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tesseract-robotics / tesseract_planning

Contains packages related to motion and process planning for the Tesseract Motion Planning Environment
http://tesseract-docs.rtfd.io
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windows build fail #509

Open xbkaishui opened 2 months ago

xbkaishui commented 2 months ago

Hello:

I am building planning master branch on win11, follow the build instruction in github action windows.yml, failed at build tesseract_task_composer

details as follows: command

colcon build --packages-select tesseract_task_composer --packages-up-to tesseract_python --merge-install --cmake-force-configure --event-handlers console_cohesion+ --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp gtest --cmake-args -GNinja -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF -DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_BUILD_DESCARTES=OFF -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE="C:\Users\xxkai\miniconda3\envs\rac\python.exe" -DTESSERACT_PYTHON_BUILD_WHEEL=ON -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON -DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF

error log

-- Generating done (0.3s) -- Build files have been written to: C:/dev/tract/build/tesseract_task_composer [1/12] Building CXX object planning\CMakeFiles\tesseract_task_composer_planning_factories.dir\src\factories\planning_task_composer_ruckig_plugin_factory.cpp.obj FAILED: planning/CMakeFiles/tesseract_task_composer_planning_factories.dir/src/factories/planning_task_composer_ruckig_plugin_factory.cpp.obj C:\PROGRA~2\MICROS~2\2019\PROFES~1\VC\Tools\MSVC\1429~1.301\bin\Hostx64\x64\cl.exe /nologo /TP -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_ATOMIC_NO_LIB -DBOOST_CHRONO_DYN_LINK -DBOOST_CHRONO_NO_LIB -DBOOST_CONTAINER_DYN_LINK -DBOOST_CONTAINER_NO_LIB -DBOOST_DATE_TIME_DYN_LINK -DBOOST_DATE_TIME_NO_LIB -DBOOST_FILESYSTEM_DYN_LINK=1 -DBOOST_FILESYSTEM_NO_LIB -DBOOST_GRAPH_DYN_LINK -DBOOST_GRAPH_NO_LIB -DBOOST_IOSTREAMS_DYN_LINK -DBOOST_IOSTREAMS_NO_LIB -DBOOST_PROGRAM_OPTIONS_DYN_LINK -DBOOST_PROGRAM_OPTIONS_NO_LIB -DBOOST_RANDOM_DYN_LINK -DBOOST_RANDOM_NO_LIB -DBOOST_SERIALIZATION_DYN_LINK -DBOOST_SERIALIZATION_NO_LIB -DBOOST_STACKTRACE_DYN_LINK -DBOOST_STACKTRACE_NO_LIB -DBOOST_THREAD_DYN_LINK -DBOOST_THREAD_NO_LIB -DBOOST_THREAD_USE_DLL -DBT_USE_DOUBLE_PRECISION -DBoost_USE_MULTITHREADED=ON -DBoost_USE_STATIC_LIBS=OFF -DBoost_USE_STATIC_RUNTIME=OFF -DEIGEN_HAS_CXX17_OVERALIGN=0 -DKISSFFT_DLL_IMPORT=1 -DTESSERACT_ASSIMP_USE_PBRMATERIAL=1 -DTESSERACT_PARSE_POINT_CLOUDS=\"ON\" -DTESSERACT_TASK_COMPOSER_DIR=\"C:/dev/tract/install/share/tesseract_task_composer\" -DTINYXML2_IMPORT -DTRAJOPT_DATA_DIR=\"C:/dev/tract/install/share/trajopt_common/data\" -D_FILE_OFFSET_BITS=64 -D_USE_MATH_DEFINES -D_USE_MATH_DEFINES=ON -DSSE2 -DSSE3 -DSSE4_1 -DSSE4_2 -DSSE -DSSSE3 -Dkiss_fft_scalar=double -Dtesseract_task_composer_planning_factories_EXPORTS -IC:\dev\tract\tesseract_planning\tesseract_task_composer\planning\include -IC:\dev\tract\tesseract_planning\tesseract_task_composer\core\include -IC:\dev\tract\build\tesseract_task_composer.. -external:I"C:\Program Files\PCL 1.14.0\3rdParty\Eigen3\include\eigen3" -external:IE:\programs\vcpkg\installed\x64-windows\include -external:IC:\dev\tract\install\include -external:IE:\programs\vcpkg\installed\x64-windows\include\eigen3 -external:IE:\programs\vcpkg\installed\x64-windows\include\bullet -external:I"C:\Program Files\OpenNI2\Include" -external:I"C:\Program Files\PCL 1.14.0\include\pcl-1.14" -external:I"C:\Program Files\PCL 1.14.0\3rdParty\VTK\include\vtk-9.3" -external:I"C:\Program Files\PCL 1.14.0\3rdParty\VTK\include\vtk-9.3\vtknlohmannjson\include" -external:I"C:\Program Files\PCL 1.14.0\3rdParty\VTK\include\vtk-9.3\vtkfreetype\include" -external:W0 /DWIN32 /D_WINDOWS /GR /EHsc /O2 /Ob2 /DNDEBUG -std:c++17 -MD -openmp /arch:AVX2 /showIncludes /Foplanning\CMakeFiles\tesseract_task_composer_planning_factories.dir\src\factories\planning_task_composer_ruckig_plugin_factory.cpp.obj /Fdplanning\CMakeFiles\tesseract_task_composer_planning_factories.dir\ /FS -c C:\dev\tract\tesseract_planning\tesseract_task_composer\planning\src\factories\planning_task_composer_ruckig_plugin_factory.cpp C:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.29.30133\include\memory(3089): error C2027: 使用了未定义类型“tesseract_planning::TaskComposerNodeInfo” C:\dev\tract\tesseract_planning\tesseract_task_composer\core\include\tesseract_task_composer/core/task_composer_node.h(56): note: 参见“tesseract_planning::TaskComposerNodeInfo”的 声明 C:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.29.30133\include\memory(3088): note: 在编译 类 模板 成员函数“void std::default_delete::operator ()(_Ty ) noexcept const”时 with [ _Ty=tesseract_planning::TaskComposerNodeInfo ] C:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.29.30133\include\memory(3198): note: 查看对正在编译的函数 模板 实例化“void std::default_delete::operator ()(_Ty ) noexcept const”的引用 with [ _Ty=tesseract_planning::TaskComposerNodeInfo ] C:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.29.30133\include\memory(3125): note: 查看对正在编译的 类 模板 实例化“std::default_delete”的引用 C:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.29.30133\include\utility(325): note: 查看对正在编译的 类 模板 实例化“std::unique_ptr<tesseract_planning::TaskComposerNodeInfo,std::default_delete>”的引用 C:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.29.30133\include\xtree(331): note: 查看对正在编译的 类 模板 实例化“std::pair<const boost::uuids::uuid,std::unique_ptr<tesseract_planning::TaskComposerNodeInfo,std::default_delete>>”的引用 C:\Program Files (x86)\Microsoft Visual Studio\2019\Professional\VC\Tools\MSVC\14.29.30133\include\xtree(752): note: 查看对正在编译的 类 模板 实例化“std::_Tree_node<std::pair<const boost::uuids::uuid,std::unique_ptr<tesseract_planning::TaskComposerNodeInfo,std::default_delete>>,std::_Default_allocator_traits<_Alloc>::void_pointer>”的引用

xbkaishui commented 2 months ago

hello， any update on this

Levi-Armstrong commented 2 months ago

Unfortunately, I am unable to assist with windows related as I only develop on linux. @johnwason are you able to help?

johnwason commented 2 months ago

I can't read the error messages because they are not in English but I suspect there is a version mismatch with tesseract_python and the other packages. Because the tesseract API is unstable tesseract_python needs to use specific versions.

xbkaishui commented 2 months ago

hello:

thanks for your quickly response. there is an issue related to tesseract_python package. one question is can I use latest tesseract repo on tesseract_python?

johnwason commented 2 months ago

No, because the API has changed the SWIG wrappers will need to be updated. This is often a time consuming process and I don’t have funding right now.

xbkaishui commented 2 months ago

ok, I can submit a pr, can you give a summary about which api is changed ?

xbkaishui commented 2 months ago

I have readed tesseract code, this is a great project. thanks

johnwason commented 2 months ago

What issue are you having? It may be easier to cherrypick the fix than update the python code.

xbkaishui commented 2 months ago

the kdl IK solver success rate is too low for 6 axis arm. I am using aubo i5, I want to upgrade the ik sovler to kdl-RR (random restart), implement by track_ik.

johnwason commented 2 months ago

That looks like a UR clone. There is an analytical UR solver available in the Python package.

xbkaishui commented 2 months ago

sorry, I don't got it. can you explain more

johnwason commented 2 months ago

@Levi-Armstrong can you help set up the UR invkin plugin configuration? The aubo i5 looks like a UR clone. Not sure about the kinematic parameters.

johnwason commented 2 months ago

@xbkaishu the solver you are trying to use is a numeric solver that iteratively tries to find a solution. For special robot designs like "spherical wrist"/OPW robots, and Universal Robots Tesseract has a closed-form analytical solution that can directly compute the kinematics without needing to use an iterative solution.

xbkaishui commented 2 months ago

Got it @johnwason Thanks, @Levi-Armstrong please help

xbkaishui commented 2 months ago

@xbkaishu the solver you are trying to use is a numeric solver that iteratively tries to find a solution. For special robot designs like "spherical wrist"/OPW robots, and Universal Robots Tesseract has a closed-form analytical solution that can directly compute the kinematics without needing to use an iterative solution.

by the way, can i submit a pr for new implement kdl-RR (random restart), I test it the success rate is higher than kdl-nr and kdl-lma