Compiling from source in Ubuntu 16.04 and using ROS Kinetic

rshum19 commented 4 years ago

Hi,

I'm trying to install Pinocchio to use in a ROS project. However, I'm having compile errors regarding my version of eigenpy

eigenpy >= 2.0.0 is required.
-- Checking for module 'eigenpy>=2.0.0'
--   Requested 'eigenpy >= 2.0.0' but version of eigenpy is 1.6.9-dirty
You may find new versions of eigenpy at http://github.com/stack-of-tasks/eigenpy

I installed eigenpy via

sudo apt-get install ros-kinetic-eigenpy

However after looking at the release notes I realized that for kinetic it only goes to version 1.6.9.

I've tried installing eigenpy from the robotpkg apt repository, but then I get an error that it cannot find the eigenpy library.

I would really appreciate any help trying to solve this compiling issues.

Thank you!

jcarpent commented 4 years ago

I think @wxmerkt may have some clues for solving this issue. @wxmerkt Do you know why eigenpy is not up to date to the version 2.3.0?

@rshum19 In the meantime, you can install eigenpy directly from source

nim65s commented 4 years ago

@rshum19 : on robotpkg, did you specify the python version you need ? That should be sudo apt install robotpkg-py27-pinocchio, which will install robotpkg-py27-eigenpy as a dependency.

jcarpent commented 4 years ago

@nim65s This a ROS installation procedure.

wxmerkt commented 4 years ago

I have not yet updated Kinetic to newer versions. We are still having ongoing issues with the CMake modules for Melodic. I am planning to fix the Melodic release today (the install directory for the eigenpyConfig.cmake in particular, and the build type).

For Kinetic, I am not sure it is worth the effort - there may be a few cycles to get it working with the changes from CMake modules.

@rshum19 The easiest way for you to get it to run is just clone the eigenpy repository into your catkin workspace. It will build with the other packages automatically.

jcarpent commented 4 years ago

@wxmerkt Thanks a lot for this helpful answer!

wxmerkt commented 4 years ago

If all goes well with the Melodic release, I might try to also update Kinetic.

Let's keep this issue open - I will close it once I know if we can get the Kinetic version of EigenPy also updated.

rshum19 commented 4 years ago

@jcarpent and @wxmerkt thank you for your prompt response and suggestions. I have managed to compiled eigenpy from source successfully, but I'm still getting compiling issues please see below.

In file included from /home/ballbot/pinocchio_ws/build/pinocchio/include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp:11:0,
                 from /home/ballbot/pinocchio_ws/src/pinocchio/bindings/python/multibody/joint/expose-joints.cpp:7:
/home/ballbot/pinocchio_ws/build/pinocchio/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp: In function ‘pinocchio::JointModelComposite& pinocchio::python::addJoint_proxy(pinocchio::JointModelComposite&, const JointModelVariant&, const SE3&)’:
/home/ballbot/pinocchio_ws/build/pinocchio/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp:79:118: error: call of overloaded ‘apply_visitor(pinocchio::python::JointModelCompositeAddJointVisitor, const JointModelVariant&)’ is ambiguous
       return boost::apply_visitor(JointModelCompositeAddJointVisitor(joint_composite,joint_placement), jmodel_variant);
                                                                                                                      ^
In file included from /usr/include/boost/variant/apply_visitor.hpp:16:0,
                 from /usr/include/boost/variant/detail/hash_variant.hpp:23,
                 from /usr/include/boost/variant/variant.hpp:34,
                 from /usr/include/boost/variant.hpp:17,
                 from /home/ballbot/pinocchio_ws/build/pinocchio/include/pinocchio/multibody/joint/joint-collection.hpp:11,
                 from /home/ballbot/pinocchio_ws/build/pinocchio/include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp:11,
                 from /home/ballbot/pinocchio_ws/src/pinocchio/bindings/python/multibody/joint/expose-joints.cpp:6:
/usr/include/boost/variant/detail/apply_visitor_unary.hpp:82:1: note: candidate: typename Visitor::result_type boost::apply_visitor(const Visitor&, Visitable&) [with Visitor = pinocchio::python::JointModelCompositeAddJointVisitor; Visitable = const boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double, 0>, pinocchio::JointModelPlanarTpl<double, 0>, pinocchio::JointModelRevoluteUnalignedTpl<double, 0>, pinocchio::JointModelSphericalTpl<double, 0>, pinocchio::JointModelSphericalZYXTpl<double, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double, 0>, pinocchio::JointModelTranslationTpl<double, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double, 0>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double, 0, pinocchio::JointCollectionDefaultTpl> > >; typename Visitor::result_type = pinocchio::JointModelCompositeTpl<double>&]
 apply_visitor(const Visitor& visitor, Visitable& visitable)
 ^~~~~~~~~~~~~
/usr/include/boost/variant/detail/apply_visitor_unary.hpp:160:23: note: candidate: decltype(auto) boost::apply_visitor(const Visitor&, Visitable&, typename boost::disable_if<boost::detail::variant::has_result_type<Visitor> >::type*) [with Visitor = pinocchio::python::JointModelCompositeAddJointVisitor; Visitable = const boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double, 0>, pinocchio::JointModelPlanarTpl<double, 0>, pinocchio::JointModelRevoluteUnalignedTpl<double, 0>, pinocchio::JointModelSphericalTpl<double, 0>, pinocchio::JointModelSphericalZYXTpl<double, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double, 0>, pinocchio::JointModelTranslationTpl<double, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double, 0>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double, 0, pinocchio::JointCollectionDefaultTpl> > >; typename boost::disable_if<boost::detail::variant::has_result_type<Visitor> >::type = void]
 inline decltype(auto) apply_visitor(const Visitor& visitor, Visitable& visitable,
                       ^~~~~~~~~~~~~
make[2]: *** [bindings/python/CMakeFiles/pinocchio_pywrap.dir/multibody/joint/expose-joints.cpp.o] Error 1
make[1]: *** [bindings/python/CMakeFiles/pinocchio_pywrap.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/ballbot/pinocchio_ws/build/pinocchio; catkin build --get-env pinocchio | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

I've tried both the regular cmake ../ && make -j8 && make install steps as well as catkin build and get the same error. Is there a prefer compiling method ?

Thank you!

wxmerkt commented 4 years ago

Which packages with which versions do you have in your workspace? How did you build them?

If you have pinocchio and eigenpy cloned into a catkin workspace, use the regular catkin build.
If you follow a regular CMake workflow, use the cmake ; make ; make install.
Doing a mix complicates things and can lead to complications.

rshum19 commented 4 years ago

In my catkin worskpace I have eigenpy version 2.3.0 and pinocchio 2.3.1. To build them I'm using catkin build

jcarpent commented 4 years ago

What is your boost version ?

rshum19 commented 4 years ago

@jcarpent I'm using version Boost version 1.58.0.1

jcarpent commented 4 years ago

It seems that this is related to your compiler options. Are you using c++11?

wxmerkt commented 4 years ago

To follow @jcarpent's comment, you could set this with: catkin config --cmake-args -DCMAKE_CXX_FLAGS="-std=c++11"

nim65s commented 4 years ago

or -DCMAKE_CXX_STANDARD=11 ;)

rshum19 commented 4 years ago

@wxmerkt using the suggested cmake arguments solved my compiling issue. Though I had several warning regarding BiasZeroTpl being deprecated. I'm assuming this is not an issue.

May be a good idea to include this flag as part of the CMakeLists.txt file

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -std=c++11")

Thanks all for your help! I'm going to close this issue now.

wxmerkt commented 4 years ago

Glad to hear it's resolved :-).

rshum19 commented 4 years ago

Hi I'm reopening this issue, because I'm having compiling issues on a different machine. It seems that its an issue with the eigen library?

In file included from /usr0/home/rshu/pinocchio_ws/src/pinocchio-2.2.3/unittest/serialization.cpp:10:0:
/usr0/home/rshu/pinocchio_ws/build/pinocchio/include/pinocchio/serialization/eigen.hpp:81:10: error: redefinition of ‘template<class Archive, class _IndexType, long unsigned int _NumIndices> void boost::serialization::serialize(Archive&, Eigen::array<T, N>&, unsigned int)’
     void serialize(Archive & ar, Eigen::array<_IndexType,_NumIndices> & a, const unsigned int version)

System: OS: Ubuntu 16.04 Eigenpy: 2.3.0 Pinocchio: 2.2.3 Boost: 1.58.0 Eigen: 3.2.92 gcc: 6.50 python: 2.7.12

Any idea why this could be?

jcarpent commented 4 years ago

Can you try the last release of Pinocchio ?

rshum19 commented 4 years ago

@jcarpent Pulling the latest from the repository solved my issue thank you!

wxmerkt commented 4 years ago

Btw: EigenPy 2.3.1 & Pinocchio 2.4.0 are now released to ROS Kinetic. They will be live with the next sync (~every two weeks, usually).

stack-of-tasks / pinocchio

Compiling from source in Ubuntu 16.04 and using ROS Kinetic #1139