1.0
 * /move_group/planner_configs/BFMTkConfigDefault/type: geometric::BFMT
 * /move_group/planner_configs/BKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/BKPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/BKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/BKPIECEkConfigDefault/type: geometric::BKPIECE
 * /move_group/planner_configs/BiESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiESTkConfigDefault/type: geometric::BiEST
 * /move_group/planner_configs/BiTRRTkConfigDefault/cost_threshold: 1e300
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_node_ratio: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/init_temperature: 100
 * /move_group/planner_configs/BiTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/BiTRRTkConfigDefault/temp_change_factor: 0.1
 * /move_group/planner_configs/BiTRRTkConfigDefault/type: geometric::BiTRRT
 * /move_group/planner_configs/ESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ESTkConfigDefault/type: geometric::EST
 * /move_group/planner_configs/FMTkConfigDefault/cache_cc: 1
 * /move_group/planner_configs/FMTkConfigDefault/extended_fmt: 1
 * /move_group/planner_configs/FMTkConfigDefault/heuristics: 0
 * /move_group/planner_configs/FMTkConfigDefault/nearest_k: 1
 * /move_group/planner_configs/FMTkConfigDefault/num_samples: 1000
 * /move_group/planner_configs/FMTkConfigDefault/radius_multiplier: 1.1
 * /move_group/planner_configs/FMTkConfigDefault/type: geometric::FMT
 * /move_group/planner_configs/KPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/KPIECEkConfigDefault/failed_expansion_score_factor: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/KPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/KPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/KPIECEkConfigDefault/type: geometric::KPIECE
 * /move_group/planner_configs/LBKPIECEkConfigDefault/border_fraction: 0.9
 * /move_group/planner_configs/LBKPIECEkConfigDefault/min_valid_path_fraction: 0.5
 * /move_group/planner_configs/LBKPIECEkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBKPIECEkConfigDefault/type: geometric::LBKPIECE
 * /move_group/planner_configs/LBTRRTkConfigDefault/epsilon: 0.4
 * /move_group/planner_configs/LBTRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/LBTRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/LBTRRTkConfigDefault/type: geometric::LBTRRT
 * /move_group/planner_configs/LazyPRMkConfigDefault/range: 0.0
 * /move_group/planner_configs/LazyPRMkConfigDefault/type: geometric::LazyPRM
 * /move_group/planner_configs/LazyPRMstarkConfigDefault/type: geometric::LazyPR...
 * /move_group/planner_configs/PDSTkConfigDefault/type: geometric::PDST
 * /move_group/planner_configs/PRMkConfigDefault/max_nearest_neighbors: 10
 * /move_group/planner_configs/PRMkConfigDefault/type: geometric::PRM
 * /move_group/planner_configs/PRMstarkConfigDefault/type: geometric::PRMstar
 * /move_group/planner_configs/ProjESTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/ProjESTkConfigDefault/range: 0.0
 * /move_group/planner_configs/ProjESTkConfigDefault/type: geometric::ProjEST
 * /move_group/planner_configs/RRTConnectkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTConnectkConfigDefault/type: geometric::RRTCon...
 * /move_group/planner_configs/RRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTkConfigDefault/type: geometric::RRT
 * /move_group/planner_configs/RRTstarkConfigDefault/delay_collision_checking: 1
 * /move_group/planner_configs/RRTstarkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/RRTstarkConfigDefault/range: 0.0
 * /move_group/planner_configs/RRTstarkConfigDefault/type: geometric::RRTstar
 * /move_group/planner_configs/SBLkConfigDefault/range: 0.0
 * /move_group/planner_configs/SBLkConfigDefault/type: geometric::SBL
 * /move_group/planner_configs/SPARSkConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARSkConfigDefault/max_failures: 1000
 * /move_group/planner_configs/SPARSkConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARSkConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARSkConfigDefault/type: geometric::SPARS
 * /move_group/planner_configs/SPARStwokConfigDefault/dense_delta_fraction: 0.001
 * /move_group/planner_configs/SPARStwokConfigDefault/max_failures: 5000
 * /move_group/planner_configs/SPARStwokConfigDefault/sparse_delta_fraction: 0.25
 * /move_group/planner_configs/SPARStwokConfigDefault/stretch_factor: 3.0
 * /move_group/planner_configs/SPARStwokConfigDefault/type: geometric::SPARStwo
 * /move_group/planner_configs/STRIDEkConfigDefault/degree: 16
 * /move_group/planner_configs/STRIDEkConfigDefault/estimated_dimension: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/STRIDEkConfigDefault/max_degree: 18
 * /move_group/planner_configs/STRIDEkConfigDefault/max_pts_per_leaf: 6
 * /move_group/planner_configs/STRIDEkConfigDefault/min_degree: 12
 * /move_group/planner_configs/STRIDEkConfigDefault/min_valid_path_fraction: 0.2
 * /move_group/planner_configs/STRIDEkConfigDefault/range: 0.0
 * /move_group/planner_configs/STRIDEkConfigDefault/type: geometric::STRIDE
 * /move_group/planner_configs/STRIDEkConfigDefault/use_projected_distance: 0
 * /move_group/planner_configs/TRRTkConfigDefault/frountierNodeRatio: 0.1
 * /move_group/planner_configs/TRRTkConfigDefault/frountier_threshold: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/goal_bias: 0.05
 * /move_group/planner_configs/TRRTkConfigDefault/init_temperature: 10e-6
 * /move_group/planner_configs/TRRTkConfigDefault/k_constant: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/max_states_failed: 10
 * /move_group/planner_configs/TRRTkConfigDefault/min_temperature: 10e-10
 * /move_group/planner_configs/TRRTkConfigDefault/range: 0.0
 * /move_group/planner_configs/TRRTkConfigDefault/temp_change_factor: 2.0
 * /move_group/planner_configs/TRRTkConfigDefault/type: geometric::TRRT
 * /move_group/planner_configs/TrajOptDefault/type: geometric::TrajOpt
 * /move_group/planning_plugin: ompl_interface/OM...
 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /robot_description: <?xml version="1....
 * /robot_description_kinematics/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /robot_description_kinematics/panda_arm/kinematics_solver_search_resolution: 0.005
 * /robot_description_kinematics/panda_arm/kinematics_solver_timeout: 0.05
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint1/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_acceleration_limits: False
 * /robot_description_planning/joint_limits/panda_finger_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_acceleration: 0
 * /robot_description_planning/joint_limits/panda_finger_joint2/max_velocity: 0.1
 * /robot_description_planning/joint_limits/panda_joint1/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint1/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint1/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint2/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint2/max_acceleration: 1.875
 * /robot_description_planning/joint_limits/panda_joint2/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint3/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint3/max_acceleration: 2.5
 * /robot_description_planning/joint_limits/panda_joint3/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint4/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint4/max_acceleration: 3.125
 * /robot_description_planning/joint_limits/panda_joint4/max_velocity: 2.175
 * /robot_description_planning/joint_limits/panda_joint5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint5/max_acceleration: 3.75
 * /robot_description_planning/joint_limits/panda_joint5/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint6/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint6/max_velocity: 2.61
 * /robot_description_planning/joint_limits/panda_joint7/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/has_velocity_limits: True
 * /robot_description_planning/joint_limits/panda_joint7/max_acceleration: 5
 * /robot_description_planning/joint_limits/panda_joint7/max_velocity: 2.61
 * /robot_description_semantic: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.6
 * /rviz_4fe5a8a42b93_7716_3415588446901004109/panda_arm/kinematics_solver: kdl_kinematics_pl...
 * /rviz_4fe5a8a42b93_7716_3415588446901004109/panda_arm/kinematics_solver_search_resolution: 0.005
 * /rviz_4fe5a8a42b93_7716_3415588446901004109/panda_arm/kinematics_solver_timeout: 0.05
 * /source_list: ['/move_group/fak...

NODES
  /
    joint_state_desired_publisher (topic_tools/relay)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    move_group (moveit_ros_move_group/move_group)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    rviz_4fe5a8a42b93_7716_3415588446901004109 (rviz/rviz)
    virtual_joint_broadcaster_1 (tf2_ros/static_transform_publisher)

auto-starting new master
process[master]: started with pid [7735]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3e44df60-c031-11ea-9f53-0242ac110002
process[rosout-1]: started with pid [7746]
started core service [/rosout]
process[virtual_joint_broadcaster_1-2]: started with pid [7753]
process[joint_state_publisher-3]: started with pid [7754]
process[joint_state_desired_publisher-4]: started with pid [7755]
process[robot_state_publisher-5]: started with pid [7760]
process[move_group-6]: started with pid [7762]
process[rviz_4fe5a8a42b93_7716_3415588446901004109-7]: started with pid [7768]
[ INFO] [1594112834.103230198]: Loading robot model 'panda'...
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-pazeshun'
[ INFO] [1594112834.146255549]: rviz version 1.13.12
[ INFO] [1594112834.146602649]: compiled against Qt version 5.9.5
[ INFO] [1594112834.146820594]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1594112834.157196859]: Forcing OpenGl version 0.
[ INFO] [1594112834.282766155]: Publishing maintained planning scene on 'monitored_planning_scene'
[ INFO] [1594112834.286796479]: MoveGroup debug mode is ON
Starting planning scene monitors...
[ INFO] [1594112834.286855697]: Starting planning scene monitor
[ INFO] [1594112834.290567036]: Listening to '/planning_scene'
[ INFO] [1594112834.290615239]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[ INFO] [1594112834.293675657]: Listening to '/collision_object'
[ INFO] [1594112834.302787050]: Listening to '/planning_scene_world' for planning scene world geometry
[ INFO] [1594112834.345990116]: Listening to '/camera/depth_registered/points' using message filter with target frame 'world '
[ INFO] [1594112834.351304833]: Listening to '/attached_collision_object' for attached collision objects
Planning scene monitors started.
[ INFO] [1594112834.376170160]: Initializing OMPL interface using ROS parameters
[ INFO] [1594112834.426566997]: Using planning interface 'OMPL'
[ INFO] [1594112834.431162240]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1594112834.432177328]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1594112834.433535563]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594112834.435107772]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1594112834.436524719]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1594112834.437296294]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ERROR] [1594112834.437878117]: Exception while loading planning adapter plugin 'default_planner_request_adapters/ResolveConstraintFrames': According to the loaded plugin descriptions the class default_planner_request_adapters/ResolveConstraintFrames with base class type planning_request_adapter::PlanningRequestAdapter does not exist. Declared types are  default_planner_request_adapters/AddIterativeSplineParameterization default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/AddTimeParameterization default_planner_request_adapters/Empty default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints default_planner_request_adapters/FixWorkspaceBounds
[ INFO] [1594112834.438339343]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1594112834.438649358]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1594112834.438988458]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1594112834.439336298]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1594112834.439727912]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1594112834.450730287]: Loading robot model 'panda'...
[ INFO] [1594112834.495929672]: Set joints of group 'panda_arm' to pose 'ready'.
[ INFO] [1594112834.495971189]: Set joints of group 'hand' to pose 'open'.
[ INFO] [1594112834.496349313]: Fake controller 'fake_panda_arm_controller' with joints [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ]
[ INFO] [1594112834.496835856]: Fake controller 'fake_hand_controller' with joints [ panda_finger_joint1 panda_finger_joint2 ]
[ INFO] [1594112834.497214966]: Returned 2 controllers in list
[ INFO] [1594112834.506614115]: Trajectory execution is managing controllers
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...
Loading 'move_group/MoveGroupPlanService'...
Loading 'move_group/MoveGroupQueryPlannersService'...
Loading 'move_group/MoveGroupStateValidationService'...
[ INFO] [1594112834.587399582]: 

********************************************************
* MoveGroup using: 
*     - ApplyPlanningSceneService
*     - ClearOctomapService
*     - CartesianPathService
*     - ExecuteTrajectoryAction
*     - GetPlanningSceneService
*     - KinematicsService
*     - MoveAction
*     - PickPlaceAction
*     - MotionPlanService
*     - QueryPlannersService
*     - StateValidationService
********************************************************

[ INFO] [1594112834.588903994]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1594112834.589067420]: MoveGroup context initialization complete

You can start planning now!

[ INFO] [1594112834.618202464]: Stereo is NOT SUPPORTED
[ INFO] [1594112834.618311910]: OpenGl version: 3 (GLSL 1.3).
[ERROR] [1594112834.712557456]: PluginlibFactory: The plugin for class 'rviz_visual_tools/KeyTool' failed to load.  Error: According to the loaded plugin descriptions the class rviz_visual_tools/KeyTool with base class type rviz::Tool does not exist. Declared types are  rviz/FocusCamera rviz/Interact rviz/Measure rviz/MoveCamera rviz/PublishPoint rviz/Select rviz/SetGoal rviz/SetInitialPose rviz_plugin_tutorials/PlantFlag
[rospack] Error: no package given
[librospack]: error while executing command
[rospack] Error: no package given
[librospack]: error while executing command
[ERROR] [1594112834.759529734]: PluginlibFactory: The plugin for class 'rviz_visual_tools/RvizVisualToolsGui' failed to load.  Error: According to the loaded plugin descriptions the class rviz_visual_tools/RvizVisualToolsGui with base class type rviz::Panel does not exist. Declared types are  rviz_plugin_tutorials/Teleop
[rospack] Error: no package given
[librospack]: error while executing command
[rospack] Error: no package given
[librospack]: error while executing command
[ INFO] [1594112875.084172093]: Loading robot model 'panda'...
[ INFO] [1594112875.219297470]: Starting planning scene monitor
[ INFO] [1594112875.223409284]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1594112875.662085265]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
[ INFO] [1594112875.664402459]: No active joints or end effectors found for group 'hand'. Make sure that kinematics.yaml is loaded in this node's namespace.
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
[ INFO] [1594112875.674823261]: Constructing new MoveGroup connection for group 'hand' in namespace ''
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
[ INFO] [1594112876.796715601]: Ready to take commands for planning group hand.
[ INFO] [1594112876.797141715]: Looking around: no
[ INFO] [1594112876.797745157]: Replanning: no
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.
QAbstractItemView::setSelectionModel() failed: Trying to set a selection model, which works on a different model than the view.

pazeshun commented 4 years ago

https://github.com/shmpwk/grasp_movement/issues/1#issuecomment-654314373 についてなんですが、僕のdocker環境でテストしたところ、RvizVisualToolsクラスを更新したとしても、moveit_visual_toolsパッケージをビルドしないとMoveitVisualToolsクラスは更新されないようです。（なぜなら、MoveitVisualToolsクラスはmoveit_visual_toolsパッケージの中で定義されているから。）つまり、

RvizVisualToolsクラスにはgetIdentityPoseが入っているんですが、使っているのはその子クラスであるMoveitVisualToolsなので、そのビルドが必要なのかもしれません。

が正解で、

ただ、今更見つけた以下のコメントを見ると、それではだめかもしれないです。 ros-planning/moveit_grasps#92 (comment) 以下を見ると、rviz_visual_toolsはmasterブランチにし、moveit_visual_toolsは消し、moveit_graspsはmelodic-develブランチにすると上手くいくのかもしれません。 ros-planning/moveit_grasps#92 (comment)

が誤りのようです。 moveit_grasps, moveit_visual_tools, rviz_visual_toolsを全部melodic-develブランチにしてcatkin buildしたら成功しました（やっぱりシンプルなものが正しい）。以下の作業を試してみて下さい（dockerコンテナ内じゃなくても成功するはず）。

$ cd ~
$ rm -rf ws_moveit  # 必ず行うこと
$ source /opt/ros/melodic/setup.bash
$ mkdir -p ws_moveit/src
$ cd ws_moveit/src/
$ git clone -b $ROS_DISTRO-devel https://github.com/ros-planning/moveit_grasps.git
$ git clone -b $ROS_DISTRO-devel https://github.com/ros-planning/moveit_visual_tools.git
$ git clone -b $ROS_DISTRO-devel https://github.com/PickNikRobotics/rviz_visual_tools.git
$ rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO
$ cd ..
$ catkin build
-------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/melodic
Workspace:                   /home/pazeshun/ws_moveit
-------------------------------------------------------------
Build Space:        [exists] /home/pazeshun/ws_moveit/build
Devel Space:        [exists] /home/pazeshun/ws_moveit/devel
Install Space:      [unused] /home/pazeshun/ws_moveit/install
Log Space:         [missing] /home/pazeshun/ws_moveit/logs
Source Space:       [exists] /home/pazeshun/ws_moveit/src
DESTDIR:            [unused] None
-------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-------------------------------------------------------------
[build] Found '3' packages in 0.0 seconds.                                                                                          
[build] Updating package table.                                                                                                     
Starting  >>> catkin_tools_prebuild                                                                                                 
Finished  <<< catkin_tools_prebuild                [ 2.4 seconds ]                                                                  
Starting  >>> rviz_visual_tools                                                                                                     
Finished  <<< rviz_visual_tools                    [ 23.0 seconds ]                                                                 
Starting  >>> moveit_visual_tools                                                                                                   
Finished  <<< moveit_visual_tools                  [ 30.3 seconds ]                                                                 
Starting  >>> moveit_grasps                                                                                                         
____________________________________________________________________________________________________________________________________
Warnings   << moveit_grasps:make /home/pazeshun/ws_moveit/logs/moveit_grasps/build.make.000.log                                     
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:39:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:39:0:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
/home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp: In member function ‘double moveit_grasps::GraspGenerator::scoreSuctionGrasp(const Isometry3d&, const GraspDataPtr&, const Isometry3d&, const Vector3d&, std::vector<double>&)’:
/home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:797:57: warning: ‘Eigen::Isometry3d moveit_grasps::GraspGenerator::getIdealGraspPose()’ is deprecated: getIdealGraspPose has been renamed to getIdealTCPGraspPose [-Wdeprecated-declarations]
   Eigen::Isometry3d ideal_grasp_tcp = getIdealGraspPose();
                                                         ^
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:39:0:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:401:98: note: declared here
   [[deprecated("getIdealGraspPose has been renamed to getIdealTCPGraspPose")]] Eigen::Isometry3d getIdealGraspPose()
                                                                                                  ^~~~~~~~~~~~~~~~~
/home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp: In member function ‘bool moveit_grasps::GraspGenerator::generateSuctionGrasps(const Isometry3d&, double, double, double, moveit_grasps::GraspDataPtr, std::vector<boost::shared_ptr<moveit_grasps::GraspCandidate> >&, moveit_grasps::GraspCandidateConfig)’:
/home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:978:57: warning: ‘Eigen::Isometry3d moveit_grasps::GraspGenerator::getIdealGraspPose()’ is deprecated: getIdealGraspPose has been renamed to getIdealTCPGraspPose [-Wdeprecated-declarations]
   Eigen::Isometry3d ideal_grasp_tcp = getIdealGraspPose();
                                                         ^
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_generator.cpp:39:0:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:401:98: note: declared here
   [[deprecated("getIdealGraspPose has been renamed to getIdealTCPGraspPose")]] Eigen::Isometry3d getIdealGraspPose()
                                                                                                  ^~~~~~~~~~~~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:46:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_filter.h:49,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_filter.cpp:40:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_filter.h:49,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_planner.h:46,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_planner.cpp:40:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/src/demo/grasp_poses_visualizer_demo.cpp:41:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:46:0:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_filter.h:49:0,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_filter.cpp:40:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_filter.h:49:0,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_planner.h:46,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/src/grasp_planner.cpp:40:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/src/demo/grasp_poses_visualizer_demo.cpp:41:0:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/src/demo/grasp_filter_demo.cpp:60:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:53:0,
                 from /home/pazeshun/ws_moveit/src/moveit_grasps/src/demo/grasp_pipeline_demo.cpp:54:
/opt/ros/melodic/include/moveit/macros/deprecation.h:41:2: warning: #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead." [-Wcpp]
 #warning "The usage of MOVEIT_DEPRECATED is deprecated. Use the CPP14 [[deprecated]] instead."
  ^~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/src/demo/grasp_filter_demo.cpp:60:0:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
In file included from /home/pazeshun/ws_moveit/src/moveit_grasps/src/demo/grasp_pipeline_demo.cpp:54:0:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/pazeshun/ws_moveit/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
cd /home/pazeshun/ws_moveit/build/moveit_grasps; catkin build --get-env moveit_grasps | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
....................................................................................................................................
Finished  <<< moveit_grasps                        [ 51.2 seconds ]                                                                 
[build] Summary: All 4 packages succeeded!                                                                                          
[build]   Ignored:   None.                                                                                                          
[build]   Warnings:  1 packages succeeded with warnings.                                                                            
[build]   Abandoned: None.                                                                                                          
[build]   Failed:    None.                                                                                                          
[build] Runtime: 1 minute and 47.0 seconds total.                                                                                   
[build] Note: Workspace packages have changed, please re-source setup files to use them.

shmpwk commented 4 years ago

わざわざ手元でやって頂きありがとうございます．

dockerの方はできました！ありがとうございます．

moveit_graspsの方は，教えていただいたように実行したところ，また別のエラーがでてしまいました．

$ catkin build
-----------------------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/melodic
Workspace:                   /home/shumpeiwakabayashi/ws_moveit
-----------------------------------------------------------------------
Build Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/build
Devel Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/devel
Install Space:      [unused] /home/shumpeiwakabayashi/ws_moveit/install
Log Space:         [missing] /home/shumpeiwakabayashi/ws_moveit/logs
Source Space:       [exists] /home/shumpeiwakabayashi/ws_moveit/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-----------------------------------------------------------------------
[build] Found '3' packages in 0.0 seconds.                                                                                                                                                                        
[build] Updating package table.                                                                                                                                                                                   
Starting  >>> catkin_tools_prebuild                                                                                                                                                                               
Finished  <<< catkin_tools_prebuild                [ 2.6 seconds ]                                                                                                                                                
Starting  >>> rviz_visual_tools                                                                                                                                                                                   
Finished  <<< rviz_visual_tools                    [ 19.3 seconds ]                                                                                                                                               
Starting  >>> moveit_visual_tools                                                                                                                                                                                 
__________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_visual_tools:make /home/shumpeiwakabayashi/ws_moveit/logs/moveit_visual_tools/build.make.000.log                                                                                             
/usr/bin/ld: warning: libmoveit_robot_model.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_transforms.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_state.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_robot_trajectory.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_collision_detection.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_planning_scene.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_profiler.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_planning_scene_monitor.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libmoveit_kinematics_base.so.1.0.2, needed by /opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so, not found (try using -rpath or -rpath-link)
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION' に対する定義されていない参照です
/opt/ros/melodic/lib/libmoveit_kinematics_plugin_loader.so: `typeinfo for kinematics::KinematicsBase' に対する定義されていない参照です
collect2: error: ld returned 1 exit status
make[2]: *** [/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_visual_tools/lib/moveit_visual_tools/moveit_visual_tools_demo] Error 1
make[1]: *** [CMakeFiles/moveit_visual_tools_demo.dir/all] Error 2
make: *** [all] Error 2
cd /home/shumpeiwakabayashi/ws_moveit/build/moveit_visual_tools; catkin build --get-env moveit_visual_tools | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
..................................................................................................................................................................................................................
Failed     << moveit_visual_tools:make             [ Exited with code 2 ]                                                                                                                                         
Failed    <<< moveit_visual_tools                  [ 25.0 seconds ]                                                                                                                                               
Abandoned <<< moveit_grasps                        [ Unrelated job failed ]                                                                                                                                       
[build] Summary: 2 of 4 packages succeeded.                                                                                                                                                                       
[build]   Ignored:   None.                                                                                                                                                                                        
[build]   Warnings:  None.                                                                                                                                                                                        
[build]   Abandoned: 1 packages were abandoned.                                                                                                                                                                   
[build]   Failed:    1 packages failed.                                                                                                                                                                           
[build] Runtime: 47.0 seconds total.                                                                                                                                                                              
[build] Note: Workspace packages have changed, please re-source setup files to use them.

やはり，僕の環境が壊れているのですかね，，，なので，とりあえず

sudo apt-get update && sudo apt-get dist-upgrade

してからcatkin buildしています．(参考)

upgradeに時間がかかりそうです．

shmpwk commented 4 years ago

まだ，リンカーとライブラリの問題？が解決されていないみたいです．

$ catkin build
-----------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/shumpeiwakabayashi/ws_moveit
-----------------------------------------------------------------------
Build Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/build
Devel Space:        [exists] /home/shumpeiwakabayashi/ws_moveit/devel
Install Space:      [unused] /home/shumpeiwakabayashi/ws_moveit/install
Log Space:          [exists] /home/shumpeiwakabayashi/ws_moveit/logs
Source Space:       [exists] /home/shumpeiwakabayashi/ws_moveit/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-----------------------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------------------
[build] Found '3' packages in 0.0 seconds.                                                                                                                                                                      
[build] Package table is up to date.                                                                                                                                                                            
Starting  >>> rviz_visual_tools                                                                                                                                                                                 
Finished  <<< rviz_visual_tools                  [ 0.7 seconds ]                                                                                                                                                
Starting  >>> moveit_visual_tools                                                                                                                                                                               
________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << moveit_visual_tools:make /home/shumpeiwakabayashi/ws_moveit/logs/moveit_visual_tools/build.make.001.log                                                                                           
make[2]: *** '/home/shumpeiwakabayashi/ws_moveit/devel/.private/moveit_visual_tools/lib/libmoveit_visual_tools.so' に必要なターゲット '/opt/ros/melodic/lib/libmoveit_occupancy_map_monitor.so' を make するルールがありません.  中止.
make[1]: *** [CMakeFiles/moveit_visual_tools.dir/all] Error 2
make: *** [all] Error 2
cd /home/shumpeiwakabayashi/ws_moveit/build/moveit_visual_tools; catkin build --get-env moveit_visual_tools | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
................................................................................................................................................................................................................
Failed     << moveit_visual_tools:make           [ Exited with code 2 ]                                                                                                                                         
Failed    <<< moveit_visual_tools                [ 0.2 seconds ]                                                                                                                                                
Abandoned <<< moveit_grasps                      [ Unrelated job failed ]                                                                                                                                       
[build] Summary: 1 of 3 packages succeeded.                                                                                                                                                                     
[build]   Ignored:   None.                                                                                                                                                                                      
[build]   Warnings:  None.                                                                                                                                                                                      
[build]   Abandoned: 1 packages were abandoned.                                                                                                                                                                 
[build]   Failed:    1 packages failed.                                                                                                                                                                         
[build] Runtime: 1.0 seconds total.

pazeshun commented 4 years ago

なるほど、あと少しですね。もう一度、

sudo apt-get update && sudo apt-get dist-upgrade

してもらって、PC再起動してもらってもよいでしょうか。

shmpwk commented 4 years ago

もう一度やってみましたが，同じエラーがでました．

sudo apt-get upgrade

も念のため行いましたが，何もアップグレードされませんでした．

shmpwk commented 4 years ago

@pazeshun さんに教えていただき解決しました．

エラーで

'/opt/ros/melodic/lib/libmoveit_occupancy_map_monitor.so' を make するルールがありません.

と出ていたので，それ関連でインストール可能なパッケージを探す．

$ apt-cache search occupancy
liboctomap-dev - Octomap library development files
liboctomap1.8 - 3D occupancy grid mapping approach library for mapping
mrpt-doc - Mobile Robot Programming Toolkit - Documentation and examples
octomap-tools - Tools for 3D occupancy grid mapping
ros-melodic-costmap-2d - This package provides an implementation of a 2D costmap that takes in sensor data from the world, builds a 2D or 3D occupancy grid of the data (depending on whether a voxel based implementation is used), and inflates costs in a 2D costmap based on the occupancy grid and a user specified inflation radius.
ros-melodic-gmapping - This package contains a ROS wrapper for OpenSlam's Gmapping.
ros-melodic-hector-geotiff - hector_geotiff provides a node that can be used to save occupancy grid map, robot trajectory and object of interest data to RoboCup Rescue compliant GeoTiff images.
ros-melodic-hector-map-tools - hector_map_tools contains some functions related to accessing information from OccupancyGridMap maps.
ros-melodic-moveit-ros-occupancy-map-monitor - Components of MoveIt! connecting to occupancy map
ros-melodic-moveit-ros-occupancy-map-monitor-dbgsym - debug symbols for ros-melodic-moveit-ros-occupancy-map-monitor
ros-melodic-mrpt-local-obstacles - Maintains a local obstacle map (point cloud, voxels or occupancy grid) from recent sensor readings within a configurable time window.
ros-melodic-mrpt-map - The mrpt_map is able to publish a mrpt map as ros occupancy grid like the map_server
ros-melodic-nonpersistent-voxel-layer - include This package provides an implementation of a 3D costmap that takes in sensor data from the world, builds a 3D occupancy grid of the data for only one iteration.
ros-melodic-octomap - The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++.
ros-melodic-octomap-mapping - Mapping tools to be used with the OctoMap library, implementing a 3D occupancy grid mapping.
ros-melodic-octomap-rviz-plugins - A set of plugins for displaying occupancy information decoded from binary octomap messages.
ros-melodic-voxel-grid - voxel_grid provides an implementation of an efficient 3D voxel grid.

下記のURL辺りを見て確認しつつ， http://docs.ros.org/jade/api/moveit_ros_perception/html/classoccupancy__map__monitor_1_1OccupancyMapUpdater.html https://github.com/ros-planning/moveit/tree/master/moveit_ros/occupancy_map_monitor

自分のPCにaptで入れたものが入っているか確認する．

$ dpkg -l ros-melodic-moveit-ros-occupancy-map-monitor
要望=(U)不明/(I)インストール/(R)削除/(P)完全削除/(H)保持
| 状態=(N)無/(I)インストール済/(C)設定/(U)展開/(F)設定失敗/(H)半インストール/(W)トリガ待ち/(T)トリガ保留
|/ エラー?=(空欄)無/(R)要再インストール (状態,エラーの大文字=異常)
||/ 名前            バージョン   アーキテクチ 説明
+++-===============-============-============-====================================
ii  ros-melodic-mov 1.0.4-1bioni amd64        Components of MoveIt! connecting to

iiと書かれているので，インストール済みのように見えるが，他の作業で壊れているかもしれない．そこで，レインストールする．

$ sudo apt install ros-melodic-moveit-ros-occupancy-map-monitor --reinstall

ここでcatkin buildしてもエラーが出たので，ワークスペースを一旦きれいにする．

$ catkin clean
$ rm -rf .catkin_tools/
$ catkin build

これで成功しました．

ありがとうございました．

shmpwk commented 4 years ago

一番最初にでていたエラー

[ERROR] [1594023941.769795395]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin/MotionPlanning' failed to load.  Error: Failed to load library /opt/ros/melodic/lib/libmoveit_motion_planning_rviz_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = libmoveit_background_processing.so.1.0.2: 共有オブジェクトファイルを開けません: そのようなファイルやディレクトリはありません)

に関しては，

$ apt-cache search background

で該当しそうなところを探しつつ，以下を見ると，background_processingは，moveit_coreが絡んでそうだとわかる．

http://repositories.ros.org/status_page/ros_melodic_default.html?q=moveit https://github.com/ros-planning/moveit/blob/master/moveit_core/CMakeLists.txt https://github.com/ros-planning/moveit/blob/master/moveit_core/background_processing/CMakeLists.txt

そこで，moveit_coreを再インストールする．

$ sudo apt install ros-melodic-moveit-core --reinstall

これで，

$ roslaunch panda_moveit_config demo.launch rviz_tutorial:=true

でrvizでロボットを表示できた．

長谷川さんありがとうございました．