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P2 - Robotic arm - Pick & Place project - Missing instructions #365

Closed diyjac closed 7 years ago

diyjac commented 7 years ago

Looking through the project repository at: https://github.com/udacity/test_repo_robond_robotic_arm_pick_and_place, I believe the following instructions maybe missing:

NOTE: May want to move the README.md up to the top of the repository so it is easier to follow than down in kinematics_project.

  1. How to clone the project and place it in its intended location: 
    $ mkdir ~/ros_ws
$ cd ~/ros_ws
$ git clone https://github.com/udacity/test_repo_robond_robotic_arm_pick_and_place.git src
$ catkin_make # some errors will be shown - this is to generate the devel directory.
  2. Update the README.md instructions from: 
    $ cd ~ros_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
$ cd ~ros_ws/src/kinematics_project/kuka_arm/scripts
$ sudo chmod +x target_spawn.py
$ sudo chmod +x IK_server.py
$ sudo chmod +x safe_spawner.sh

    to

    $ cd ~/ros_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
$ cd ~/ros_ws/src/kinematics_project/kuka_arm/scripts
$ sudo chmod +x target_spawn.py
$ sudo chmod +x IK_server.py
$ sudo chmod +x safe_spawner.sh
  3. Make the nodes 
    $ cd ~/ros_ws
$ catkin_make
$ source devel/setup.bash

    NOTE: catkin_make seems to fail here, but the demo is usable. Seems to be some missing header files from the Gazebo 7.7 install:

    . . .
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
. . .

    Full log of the failure is at the bottom. I am using a native Ubuntu 16.04 ROS Kinetic install.

  4. Launch Demo, instruction should be changed from: 
    $ cd ~ros_ws/src/kinematics_project/kuka_arm/scripts
$ ./safe_spawner

    to

    $ cd ~/ros_ws/src/kinematics_project/kuka_arm/scripts
$ ./safe_spawner.sh

    NOTE: This setup maybe too big for the VM in terms of screen size.

robond-p2-demo-take2

Catkin_Make errors, but .safe_spawner.sh is fine.

(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ catkin_make
Base path: /home/jchen/RoboND/ros_ws
Source space: /home/jchen/RoboND/ros_ws/src
Build space: /home/jchen/RoboND/ros_ws/build
Devel space: /home/jchen/RoboND/ros_ws/devel
Install space: /home/jchen/RoboND/ros_ws/install
####
#### Running command: "cmake /home/jchen/RoboND/ros_ws/src -DCATKIN_DEVEL_PREFIX=/home/jchen/RoboND/ros_ws/devel -DCMAKE_INSTALL_PREFIX=/home/jchen/RoboND/ros_ws/install -G Unix Makefiles" in "/home/jchen/RoboND/ros_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/jchen/RoboND/ros_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/jchen/RoboND/ros_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/jchen/RoboND/ros_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/jchen/RoboND/ros_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.6
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 3 packages in topological order:
-- ~~  - gazebo_grasp_plugin
-- ~~  - kuka_arm
-- ~~  - kr210_claw_moveit
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'gazebo_grasp_plugin'
-- ==> add_subdirectory(kinematics_project/gazebo_grasp_plugin)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   signals
--   system
--   filesystem
--   program_options
--   regex
--   iostreams
--   date_time
--   chrono
--   atomic
CMake Warning at /usr/local/share/cmake-3.6/Modules/FindProtobuf.cmake:387 (message):
  Protobuf compiler version doesn't match library version 2.6.1
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:108 (find_package)
  kinematics_project/gazebo_grasp_plugin/CMakeLists.txt:16 (find_package)

-- Boost version: 1.58.0
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor
  'gazebo_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  kinematics_project/gazebo_grasp_plugin/CMakeLists.txt:32 (catkin_package)

-- +++ processing catkin package: 'kuka_arm'
-- ==> add_subdirectory(kinematics_project/kuka_arm)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- kuka_arm: 0 messages, 1 services
-- +++ processing catkin package: 'kr210_claw_moveit'
-- ==> add_subdirectory(kinematics_project/kr210_claw_moveit)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jchen/RoboND/ros_ws/build
####
#### Running command: "make -j4 -l4" in "/home/jchen/RoboND/ros_ws/build"
####
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[ 83%] Building CXX object kinematics_project/kuka_arm/CMakeFiles/trajectory_sampler.dir/src/trajectory_sampler.cpp.o
In file included from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21:0,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /home/jchen/RoboND/ros_ws/src/kinematics_project/gazebo_grasp_plugin/src/GazeboGraspGripper.cpp:2:
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/build.make:86: recipe for target 'kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/src/GazeboGraspGripper.cpp.o' failed
make[2]: *** [kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/src/GazeboGraspGripper.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21:0,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /home/jchen/RoboND/ros_ws/src/kinematics_project/gazebo_grasp_plugin/src/GazeboGraspFix.cpp:2:
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/build.make:62: recipe for target 'kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/src/GazeboGraspFix.cpp.o' failed
make[2]: *** [kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/src/GazeboGraspFix.cpp.o] Error 1
CMakeFiles/Makefile2:2159: recipe for target 'kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/all' failed
make[1]: *** [kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
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[ 91%] Built target trajectory_sampler
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ vi /home/jchen/RoboND/ros_ws/src/kinematics_project/gazebo_grasp_plugin/src/GazeboGraspGripper.cpp
(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ cd src/kinematics_project/kuka_arm/scripts/
(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws/src/kinematics_project/kuka_arm/scripts$ ls
IK_server.py  safe_spawner.sh  target_spawn.py
(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws/src/kinematics_project/kuka_arm/scripts$ ./safe_spawner.sh 
... logging to /home/jchen/.ros/log/3a6b7e28-3e28-11e7-9f77-00051ba12701/roslaunch-jchen-Inspiron-15-7568-19379.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://jchen-Inspiron-15-7568:40128/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /trajectory_sampler/demo: True

NODES
  /
    trajectory_sampler (kuka_arm/trajectory_sampler)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[trajectory_sampler-1]: started with pid [19779]
hvpandya commented 7 years ago

  1. Fixed, thanks

  2. Fixed, thanks

  3. Fixed, thanks

  4. Fixed, thanks

About your error, try:

$ locate Inertial.hh

and let me know what it says. Try to install the ignition math package, though you should already have it.

diyjac commented 7 years ago

Hi @hvpandya!

Interesting, it appears that gazebo-7 has that include file in a different path:

(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws/src/kinematics_project/kuka_arm/scripts$ locate Inertial.hh
/usr/include/gazebo-7/gazebo/physics/Inertial.hh

Should I try to install the ignition math package and see if it will resolve this issue?

hvpandya commented 7 years ago

Interesting indeed, try to install ignition math and rebuild the project after that.

This would have been easy to debug if locate command returned nothing .

Out of curiosity, did you update your gazebo-7 to 7.7 from source?

diyjac commented 7 years ago

No - I just follow the instructions from the README.md, so that update was from the apt-get repository.

diyjac commented 7 years ago

Hmmm - it appears that I am unable to install ignition math package. I use the link that you sent and this was the results:

(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ wget -O /tmp/gazebo5_install.sh http://osrf-distributions.s3.amazonaws.com/gazebo/gazebo5_install.sh; sudo sh /tmp/gazebo5_install.sh
--2017-05-22 00:27:26--  http://osrf-distributions.s3.amazonaws.com/gazebo/gazebo5_install.sh
Resolving osrf-distributions.s3.amazonaws.com (osrf-distributions.s3.amazonaws.com)... 52.216.82.96
Connecting to osrf-distributions.s3.amazonaws.com (osrf-distributions.s3.amazonaws.com)|52.216.82.96|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 1567 (1.5K) [application/x-sh]
Saving to: ‘/tmp/gazebo5_install.sh’

/tmp/gazebo5_install.sh  100%[==================================>]   1.53K  --.-KB/s    in 0s      

2017-05-22 00:27:27 (38.7 MB/s) - ‘/tmp/gazebo5_install.sh’ saved [1567/1567]

[sudo] password for jchen: 
This script will only work on Ubuntu trusty or utopic
(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - 
--2017-05-22 00:28:17--  http://packages.osrfoundation.org/gazebo.key
Resolving packages.osrfoundation.org (packages.osrfoundation.org)... 54.193.183.180
Connecting to packages.osrfoundation.org (packages.osrfoundation.org)|54.193.183.180|:80... connected.
HTTP request sent, awaiting response... 200 OK
Length: 1772 (1.7K) [application/pgp-keys]
Saving to: ‘STDOUT’

-                        100%[==================================>]   1.73K  --.-KB/s    in 0s      

2017-05-22 00:28:17 (52.9 MB/s) - written to stdout [1772/1772]

OK
(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ sudo apt-get update; sudo apt-get install libignition-math-dev 
Hit:1 http://us.archive.ubuntu.com/ubuntu xenial InRelease
Hit:2 http://packages.ros.org/ros/ubuntu xenial InRelease                                          
Hit:3 http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial InRelease
Hit:4 https://packagecloud.io/github/git-lfs/ubuntu xenial InRelease
Reading package lists... Done
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package libignition-math-dev

Seems that the script was meant for Ubuntu trusty or utopic. I am on Ubuntu 16.04 xenial.

diyjac commented 7 years ago

I have downloaded the source and am compiling it now. Will know in a few minutes.

diyjac commented 7 years ago

That did not work. Installing the ignite math package manually installs it in /usr/local/include/ignition/math/... it seems.

[ 85%] Building CXX object src/CMakeFiles/UNIT_RotationSpline_TEST.dir/RotationSpline_TEST.cc.o
[ 87%] Linking CXX executable UNIT_RotationSpline_TEST
[ 87%] Built target UNIT_RotationSpline_TEST
Scanning dependencies of target UNIT_Pose_TEST
[ 89%] Building CXX object src/CMakeFiles/UNIT_Pose_TEST.dir/Pose_TEST.cc.o
[ 91%] Linking CXX executable UNIT_Pose_TEST
[ 91%] Built target UNIT_Pose_TEST
Scanning dependencies of target UNIT_Rand_TEST
[ 93%] Building CXX object src/CMakeFiles/UNIT_Rand_TEST.dir/Rand_TEST.cc.o
[ 95%] Linking CXX executable UNIT_Rand_TEST
[ 95%] Built target UNIT_Rand_TEST
Scanning dependencies of target UNIT_Triangle_TEST
[ 97%] Building CXX object src/CMakeFiles/UNIT_Triangle_TEST.dir/Triangle_TEST.cc.o
[100%] Linking CXX executable UNIT_Triangle_TEST
[100%] Built target UNIT_Triangle_TEST
Install the project...
-- Install configuration: "RelWithDebInfo"
Scanning dependencies of target man
Built target man
-- Installing: /usr/local/include/ignition/math/config.hh
-- Installing: /usr/local/lib/pkgconfig/ignition-math.pc
-- Installing: /usr/local/lib/cmake/ignition-math/ignition-math-config.cmake
-- Installing: /usr/local/lib/libignition-math.so.1.0.0
-- Installing: /usr/local/lib/libignition-math.so.1
-- Installing: /usr/local/lib/libignition-math.so
-- Installing: /usr/local/include/ignition/math.hh
-- Installing: /usr/local/include/ignition/math/AffineException.hh
-- Installing: /usr/local/include/ignition/math/Angle.hh
-- Installing: /usr/local/include/ignition/math/Box.hh
-- Installing: /usr/local/include/ignition/math/Filter.hh
-- Installing: /usr/local/include/ignition/math/Helpers.hh
-- Installing: /usr/local/include/ignition/math/IndexException.hh
-- Installing: /usr/local/include/ignition/math/Kmeans.hh
-- Installing: /usr/local/include/ignition/math/Line2.hh
-- Installing: /usr/local/include/ignition/math/Matrix3.hh
-- Installing: /usr/local/include/ignition/math/Matrix4.hh
-- Installing: /usr/local/include/ignition/math/Plane.hh
-- Installing: /usr/local/include/ignition/math/Pose3.hh
-- Installing: /usr/local/include/ignition/math/Quaternion.hh
-- Installing: /usr/local/include/ignition/math/Rand.hh
-- Installing: /usr/local/include/ignition/math/RotationSpline.hh
-- Installing: /usr/local/include/ignition/math/Spline.hh
-- Installing: /usr/local/include/ignition/math/Triangle.hh
-- Installing: /usr/local/include/ignition/math/Vector2.hh
-- Installing: /usr/local/include/ignition/math/Vector3.hh
-- Installing: /usr/local/include/ignition/math/Vector4.hh

Which produces this in the catkin_make:

. . .
[ 66%] Building CXX object kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/src/GazeboGraspFix.cpp.o
[ 75%] Building CXX object kinematics_project/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/src/GazeboGraspGripper.cpp.o
[ 91%] Built target trajectory_sampler
In file included from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21:0,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /home/jchen/RoboND/ros_ws/src/kinematics_project/gazebo_grasp_plugin/src/GazeboGraspFix.cpp:2:
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
In file included from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21:0,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /home/jchen/RoboND/ros_ws/src/kinematics_project/gazebo_grasp_plugin/src/GazeboGraspGripper.cpp:2:
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
. . .
diyjac commented 7 years ago

Wow - this is rather interesting! It seems that the ignition math package no longer includes ignition/math/Inertial.hh:

(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ ls /usr/local/include/ignition/math/
AffineException.hh  Filter.hh           Line2.hh            Pose3.hh            Spline.hh           Vector4.hh
Angle.hh            Helpers.hh          Matrix3.hh          Quaternion.hh       Triangle.hh         
Box.hh              IndexException.hh   Matrix4.hh          Rand.hh             Vector2.hh          
config.hh           Kmeans.hh           Plane.hh            RotationSpline.hh   Vector3.hh
diyjac commented 7 years ago

This must have been somehow done some time when gazebo was upgraded to 7.7 from 7.0 perhaps?

diyjac commented 7 years ago

OK- have it working finally. Had to clone it from bitbucket, and not use the archive. Let me know if you see any issues.

(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ rm -r build/ devel/
(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ ls
activateROS.sh  src
(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$ catkin_make
Base path: /home/jchen/RoboND/ros_ws
Source space: /home/jchen/RoboND/ros_ws/src
Build space: /home/jchen/RoboND/ros_ws/build
Devel space: /home/jchen/RoboND/ros_ws/devel
Install space: /home/jchen/RoboND/ros_ws/install
####
#### Running command: "cmake /home/jchen/RoboND/ros_ws/src -DCATKIN_DEVEL_PREFIX=/home/jchen/RoboND/ros_ws/devel -DCMAKE_INSTALL_PREFIX=/home/jchen/RoboND/ros_ws/install -G Unix Makefiles" in "/home/jchen/RoboND/ros_ws/build"
####
-- The C compiler identification is GNU 5.3.1
-- The CXX compiler identification is GNU 5.3.1
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/jchen/RoboND/ros_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/jchen/RoboND/ros_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/jchen/RoboND/ros_ws/devel;/opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.11") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/jchen/RoboND/ros_ws/build/test_results
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.6
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 3 packages in topological order:
-- ~~  - gazebo_grasp_plugin
-- ~~  - kuka_arm
-- ~~  - kr210_claw_moveit
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'gazebo_grasp_plugin'
-- ==> add_subdirectory(kinematics_project/gazebo_grasp_plugin)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   signals
--   system
--   filesystem
--   program_options
--   regex
--   iostreams
--   date_time
--   chrono
--   atomic
CMake Warning at /usr/local/share/cmake-3.6/Modules/FindProtobuf.cmake:387 (message):
  Protobuf compiler version doesn't match library version 2.6.1
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:108 (find_package)
  kinematics_project/gazebo_grasp_plugin/CMakeLists.txt:16 (find_package)

-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "2.6.1") 
-- Boost version: 1.58.0
-- Looking for OGRE...
-- OGRE_PREFIX_WATCH changed.
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'gazebo' but neither 'gazebo_INCLUDE_DIRS' nor
  'gazebo_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  kinematics_project/gazebo_grasp_plugin/CMakeLists.txt:32 (catkin_package)

-- +++ processing catkin package: 'kuka_arm'
-- ==> add_subdirectory(kinematics_project/kuka_arm)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- kuka_arm: 0 messages, 1 services
-- +++ processing catkin package: 'kr210_claw_moveit'
-- ==> add_subdirectory(kinematics_project/kr210_claw_moveit)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jchen/RoboND/ros_ws/build
####
#### Running command: "make -j4 -l4" in "/home/jchen/RoboND/ros_ws/build"
####
Scanning dependencies of target std_srvs_generate_messages_lisp
Scanning dependencies of target actionlib_msgs_generate_messages_cpp
Scanning dependencies of target roscpp_generate_messages_lisp
Scanning dependencies of target geometry_msgs_generate_messages_lisp
[  0%] Built target actionlib_msgs_generate_messages_cpp
[  0%] Built target std_srvs_generate_messages_lisp
[  0%] Built target roscpp_generate_messages_lisp
[  0%] Built target geometry_msgs_generate_messages_lisp
Scanning dependencies of target geometry_msgs_generate_messages_eus
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Scanning dependencies of target trajectory_msgs_generate_messages_cpp
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Scanning dependencies of target gazebo_msgs_generate_messages_cpp
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Scanning dependencies of target roscpp_generate_messages_eus
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[  0%] Built target roscpp_generate_messages_eus
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Scanning dependencies of target dynamic_reconfigure_generate_messages_cpp
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[  0%] Built target dynamic_reconfigure_generate_messages_cpp
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[  0%] Built target trajectory_msgs_generate_messages_nodejs
Scanning dependencies of target trajectory_msgs_generate_messages_lisp
Scanning dependencies of target gazebo_msgs_generate_messages_py
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Scanning dependencies of target dynamic_reconfigure_gencfg
[  0%] Built target trajectory_msgs_generate_messages_lisp
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[  0%] Built target dynamic_reconfigure_gencfg
Scanning dependencies of target dynamic_reconfigure_generate_messages_py
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[  0%] Built target sensor_msgs_generate_messages_eus
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Scanning dependencies of target actionlib_generate_messages_py
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Scanning dependencies of target tf2_msgs_generate_messages_py
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Scanning dependencies of target octomap_msgs_generate_messages_cpp
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Scanning dependencies of target graph_msgs_generate_messages_cpp
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(ros_ws) jchen@jchen-Inspiron-15-7568:~/RoboND/ros_ws$
diyjac commented 7 years ago

This is also an issue in the VM.

. . .
[ 75%] Building CXX object kinematics_project/kuka_arm/CMakeFiles/trajectory_sampler.dir/src/trajectory_sampler.cpp.o
In file included from /usr/include/gazebo-7/gazebo/gazebo_core.hh:21:0,
                 from /usr/include/gazebo-7/gazebo/gazebo.hh:20,
                 from /home/robo/ros_ws/src/kinematics_project/gazebo_grasp_plugin/src/GazeboGraspFix.cpp:2:
/usr/include/gazebo-7/gazebo/msgs/msgs.hh:24:37: fatal error: ignition/math/Inertial.hh: No such file or directory
compilation terminated.
. . .

vm-does-not-have-ignition-math-inertial hh

diyjac commented 7 years ago

Ok - got it to compile by cloning the bitbucket repository:

$ hg clone https://bitbucket.org/ignitionrobotics/ign-math
$ cd ign-math
$ mkdir build
$ cd build
$ cmake ..
$ sudo make install

But also have to create a symbolic link to the math directory because it is now two levels deeper:

$ cd /usr/local/include/ignition
$ ls
math4
$ sudo ln -s math4/ignition/math .
$ ls -l
total 4
lrwxrwxrwx 1 root root   19 May 22 11:39 math -> math4/ignition/math
drwxr-xr-x 3 root root 4096 May 22 11:38 math4

vm-ignition-math-installed-from-clone-of-bitbucket

P2 running in VM: p2-in-vm

hvpandya commented 7 years ago

I just created a fresh VM, and reproduced this error. I was able to resolve it by simply:

$ sudo apt-get install libignition-math2
diyjac commented 7 years ago

Cool! That's certainly a lot simpler! I guess the latest in bitbucket is math4.