ERROR: tesseract_qt: Cannot locate rosdep definition for [gz-math7] when installing dependencies using rosdep on Ubuntu 20.04

[prajapatisarvesh]

Hello,

I'm trying to build tesseract by following the documentation on ROS Noetic from this website -- https://tesseract-docs.readthedocs.io/en/latest/_source/intro/getting_started_doc.html and I keep getting this dependency issue.

Further to get tesseract building, I had to clone tesseract_ext and opw_kinematics in the directory of the workspace.

The only error I'm getting for a while is when tesseract_qt is building:

Errors     << tesseract_qt:cmake /home/hsrbtower/tesseract_ws/logs/tesseract_qt/build.cmake.000.log                                                                                                       
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
  Could NOT find Graphviz (missing: graphviz_cdt_FOUND graphviz_cgraph_FOUND
  graphviz_gvc_FOUND graphviz_gvpr_FOUND graphviz_lab_gamut_FOUND
  graphviz_pathplan_FOUND graphviz_xdot_FOUND)
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
  cmake/FindGraphviz.cmake:50 (find_package_handle_standard_args)
  common/CMakeLists.txt:4 (find_package)

System is Ubuntu 20.04, ROS distro is Noetic, if any other system info is needed, let me know.

[Levi-Armstrong]

Run .add-gazebo-ppa script using sudo to add the gazebo ppa and install depends.

[prajapatisarvesh]

Thanks, this solves the issue! Keep up the great work!

[decdox]

HI, I ran into the same issue when updating the latest version of Tesseract, can you shar e the gazebo ppa you used? Thank you.

[prajapatisarvesh]

Hi @decdox did you execute this script as sudo https://github.com/tesseract-robotics/tesseract_qt/blob/main/.add-gazebo-ppa? This should add the gazebo ppa and install the dependencies.

[decdox]

Author

@alpharomeo911 HI, still not. After running the .add-gazebo-ppa script, then I run

rosdep install -y --from-paths ~/tesseract_ws/src --ignore-src --rosdistro noetic

mentioned in the gettting started, error still appears:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
tesseract_qt: Cannot locate rosdep definition for [gz-math7]

If i ignore this error and build, the catkin errors are different from yours:

CMake Error at /home/zing/mealAssistiveRobot/tesseract_ws/src/tesseract_qt/rendering/CMakeLists.txt:10 (find_package):
  By not providing "Findgz-rendering7.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "gz-rendering7", but CMake did not find one.

  Could not find a package configuration file provided by "gz-rendering7"
  with any of the following names:

    gz-rendering7Config.cmake
    gz-rendering7-config.cmake

  Add the installation prefix of "gz-rendering7" to CMAKE_PREFIX_PATH or set
  "gz-rendering7_DIR" to a directory containing one of the above files.  If
  "gz-rendering7" provides a separate development package or SDK, be sure it
  has been installed.

Thank you anyway, I am going to try the installation again.

[decdox]

@alpharomeo911 Sorry to bother you again. Can I see your running result of

apt list | grep gz-math7

I followed all the steps both in the tutorial and this issue, error still occurs

$ rosdep install --from-paths src --ignore-src -r -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
tesseract_qt: Cannot locate rosdep definition for [gz-math7]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

It seems that the last three depends in tesseract_qt/package.xml (gz-rendering7, gz-common5 and gz-math7 ) are not found by the rosdep even I add those dependencies manually with sudo apt install <package>.

[Levi-Armstrong]

We are using the latest version of gazebo libraries which have not made it into rosdep yet so you have to manually install them. sudo apt install libgz-rendering7-dev

[prajapatisarvesh]

Here's the output

libgz-math7-dbg/unknown 7.1.0-1~focal amd64
libgz-math7-dev/unknown,now 7.1.0-1~focal amd64 [installed,automatic]
libgz-math7-eigen3-dev/unknown,now 7.1.0-1~focal amd64 [installed,automatic]
libgz-math7/unknown,now 7.1.0-1~focal amd64 [installed,automatic]
python3-gz-math7/unknown 7.1.0-1~focal amd64
ruby-gz-math7/unknown 7.1.0-1~focal amd64

Also @decdox try the new solution posted by @Levi-Armstrong here - https://github.com/tesseract-robotics/tesseract_qt/issues/45#issuecomment-1562959502

[decdox]

@Levi-Armstrong @alpharomeo911 Thank you, my issue is solved. I also found some instruction in focalbuild.yml:

      ROSDEP_SKIP_KEYS: "bullet bullet-extras fcl iwyu gz-rendering7 gz-common5 gz-math7"
      ADDITIONAL_DEBS: "libgz-rendering7-dev libgz-common5-dev libgz-math7-dev"

If you add a --skip-keys while using rosdep install, the dependencies are met:

rosdep install --from-paths src --ignore-src -r -y --skip-keys="bullet bullet-extras fcl iwyu gz-rendering7 gz-common5 gz-math7"

You need to install the three packages libgz-rendering7-dev libgz-common5-dev libgz-math7-dev maually using apt install after running this script for updating gazebo version.