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unitreerobotics / unitree_ros

BSD 3-Clause "New" or "Revised" License
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Package Built Error #2

Closed tahir1069 closed 3 years ago

tahir1069 commented 3 years ago

I am trying to build unitree_ros package but no success. Here are the steps I followed for the installations:

sudo apt install libboost-all-dev sudo apt install liblcm-dev sudo apt install cmake sudo apt-get install ros-melodic-controller-interface ros-melodic-gazebo-ros-control ros-melodic-joint-state-controller ros-melodic-effort-controllers ros-melodic-joint-trajectory-controller

Now I believe all the dependencies would have been installed to latest stable release. Now I exactly followed the same procedure as in the Readme:

  1. To build unitree_legged_sdk

    git clone https://github.com/unitreerobotics/unitree_legged_sdk
cd unitree_legged_sdk
mkdir build
cd build
cmake ..
make

  2. To build aliengo sdk:

    
git clone https://github.com/unitreerobotics/aliengo_sdk
cd aliengo_sdk
mkdir build
cd build
cmake ..
make
3. Creating Catkin_ws and adding unitree_ros

mkdir -p catkin_ws/src cd catkin_ws/src git clone https://github.com/unitreerobotics/unitree_ros cd .. catkin build


Now all of the below environment variable and source commands exist in  _.bashrc_

source /opt/ros/melodic/setup.bash source /usr/share/gazebo-9/setup.sh source ~/catkin_ws/devel/setup.bash export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH} export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH} export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH} export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk export ALIENGO_SDK_PATH=~/aliengo_sdk export UNITREE_PLATFORM="amd64"

After the build, _unitree_legged_real_ package is not build giving the error:

make[2]: No rule to make target 'CMakeFiles/lcm_server_3_1.dir/build'. Stop. make[1]: [CMakeFiles/lcm_server_3_1.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... make[2]: No rule to make target 'CMakeFiles/lcm_server_3_2.dir/build'. Stop. make[1]: *** [CMakeFiles/lcm_server_3_2.dir/all] Error 2 /home/mbs/catkin_ws/src/unitree_ros/unitree_legged_real/src/exe/walk_mode.cpp:13:10: fatal error: unitree_legged_sdk/unitree_legged_sdk.h: No such file or directory

include "unitree_legged_sdk/unitree_legged_sdk.h"

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

compilation terminated. make[2]: [CMakeFiles/walk_lcm.dir/src/exe/walk_mode.cpp.o] Error 1 make[1]: [CMakeFiles/walk_lcm.dir/all] Error 2 /home/mbs/catkin_ws/src/unitree_ros/unitree_legged_real/src/exe/velocity_mode.cpp:13:10: fatal error: unitree_legged_sdk/unitree_legged_sdk.h: No such file or directory

include "unitree_legged_sdk/unitree_legged_sdk.h"

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

compilation terminated. make[2]: [CMakeFiles/velocity_lcm.dir/src/exe/velocity_mode.cpp.o] Error 1 make[1]: [CMakeFiles/velocity_lcm.dir/all] Error 2 /home/mbs/catkin_ws/src/unitree_ros/unitree_legged_real/src/exe/torque_mode.cpp:12:10: fatal error: unitree_legged_sdk/unitree_legged_sdk.h: No such file or directory

include "unitree_legged_sdk/unitree_legged_sdk.h"

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

compilation terminated. make[2]: [CMakeFiles/torque_lcm.dir/src/exe/torque_mode.cpp.o] Error 1 make[1]: [CMakeFiles/torque_lcm.dir/all] Error 2 /home/mbs/catkin_ws/src/unitree_ros/unitree_legged_real/src/exe/position_mode.cpp:13:10: fatal error: unitree_legged_sdk/unitree_legged_sdk.h: No such file or directory

include "unitree_legged_sdk/unitree_legged_sdk.h"

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

compilation terminated. make[2]: [CMakeFiles/position_lcm.dir/src/exe/position_mode.cpp.o] Error 1 make[1]: [CMakeFiles/position_lcm.dir/all] Error 2 make: *** [all] Error 2 cd /home/mbs/catkin_ws/build/unitree_legged_real; catkin build --get-env unitree_legged_real | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -


All the environment variables are correctly set but still it is not able to find _unitree_legged_sdk_.

rosPC:~$ printenv | grep "UNITREE" UNITREE_PLATFORM=amd64 UNITREE_LEGGED_SDK_PATH=/home/mbs/unitree_legged_sdk


Is there anything which I am missing or something else needs to be done?
Any leads/help will highly be appreciated.
SSmarshal commented 3 years ago

Hello, how do you solve your problem, I come up with the same problem?

tahir1069 commented 3 years ago

Hi I was able to solve the problem by unintsalling everything and than again installing respective versions.

SSmarshal commented 3 years ago

Hello, sorry to interrupt, but may I ask the version of gazebo you used? Is it gazebo8 or other version? I have already built the package but when I followed the demo and rosrun unitree_controller unitree_servo. Nothing just happened. I am using ros melodic + gazebo9(It seems that ubuntu18.04 does not support gazebo8 but melodic requires 18.04?)

tahir1069 commented 3 years ago

Well yes you are right that's the problem for Gazebo version. You can just path of Gazebo9 when setting up the environment variables. I tested with this and everything intended shown up.

SSmarshal commented 3 years ago

Thank you, I could open up the world, however, when I rosrun unitree_controller unitree_servo, the robot could not stand up as expected, and it said that "Controller Spawner couldn't find the expected controller_manager ROS interface." I doubted that it was because the version of the gazebo is not right?

tahir1069 commented 3 years ago

I don't think so that for me it worked well. Can you please suggest a screenshot or log for your commands you run.

SSmarshal commented 3 years ago

Thank you for replying！The problem I come up with was when I run "roslaunch unitree_gazebo normal.launch rname:=a1 wname:=stairs", the robot and the stair could show up as shown in the following figure: image however, it said: "[WARN] [1612175390.412604, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [a1_gazebo/controller_spawner-5] process has finished cleanly " Then I run "rosservice list | grep controller_manager", it had the output which seemed ok: image Then I checked the namespace of the launch file and the xacro file, the namespace of the controller_manager and the spawner was quite the same: image image But it still said"Controller Spawner couldn't find the expected controller_manager ROS interface. " And I am confused about how to fix it. Thank you!

SSmarshal commented 3 years ago

By the way，may I have a look at your bashrc of the relative settings， thank you

SSmarshal commented 3 years ago

I have solved the problem, the uri of the stairs.world was wrong, sorry to interrupt, and thank you!