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tu-darmstadt-ros-pkg / hector_gazebo

hector_gazebo provides packages related to the simulation of robots using gazebo (gazebo plugins, world files etc.).
http://www.ros.org/wiki/hector_gazebo
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Missing #include <gazebo/math/Vector3.hh> #82

Closed JohnVorwald closed 3 years ago

JohnVorwald commented 3 years ago

I new. Appears I'm using gazebo 9 which no longer has Vector3.hh, and is called by gazebo_ros_magnetic.h.

ref: https://answers.gazebosim.org//question/21872/vector3hh-not-found-on-gazebo9/ Vector3 source code is here: https://github.com/arpg/Gazebo/tree/master/gazebo/math These math functions are pretty trivial. The proposed replacement is ignition math Ignition math online source is here: https://ignitionrobotics.org/api/math/6.1/Vector3_8hh_source.html Local source code is: /usr/include/ignition/math4/ignition/math/Vector3.hh

Has anyone addressed this issue, which appears to be due to update from Gazebo 8 to 9. Maybe I should just install Gazebo 8. I'm using Ubuntu 18.04.

[ 2%] Building CXX object hector_gazebo/hector_gazebo_plugins/CMakeFiles/hector_gazebo_ros_magnetic.dir/src/gazebo_ros_magnetic.cpp.o In file included from /home/johnvorwald/catkin_ws/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h:36:0, from /home/johnvorwald/catkin_ws/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_magnetic.cpp:29: /home/johnvorwald/catkin_ws/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h:33:10: fatal error: gazebo/math/Vector3.hh: No such file or directory

include <gazebo/math/Vector3.hh>

      ^~~~~~~~~~~~~~~~~~~~~~~~

compilation terminated. hector_gazebo/hector_gazebo_plugins/CMakeFiles/hector_gazebo_ros_magnetic.dir/build.make:62: recipe for target 'hector_gazebo/hector_gazebo_plugins/CMakeFiles/hector_gazebo_ros_magnetic.dir/src/gazebo_ros_magnetic.cpp.o' failed make[2]: [hector_gazebo/hector_gazebo_plugins/CMakeFiles/hector_gazebo_ros_magnetic.dir/src/gazebo_ros_magnetic.cpp.o] Error 1 CMakeFiles/Makefile2:5681: recipe for target 'hector_gazebo/hector_gazebo_plugins/CMakeFiles/hector_gazebo_ros_magnetic.dir/all' failed make[1]: [hector_gazebo/hector_gazebo_plugins/CMakeFiles/hector_gazebo_ros_magnetic.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed

StefanFabian commented 3 years ago

Which branch did you check out? Melodic-devel compiles for me using Ubuntu 18.04 with ROS Melodic and Gazebo 9.0.

JohnVorwald commented 3 years ago

Interesting, I'm also on branch Melodic-devel, Ubuntu 18.04, ROS melodic, Gazebo 9.0, platform Xavier. Here are my commands to reproduce. These commands are followed by commands showing versions. So, I probably have an error in my commands to setup hector.

These commands are to setup / run turtlebot which was installed before hector.

mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git cd turtlebot3_simulations git checkout melodic-devel gedit ~/.bashrc # Add line “export TURTLEBOT3_MODEL=burger” to ~.bashrc source ~/.bashrc git clone https://github.com/ROBOTIS-GIT/turtlebot3.git git clone https://github.com/ROBOTIS-GIT/turtlebot3.git cd ~/catkin_ws && catkin_make cd ~

Run turtlebot

export ROS_PACKAGE_PATH=/opt/ros/melodic/share:/home/johnvorwald/catkin_ws/src/turtlebot3:/home/johnvorwald/catkin_ws/src/turtlebot3_simulations

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

Try installing an uav sim,

sudo apt update sudo apt install python-wstool

Source code

mkdir ~/catkin_ws/src/hector_quadrotor_tutorial cd ~/catkin_ws/src/hector_quadrotor_tutorial wstool init src https://raw.github.com/tu-darmstadt-ros-pkg/hector_quadrotor/hydro-devel/tutorials.rosinstall

Dependencies

sudo apt-get install qt4-default sudo apt-get install ros-melodic-geographic-msgs sudo apt install ros-melodic-driver-base

Build

source devel/setup.bash catkin_make

Reduced error output

[ 3%] Building CXX object hector_gazebo/hector_gazebo_plugins/CMakeFiles/hector_gazebo_ros_magnetic.dir/src/gazebo_ros_magnetic.cpp.o In file included from /home/johnvorwald/catkin_ws/src/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/gazebo_ros_magnetic.h:36:0, from /home/johnvorwald/catkin_ws/src/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/src/gazebo_ros_magnetic.cpp:29: /home/johnvorwald/catkin_ws/src/hector_quadrotor_tutorial/src/hector_gazebo/hector_gazebo_plugins/include/hector_gazebo_plugins/sensor_model.h:33:10: fatal error: gazebo/math/Vector3.hh: No such file or directory

include <gazebo/math/Vector3.hh>

      ^~~~~~~~~~~~~~~~~~~~~~~~

compilation terminated. hector_gazebo/hector_gazebo_plugins/CMakeFiles/hector_gazebo_ros_magnetic.dir/build.make:62: recipe for target 'hector_gazebo/hector_gazebo_plugins/CMakeFiles/hector_gazebo_ros_magnetic.dir/src/gazebo_ros_magnetic.cpp.o' failed Appears Gazebo Vector3.hh has been depreciated ref: https://answers.gazebosim.org//question/21872/vector3hh-not-found-on-gazebo9/ Source code is here: https://github.com/arpg/Gazebo/tree/master/gazebo/math The functions are pretty trivial. The proposed replacement is ignition math Ignition math online source is here: https://ignitionrobotics.org/api/math/6.1/Vector3_8hh_source.html Local source code is: /usr/include/ignition/math4/ignition/math/Vector3.hh

Commands showing versions

~/catkin_ws/src/hector_gazebo$ git status On branch melodic-devel Your branch is up to date with 'origin/melodic-devel'.

$ lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 18.04.5 LTS Release: 18.04 Codename: bionic

$ rosversion -d melodic

$ gazebo --version Gazebo multi-robot simulator, version 9.0.0 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. http://gazebosim.org

JohnVorwald commented 3 years ago

It appears I initially installed ROS incorrectly, following the commands above. I followed the directions in the book ROS Robotics Projects, and now hector compiles without error. In case someone has the error "Missing #include <gazebo/math/Vector3.hh>" the following commands corrected the environment.

source.list and keys

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update sudo apt-get install ros-melodic-desktop-full

sudo rosdep init rosdep update

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc source ~/.bashrc

sudo apt-get install python-rosinstall

roscore