trajopt_ros-2/trajopt_sco/src/osqp_interface.cpp:175:32: error: cannot convert ‘OSQPData*’ to ‘OSQPWorkspace**’ 175 | osqp_workspace_ = osqp_setup(&osqp_data_, &osqp_settings_);

[LYCICI1990]

I'm trying to install TrajOpt to intergrate with the ROS2. I have download the tesseract_ros2 and all its dependencies from https://github.com/tesseract-robotics/tesseract_ros2 ,also the trajOpt_ros2 from https://github.com/Levi-Armstrong/trajopt_ros-2. But during building ,some error ocurr. See my terminal output below: `/home/xxx/ws_moveit2/src/trajopt_ros-2/trajopt_sco/src/osqp_interface.cpp: In member function ‘void sco::OSQPModel::createOrUpdateSolver()’: /home/lyc/ws_moveit2/src/trajopt_ros-2/trajopt_sco/src/osqp_interface.cpp:175:32: error: cannot convert ‘OSQPData*’ to ‘OSQPWorkspace**’ 175	osqpworkspace = osqp_setup(&osqpdata, &osqpsettings);	^~~
OSQPData*

` How can i fix it and proceed? Thank you in advance!

[Levi-Armstrong]

Please use the dependencies rosinstall found in the tesseract_ros2 repository here to acquire the correct repositories as you are pull the wrong one for trajopt.

[LYCICI1990]

Thank you very much for your answer and instrution. I have repeatedly checked the dependencies rosinstall found in the tesseract_ros2 repository which you showed to me , it seems the same with the ones I have pulled and no missing(include the trajopt). But maybe because I have also pull the trajopt_ros-2 , when compiling, the system prompts that there are a few duplicate files in trajopt and trajopt_ros-2, so I delete one of them ,is it because this reason? So what should i do to deal with these duplicate files? Maybe just leave them alone? By the way, I also want to ask which branch of the trajopt_ros-2 should I pull for my ROS2-humble version， the default kinetic-devel or the master? Does that make some difference? I am new to the ROS2 , tesseract_ros2 and the trajopt_ros-2，so I am very sorry if I asked some stupid or weird question though I have serched for a long time but not found the proper solve method . Thank you very much for your patience and answer

[LYCICI1990]

The error for the duplicate package/files is as follow: [[0.686s] ERROR:colcon:colcon build: Duplicate package names not supported:

• trajopt:
  • src/trajopt/trajopt
  • src/trajopt_ros-2/trajopt
• trajopt_sco:
  • src/trajopt/trajopt_sco
  • src/trajopt_ros-2/trajopt_sco
• vhacd:
  • src/trajopt/trajopt_ext/vhacd
  • src/trajopt_ros-2/trajopt_ext/vhacd](url)

[Levi-Armstrong]

In your original post you were pulled trajopt from my personal fork which is out dated. I would remove this repository completely and install the under the tesseract-robotics organization.

[LYCICI1990]

So, what should i do to proceed? Is there some instruction can be shown to me. Thank you very much.

[Levi-Armstrong]

• Create new workspace mkdir ~/tesseract_ws
• Navigate to the workspace cd ~/tesseract_ws
• Create a src directory in that workspace mkdir src
• Navigate to the src directory cd src
• Clone tesseract_ros2 git clone https://github.com/tesseract-robotics/tesseract_ros2
• run wstool init ~/tesseract_ws/src/ ~/tesseract_ws/src/tesseract_ros2/dependencies.repos
• run rosdep install -y --from-paths ~/tesseract_ws/src --ignore-src --rosdistro <update ros2 distro>
• Then try to build the new workpace

[LYCICI1990]

Thank you so much for your instruction step by step. I am so grateful. I try it but meet some new question when run into the seven step. See my terminal output below:

xxx@xxx-vm:~/tesseract_ws/src$ rosdep install -y --from-paths ~/tesseract_ws/src --ignore-src --rosdistro '<update ros2 distro>'
WARNING: given --rosdistro <update ros2 distro> but ROS_DISTRO is "humble". Ignoring environment.
WARNING: ROS_PYTHON_VERSION is unset. Defaulting to 3
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
tesseract_time_parameterization: Cannot locate rosdep definition for [ruckig]
tesseract_task_composer: Cannot locate rosdep definition for [taskflow]
tesseract_qt: Cannot locate rosdep definition for [gz-math7]
trajopt: Cannot locate rosdep definition for [trajopt_sco]
tesseract_motion_planners: Cannot locate rosdep definition for [trajopt_sco]

Then I look up the "ROS answer" and find a similar question here (https://answers.ros.org/question/400079/error-the-following-packagesstacks-could-not-have-their-rosdep-keys-resolved-to-system-dependencies/)， I tryed with rosdep update --include-eol-distros and later again with my rosdep install -y --from-paths ~/tesseract_ws/src --ignore-src --rosdistro '<update ros2 distro>'again but it was still not fixed，the same error is shown again. Do you know what's wrong with it?

[LYCICI1990]

I have fix some of the "Cannot locate rosdep definition [some package name]", but there still left two:

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

I found the [taskflow] in the tesseract_task_composer package but why it cannot locate? Then the [gz-math7] seem to be installed manully?

[Levi-Armstrong]

These two keys are not in rosdistro yet so you can ignore them and install manually. You can install gazebo depends using sudo apt install libgz-math and for taskflow you can install from this ppa

[Levi-Armstrong]

Please reopen if still having issues.