Not able to build docker image for MoveIt

[kryptoniancode]

I have already built space-ros docker successfully.

But, not able to build docker image for MoveIt.

~/spaceros_root_ws/docker/moveit2$ ./build.sh

I have tried to patch the source by editing the source in Dockerfile but I don't think it is good idea?

RUN sed -i -e 's/trajectory/trajectory_/g' ${MOVEIT2_DIR}/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp

This is the error.

#0 8054.9 Starting >>> moveit_task_constructor_core
#0 8121.9 --- stderr: moveit_task_constructor_core
#0 8121.9 /home/spaceros-user/moveit2/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp: In member function ‘virtual bool moveit::task_constructor::solvers::PipelinePlanner::plan(const PlanningSceneConstPtr&, const PlanningSceneConstPtr&, const moveit::core::JointModelGroup*, double, robot_trajectory::RobotTrajectoryPtr&, const Constraints&)’:
#0 8121.9 /home/spaceros-user/moveit2/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp:183:22: error: ‘struct planning_interface::MotionPlanResponse’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
#0 8121.9   183 |         result = res.trajectory;
#0 8121.9       |                      ^~~~~~~~~~
#0 8121.9       |                      trajectory_
#0 8121.9 /home/spaceros-user/moveit2/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp: In member function ‘virtual bool moveit::task_constructor::solvers::PipelinePlanner::plan(const PlanningSceneConstPtr&, const moveit::core::LinkModel&, const Isometry3d&, const Isometry3d&, const moveit::core::JointModelGroup*, double, robot_trajectory::RobotTrajectoryPtr&, const Constraints&)’:
#0 8121.9 /home/spaceros-user/moveit2/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp:208:22: error: ‘struct planning_interface::MotionPlanResponse’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
#0 8121.9   208 |         result = res.trajectory;
#0 8121.9       |                      ^~~~~~~~~~
#0 8121.9       |                      trajectory_
#0 8121.9 gmake[2]: *** [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:244: src/CMakeFiles/moveit_task_constructor_core.dir/solvers/pipeline_planner.cpp.o] Error 1
#0 8121.9 gmake[2]: *** Waiting for unfinished jobs....
#0 8121.9 gmake[1]: *** [CMakeFiles/Makefile2:254: src/CMakeFiles/moveit_task_constructor_core.dir/all] Error 2
#0 8121.9 gmake: *** [Makefile:146: all] Error 2
#0 8121.9 ---
#0 8121.9 Failed   <<< moveit_task_constructor_core [1min 7s, exited with code 2]
#0 8122.2 [Processing: moveit_task_constructor_core]
#0 8122.2 [Processing: moveit_task_constructor_core]
#0 8122.2
#0 8122.2 Summary: 98 packages finished [2h 15min 15s]
#0 8122.2   1 package failed: moveit_task_constructor_core
#0 8122.2   40 packages had stderr output: angles controller_manager diff_drive_controller eigen_stl_containers generate_parameter_library generate_parameter_library_py geometric_shapes ignition_cmake2_vendor ignition_math6_vendor joint_state_publisher joint_state_publisher_gui joint_trajectory_controller kinematics_interface kinematics_interface_kdl launch_param_builder libcurl_vendor moveit_common moveit_configs_utils moveit_plugins moveit_resources_fanuc_description moveit_resources_fanuc_moveit_config moveit_resources_panda_description moveit_resources_panda_moveit_config moveit_resources_pr2_description moveit_resources_prbt_support moveit_task_constructor_core octomap ompl parameter_traits python_qt_binding realtime_tools ros2_control_test_assets ros2controlcli rviz_assimp_vendor rviz_ogre_vendor tl_expected urdfdom_py warehouse_ros xacro yaml_cpp_vendor
#0 8122.2   33 packages not processed
------
Dockerfile:134
--------------------
 133 |     # Build MoveIt2
 134 | >>> RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
 135 | >>>   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status- --parallel-workers 1'
 136 |
--------------------
ERROR: failed to solve: process "/bin/sh -c /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status- --parallel-workers 1'" did not complete successfully: exit code: 2

##### Done! #####

[MinahilRaza]

I am facing the same kind of error. I am able to build the space-ros image.

[Bckempa]

Hi @MinahilRaza, can you open this as a new issue so we can track it better? Also, if you include the package that failed in the text it will make it easier to search in case someone else has the same failure. Thanks!