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xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
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Unable to load controller_manager #157

Open PinkViolet opened 1 year ago

PinkViolet commented 1 year ago

Hi,

I'm trying to run color cube grasping demo. After running the command roslaunch xarm_gazebo xarm_camera_scene.launch robot_dof:=7, the gazebo simulation stops working and showing the errors:

[ INFO] [1674565050.537225999, 0.290000000]: Loaded gazebo_ros_control. [Msg] Loading grasp-fix plugin [Msg] GazeboGraspFix: Using disable_collisions_on_attach 0 [Msg] GazeboGraspFix: Using update rate 10 [Msg] GazeboGraspFix: Using max_grip_count 3 [Msg] GazeboGraspFix: Using grip_count_threshold 2 [Msg] GazeboGraspFix: Using release_tolerance 0.0198 gzserver: symbol lookup error: /home/mmvc/zp/ws_xarm/devel/lib/libgazebo_grasp_fix.so: undefined symbol: _ZN6gazebo10GetPhysicsERKN5boost10shared_ptrINS_7physics5WorldEEE [WARN] [1674565050.578689, 0.290000]: wait_for_service(/xarm/controller_manager/load_controller): failed to contact, will keep trying [WARN] [1674565050.599158, 0.290000]: wait_for_service(/xarm/controller_manager/load_controller): failed to contact, will keep trying [gazebo-2] process has died [pid 15795, exit code 127, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/mmvc/zp/ws_xarm/src/xarm_ros/xarm_gazebo/worlds/xarm_example1_table.world name:=gazebo log:=/home/mmvc/.ros/log/a68a6a16-9be6-11ed-9fc7-50ebf68b5946/gazebo-2.log]. log file: /home/mmvc/.ros/log/a68a6a16-9be6-11ed-9fc7-50ebf68b5946/gazebo-2.log [WARN] [1674565077.488323, 0.290000]: Controller Spawner couldn't find the expected controller_manager ROS interface. [xarm/gripper_controller_spawner-6] process has finished cleanly log file: /home/mmvc/.ros/log/a68a6a16-9be6-11ed-9fc7-50ebf68b5946/xarm-gripper_controller_spawner-6.log

I can successfully run the command when I exclude the gazebo_grasp_plugin from compilation. However, whenever I compile the gazebo_grasp_plugin, the gazebo simulation will stop working and showing the errors above. Please help me to resolve this problem.

For background information, I running the code on Ubuntu 18.04.6 LTS installed with ROS Melodic. Below is the catkin_make output:

Base path: /home/mmvc/zp/ws_xarm Source space: /home/mmvc/zp/ws_xarm/src Build space: /home/mmvc/zp/ws_xarm/build Devel space: /home/mmvc/zp/ws_xarm/devel Install space: /home/mmvc/zp/ws_xarm/install

Running command: "cmake /home/mmvc/zp/ws_xarm/src -DCATKIN_DEVEL_PREFIX=/home/mmvc/zp/ws_xarm/devel -DCMAKE_INSTALL_PREFIX=/home/mmvc/zp/ws_xarm/install -G Unix Makefiles" in "/home/mmvc/zp/ws_xarm/build"

-- Using CATKIN_DEVEL_PREFIX: /home/mmvc/zp/ws_xarm/devel -- Using CMAKE_PREFIX_PATH: /home/mmvc/zp/ws_xarm/devel;/opt/ros/melodic -- This workspace overlays: /home/mmvc/zp/ws_xarm/devel;/opt/ros/melodic -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") -- Using PYTHON_EXECUTABLE: /usr/bin/python2 -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/mmvc/zp/ws_xarm/build/test_results -- Found gtest sources under '/usr/src/googletest': gtests will be built -- Found gmock sources under '/usr/src/googletest': gmock will be built -- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.7.29 -- BUILD_SHARED_LIBS is on -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~ -- ~~ traversing 46 packages in topological order: -- ~~ - easy_handeye -- ~~ - multi_xarm5 -- ~~ - rqt_easy_handeye -- ~~ - aruco_msgs -- ~~ - easy_handeye_msgs -- ~~ - vision_visp (metapackage) -- ~~ - xarm_bringup -- ~~ - xarm_description -- ~~ - dual_xarm6_moveit_config -- ~~ - lite6_moveit_config -- ~~ - xarm5_gripper_moveit_config -- ~~ - xarm5_moveit_config -- ~~ - xarm5_vacuum_gripper_moveit_config -- ~~ - xarm6_gripper_moveit_config -- ~~ - xarm6_moveit_config -- ~~ - xarm6_vacuum_gripper_moveit_config -- ~~ - xarm7_gripper_moveit_config -- ~~ - xarm7_moveit_config -- ~~ - xarm7_vacuum_gripper_moveit_config -- ~~ - xarm_msgs -- ~~ - xarm_sdk -- ~~ - camera_demo -- ~~ - path_navigation_msgs -- ~~ - aruco -- ~~ - object_msgs -- ~~ - aruco_ros -- ~~ - gazebo_test_tools -- ~~ - gazebo_version_helpers -- ~~ - gazebo_grasp_plugin -- ~~ - gazebo_world_plugin_loader -- ~~ - object_msgs_tools -- ~~ - gazebo_state_plugins -- ~~ - roboticsgroup_gazebo_plugins -- ~~ - visp_bridge -- ~~ - visp_camera_calibration -- ~~ - visp_hand2eye_calibration -- ~~ - visp_tracker -- ~~ - visp_auto_tracker -- ~~ - xarm7_redundancy_res -- ~~ - xarm_api -- ~~ - run_recorded_traj -- ~~ - xarm_controller -- ~~ - xarm_gazebo -- ~~ - xarm_gripper -- ~~ - xarm_planner -- ~~ - d435i_xarm_setup -- ~~~~~~~~~~~~~ -- +++ processing catkin package: 'easy_handeye' -- ==> add_subdirectory(easy_handeye/easy_handeye) -- +++ processing catkin package: 'multi_xarm5' -- ==> add_subdirectory(xarm_ros/examples/multi_xarm5) -- +++ processing catkin package: 'rqt_easy_handeye' -- ==> add_subdirectory(easy_handeye/rqt_easy_handeye) -- +++ processing catkin package: 'aruco_msgs' -- ==> add_subdirectory(aruco_ros/aruco_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- aruco_msgs: 2 messages, 0 services -- +++ processing catkin package: 'easy_handeye_msgs' -- ==> add_subdirectory(easy_handeye/easy_handeye_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- easy_handeye_msgs: 3 messages, 10 services -- +++ processing catkin metapackage: 'vision_visp' -- ==> add_subdirectory(vision_visp/vision_visp) -- +++ processing catkin package: 'xarm_bringup' -- ==> add_subdirectory(xarm_ros/xarm_bringup) -- +++ processing catkin package: 'xarm_description' -- ==> add_subdirectory(xarm_ros/xarm_description) -- +++ processing catkin package: 'dual_xarm6_moveit_config' -- ==> add_subdirectory(xarm_ros/dual_xarm6_moveit_config) -- +++ processing catkin package: 'lite6_moveit_config' -- ==> add_subdirectory(xarm_ros/lite6_moveit_config) -- +++ processing catkin package: 'xarm5_gripper_moveit_config' -- ==> add_subdirectory(xarm_ros/xarm5_gripper_moveit_config) -- +++ processing catkin package: 'xarm5_moveit_config' -- ==> add_subdirectory(xarm_ros/xarm5_moveit_config) -- +++ processing catkin package: 'xarm5_vacuum_gripper_moveit_config' -- ==> add_subdirectory(xarm_ros/examples/xarm5_vacuum_gripper_moveit_config) -- +++ processing catkin package: 'xarm6_gripper_moveit_config' -- ==> add_subdirectory(xarm_ros/xarm6_gripper_moveit_config) -- +++ processing catkin package: 'xarm6_moveit_config' -- ==> add_subdirectory(xarm_ros/xarm6_moveit_config) -- +++ processing catkin package: 'xarm6_vacuum_gripper_moveit_config' -- ==> add_subdirectory(xarm_ros/examples/xarm6_vacuum_gripper_moveit_config) -- +++ processing catkin package: 'xarm7_gripper_moveit_config' -- ==> add_subdirectory(xarm_ros/xarm7_gripper_moveit_config) -- +++ processing catkin package: 'xarm7_moveit_config' -- ==> add_subdirectory(xarm_ros/xarm7_moveit_config) -- +++ processing catkin package: 'xarm7_vacuum_gripper_moveit_config' -- ==> add_subdirectory(xarm_ros/examples/xarm7_vacuum_gripper_moveit_config) -- +++ processing catkin package: 'xarm_msgs' -- ==> add_subdirectory(xarm_ros/xarm_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- xarm_msgs: 3 messages, 30 services -- +++ processing catkin package: 'xarm_sdk' -- ==> add_subdirectory(xarm_ros/xarm_sdk) -- +++ processing catkin package: 'camera_demo' -- ==> add_subdirectory(xarm_ros/xarm_vision/camera_demo) -- +++ processing catkin package: 'path_navigation_msgs' -- ==> add_subdirectory(general-message-pkgs/path_navigation_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Generating .msg files for action path_navigation_msgs/PathExecution /home/mmvc/zp/ws_xarm/src/general-message-pkgs/path_navigation_msgs/action/PathExecution.action -- Generating .msg files for action path_navigation_msgs/TransformPathExecution /home/mmvc/zp/ws_xarm/src/general-message-pkgs/path_navigation_msgs/action/TransformPathExecution.action -- path_navigation_msgs: 14 messages, 0 services -- +++ processing catkin package: 'aruco' -- ==> add_subdirectory(aruco_ros/aruco) -- Found OpenCV: /usr (found suitable version "3.2.0", minimum required is "3") -- +++ processing catkin package: 'object_msgs' -- ==> add_subdirectory(general-message-pkgs/object_msgs) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- object_msgs: 2 messages, 2 services -- +++ processing catkin package: 'aruco_ros' -- ==> add_subdirectory(aruco_ros/aruco_ros) -- Found OpenCV: /usr (found version "3.2.0") -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'gazebo_test_tools' -- ==> add_subdirectory(gazebo-pkgs/gazebo_test_tools) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0") -- Boost version: 1.65.1 -- 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 CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if): Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted. Run "cmake --help-policy CMP0054" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Quoted variables like "chrono" will no longer be dereferenced when the policy is set to NEW. Since the policy is not set the OLD behavior will be used. Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES) /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package) gazebo-pkgs/gazebo_test_tools/CMakeLists.txt:16 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

-- 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 -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread (found suitable version "3.0.0", minimum required is "2.3.0") -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.2.5 -- Checking for module 'uuid' -- Found uuid, version 2.31.1 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.0.0 -- Looking for dlfcn.h - found -- Looking for libdl - found -- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES -- Checking for module 'gts' -- Found gts, version 0.7.6 -- Checking for module 'libswscale' -- Found libswscale, version 4.8.100 -- Checking for module 'libavdevice >= 56.4.100' -- Found libavdevice , version 57.10.100 -- Checking for module 'libavformat' -- Found libavformat, version 57.83.100 -- Checking for module 'libavcodec' -- Found libavcodec, version 57.107.100 -- Checking for module 'libavutil' -- Found libavutil, version 55.78.100 -- Checking for module 'jsoncpp' -- Found jsoncpp, version 1.7.4 -- Checking for module 'yaml-0.1' -- Found yaml-0.1, version 0.1.7 -- Checking for module 'libzip' -- Found libzip, version 1.1.2 -- gazebo_test_tools: 0 messages, 1 services -- +++ processing catkin package: 'gazebo_version_helpers' -- ==> add_subdirectory(gazebo-pkgs/gazebo_version_helpers) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0") -- Boost version: 1.65.1 -- 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 CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if): Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted. Run "cmake --help-policy CMP0054" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Quoted variables like "chrono" will no longer be dereferenced when the policy is set to NEW. Since the policy is not set the OLD behavior will be used. Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES) /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package) gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt:15 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

-- 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 -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread (found suitable version "3.0.0", minimum required is "2.3.0") -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.2.5 -- Checking for module 'uuid' -- Found uuid, version 2.31.1 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.0.0 -- Looking for dlfcn.h - found -- Looking for libdl - found -- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES -- Checking for module 'gts' -- Found gts, version 0.7.6 -- Checking for module 'libswscale' -- Found libswscale, version 4.8.100 -- Checking for module 'libavdevice >= 56.4.100' -- Found libavdevice , version 57.10.100 -- Checking for module 'libavformat' -- Found libavformat, version 57.83.100 -- Checking for module 'libavcodec' -- Found libavcodec, version 57.107.100 -- Checking for module 'libavutil' -- Found libavutil, version 55.78.100 -- Checking for module 'jsoncpp' -- Found jsoncpp, version 1.7.4 -- Checking for module 'yaml-0.1' -- Found yaml-0.1, version 0.1.7 -- Checking for module 'libzip' -- Found libzip, version 1.1.2 CMake Warning at /opt/ros/melodic/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/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt:26 (catkin_package)

-- Performing Test COMPILER_SUPPORTS_CXX11 -- Performing Test COMPILER_SUPPORTS_CXX11 - Success -- Performing Test COMPILER_SUPPORTS_CXX0X -- Performing Test COMPILER_SUPPORTS_CXX0X - Success -- +++ processing catkin package: 'gazebo_grasp_plugin' -- ==> add_subdirectory(gazebo-pkgs/gazebo_grasp_plugin) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0") -- Boost version: 1.65.1 -- 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 CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if): Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted. Run "cmake --help-policy CMP0054" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Quoted variables like "chrono" will no longer be dereferenced when the policy is set to NEW. Since the policy is not set the OLD behavior will be used. Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES) /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package) gazebo-pkgs/gazebo_grasp_plugin/CMakeLists.txt:15 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

-- 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 -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread (found suitable version "3.0.0", minimum required is "2.3.0") -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.2.5 -- Checking for module 'uuid' -- Found uuid, version 2.31.1 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.0.0 -- Looking for dlfcn.h - found -- Looking for libdl - found -- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES -- Checking for module 'gts' -- Found gts, version 0.7.6 -- Checking for module 'libswscale' -- Found libswscale, version 4.8.100 -- Checking for module 'libavdevice >= 56.4.100' -- Found libavdevice , version 57.10.100 -- Checking for module 'libavformat' -- Found libavformat, version 57.83.100 -- Checking for module 'libavcodec' -- Found libavcodec, version 57.107.100 -- Checking for module 'libavutil' -- Found libavutil, version 55.78.100 -- Checking for module 'jsoncpp' -- Found jsoncpp, version 1.7.4 -- Checking for module 'yaml-0.1' -- Found yaml-0.1, version 0.1.7 -- Checking for module 'libzip' -- Found libzip, version 1.1.2 CMake Warning at /opt/ros/melodic/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/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) gazebo-pkgs/gazebo_grasp_plugin/CMakeLists.txt:31 (catkin_package)

-- +++ processing catkin package: 'gazebo_world_plugin_loader' -- ==> add_subdirectory(gazebo-pkgs/gazebo_world_plugin_loader) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0") -- Boost version: 1.65.1 -- 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 CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if): Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted. Run "cmake --help-policy CMP0054" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Quoted variables like "chrono" will no longer be dereferenced when the policy is set to NEW. Since the policy is not set the OLD behavior will be used. Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES) /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package) gazebo-pkgs/gazebo_world_plugin_loader/CMakeLists.txt:14 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

-- 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 -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread (found suitable version "3.0.0", minimum required is "2.3.0") -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.2.5 -- Checking for module 'uuid' -- Found uuid, version 2.31.1 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.0.0 -- Looking for dlfcn.h - found -- Looking for libdl - found -- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES -- Checking for module 'gts' -- Found gts, version 0.7.6 -- Checking for module 'libswscale' -- Found libswscale, version 4.8.100 -- Checking for module 'libavdevice >= 56.4.100' -- Found libavdevice , version 57.10.100 -- Checking for module 'libavformat' -- Found libavformat, version 57.83.100 -- Checking for module 'libavcodec' -- Found libavcodec, version 57.107.100 -- Checking for module 'libavutil' -- Found libavutil, version 55.78.100 -- Checking for module 'jsoncpp' -- Found jsoncpp, version 1.7.4 -- Checking for module 'yaml-0.1' -- Found yaml-0.1, version 0.1.7 -- Checking for module 'libzip' -- Found libzip, version 1.1.2 -- +++ processing catkin package: 'object_msgs_tools' -- ==> add_subdirectory(general-message-pkgs/object_msgs_tools) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'gazebo_state_plugins' -- ==> add_subdirectory(gazebo-pkgs/gazebo_state_plugins) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0") -- Boost version: 1.65.1 -- 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 CMake Warning (dev) at /usr/share/cmake-3.10/Modules/FindBoost.cmake:911 (if): Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted. Run "cmake --help-policy CMP0054" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

Quoted variables like "chrono" will no longer be dereferenced when the policy is set to NEW. Since the policy is not set the OLD behavior will be used. Call Stack (most recent call first): /usr/share/cmake-3.10/Modules/FindBoost.cmake:1558 (_Boost_MISSING_DEPENDENCIES) /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package) /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package) gazebo-pkgs/gazebo_state_plugins/CMakeLists.txt:23 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

-- 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 -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread (found suitable version "3.0.0", minimum required is "2.3.0") -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.2.5 -- Checking for module 'uuid' -- Found uuid, version 2.31.1 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.0.0 -- Looking for dlfcn.h - found -- Looking for libdl - found -- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES -- Checking for module 'gts' -- Found gts, version 0.7.6 -- Checking for module 'libswscale' -- Found libswscale, version 4.8.100 -- Checking for module 'libavdevice >= 56.4.100' -- Found libavdevice , version 57.10.100 -- Checking for module 'libavformat' -- Found libavformat, version 57.83.100 -- Checking for module 'libavcodec' -- Found libavcodec, version 57.107.100 -- Checking for module 'libavutil' -- Found libavutil, version 55.78.100 -- Checking for module 'jsoncpp' -- Found jsoncpp, version 1.7.4 -- Checking for module 'yaml-0.1' -- Found yaml-0.1, version 0.1.7 -- Checking for module 'libzip' -- Found libzip, version 1.1.2 -- +++ processing catkin package: 'roboticsgroup_gazebo_plugins' -- ==> add_subdirectory(roboticsgroup_gazebo_plugins) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- signals -- system -- filesystem -- program_options -- regex -- iostreams -- date_time -- chrono -- atomic -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0") -- Boost version: 1.65.1 -- 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 -- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread;-lpthread (found suitable version "3.0.0", minimum required is "2.3.0") -- Config-file not installed for ZeroMQ -- checking for pkg-config -- Checking for module 'libzmq >= 4' -- Found libzmq , version 4.2.5 -- Checking for module 'uuid' -- Found uuid, version 2.31.1 -- Checking for module 'tinyxml2' -- Found tinyxml2, version 6.0.0 -- Looking for dlfcn.h - found -- Looking for libdl - found -- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES -- Checking for module 'gts' -- Found gts, version 0.7.6 -- Checking for module 'libswscale' -- Found libswscale, version 4.8.100 -- Checking for module 'libavdevice >= 56.4.100' -- Found libavdevice , version 57.10.100 -- Checking for module 'libavformat' -- Found libavformat, version 57.83.100 -- Checking for module 'libavcodec' -- Found libavcodec, version 57.107.100 -- Checking for module 'libavutil' -- Found libavutil, version 55.78.100 -- Checking for module 'jsoncpp' -- Found jsoncpp, version 1.7.4 -- Checking for module 'yaml-0.1' -- Found yaml-0.1, version 0.1.7 -- Checking for module 'libzip' -- Found libzip, version 1.1.2 -- Boost version: 1.65.1 -- +++ processing catkin package: 'visp_bridge' -- ==> add_subdirectory(vision_visp/visp_bridge) -- Boost version: 1.65.1 -- Found the following Boost libraries: -- filesystem -- program_options -- system -- +++ processing catkin package: 'visp_camera_calibration' -- ==> add_subdirectory(vision_visp/visp_camera_calibration) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- visp_camera_calibration: 4 messages, 1 services -- +++ processing catkin package: 'visp_hand2eye_calibration' -- ==> add_subdirectory(vision_visp/visp_hand2eye_calibration) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- visp_hand2eye_calibration: 1 messages, 3 services -- +++ processing catkin package: 'visp_tracker' -- ==> add_subdirectory(vision_visp/visp_tracker) -- Boost version: 1.65.1 -- Found the following Boost libraries: -- filesystem -- thread -- system -- chrono -- date_time -- atomic -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- visp_tracker: 7 messages, 1 services -- +++ processing catkin package: 'visp_auto_tracker' -- ==> add_subdirectory(vision_visp/visp_auto_tracker) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Boost version: 1.65.1 -- Found the following Boost libraries: -- filesystem -- system -- signals -- regex -- date_time -- program_options -- thread -- chrono -- atomic -- +++ processing catkin package: 'xarm7_redundancy_res' -- ==> add_subdirectory(xarm_ros/examples/xarm7_redundancy_res) -- +++ processing catkin package: 'xarm_api' -- ==> add_subdirectory(xarm_ros/xarm_api) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'run_recorded_traj' -- ==> add_subdirectory(xarm_ros/examples/run_recorded_traj) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'xarm_controller' -- ==> add_subdirectory(xarm_ros/xarm_controller) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'xarm_gazebo' -- ==> add_subdirectory(xarm_ros/xarm_gazebo) -- +++ processing catkin package: 'xarm_gripper' -- ==> add_subdirectory(xarm_ros/xarm_gripper) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Generating .msg files for action xarm_gripper/Move /home/mmvc/zp/ws_xarm/src/xarm_ros/xarm_gripper/action/Move.action -- xarm_gripper: 7 messages, 0 services -- +++ processing catkin package: 'xarm_planner' -- ==> add_subdirectory(xarm_ros/xarm_planner) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- xarm_planner: 0 messages, 4 services -- +++ processing catkin package: 'd435i_xarm_setup' -- ==> add_subdirectory(xarm_ros/xarm_vision/d435i_xarm_setup) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- Configuring done -- Generating done -- Build files have been written to: /home/mmvc/zp/ws_xarm/build

Running command: "make -j20 -l20" in "/home/mmvc/zp/ws_xarm/build"

[ 0%] Built target geometry_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target geometry_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_eus [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target std_msgs_generate_messages_py [ 0%] Built target _aruco_msgs_generate_messages_check_deps_MarkerArray [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_CheckStartingPose [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_TakeSample [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_ComputeCalibration [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_ExecutePlan [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_SetAlgorithm [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_SelectTargetPose [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_TargetPoseList [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_ListAlgorithms [ 0%] Built target _aruco_msgs_generate_messages_check_deps_Marker [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_EnumerateTargetPoses [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_HandeyeCalibration [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetControllerAnalogIO [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_RemoveSample [ 0%] Built target _xarm_msgs_generate_messages_check_deps_FtCaliLoad [ 0%] Built target _xarm_msgs_generate_messages_check_deps_MoveAxisAngle [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_PlanToSelectedTargetPose [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GetErr [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetFloat32 [ 0%] Built target _easy_handeye_msgs_generate_messages_check_deps_SampleList [ 0%] Built target _xarm_msgs_generate_messages_check_deps_IOState [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetMultipleInts [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetLoad [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GetInt32 [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GetSetModbusData [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetInt16 [ 0%] Built target _xarm_msgs_generate_messages_check_deps_Move [ 0%] Built target _xarm_msgs_generate_messages_check_deps_ConfigToolModbus [ 0%] Built target _xarm_msgs_generate_messages_check_deps_RobotMsg [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GetControllerDigitalIO [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetAxis [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetDigitalIO [ 0%] Built target _xarm_msgs_generate_messages_check_deps_MoveVelo [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetString [ 0%] Built target _xarm_msgs_generate_messages_check_deps_ClearErr [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GetDigitalIO [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GetAnalogIO [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GripperMove [ 0%] Built target _xarm_msgs_generate_messages_check_deps_PlayTraj [ 0%] Built target _catkin_empty_exported_target [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GripperState [ 0%] Built target control_msgs_generate_messages_eus [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GetFloat32List [ 0%] Built target actionlib_msgs_generate_messages_eus [ 0%] Built target _xarm_msgs_generate_messages_check_deps_TCPOffset [ 0%] Built target _xarm_msgs_generate_messages_check_deps_GripperConfig [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetModbusTimeout [ 0%] Built target _xarm_msgs_generate_messages_check_deps_CIOState [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_TransformPathExecutionActionFeedback [ 0%] Built target _xarm_msgs_generate_messages_check_deps_SetToolModbus [ 0%] Built target _xarm_msgs_generate_messages_check_deps_MoveVelocity [ 0%] Built target _xarm_msgs_generate_messages_check_deps_Call [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_TransformPathExecutionActionResult [ 0%] Built target nav_msgs_generate_messages_eus [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_PathExecutionFeedback [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_PathExecutionGoal [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_TransformPathExecutionAction [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_TransformPathExecutionFeedback [ 0%] Built target actionlib_msgs_generate_messages_py [ 0%] Built target control_msgs_generate_messages_nodejs [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_PathExecutionActionGoal [ 0%] Built target control_msgs_generate_messages_py [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_PathExecutionAction [ 0%] Built target nav_msgs_generate_messages_py [ 0%] Built target actionlib_msgs_generate_messages_nodejs [ 0%] Built target nav_msgs_generate_messages_nodejs [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_TransformPathExecutionGoal [ 0%] Built target control_msgs_generate_messages_lisp [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_TransformPathExecutionResult [ 0%] Built target nav_msgs_generate_messages_lisp [ 0%] Built target control_msgs_generate_messages_cpp [ 0%] Built target actionlib_msgs_generate_messages_lisp [ 0%] Built target actionlib_msgs_generate_messages_cpp [ 0%] Built target nav_msgs_generate_messages_cpp [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_PathExecutionResult [ 0%] Built target shape_msgs_generate_messages_py [ 0%] Built target object_recognition_msgs_generate_messages_py [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_PathExecutionActionFeedback [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_PathExecutionActionResult [ 0%] Built target shape_msgs_generate_messages_cpp [ 0%] Built target _path_navigation_msgs_generate_messages_check_deps_TransformPathExecutionActionGoal [ 2%] Built target aruco [ 2%] Built target object_recognition_msgs_generate_messages_lisp [ 2%] Built target shape_msgs_generate_messages_nodejs [ 2%] Built target object_recognition_msgs_generate_messages_eus [ 2%] Built target shape_msgs_generate_messages_lisp [ 2%] Built target shape_msgs_generate_messages_eus [ 2%] Built target roscpp_generate_messages_nodejs [ 2%] Built target object_recognition_msgs_generate_messages_nodejs [ 2%] Built target object_recognition_msgs_generate_messages_cpp [ 2%] Built target tf2_msgs_generate_messages_lisp [ 2%] Built target roscpp_generate_messages_eus [ 2%] Built target _object_msgs_generate_messages_check_deps_RegisterObject [ 2%] Built target rosgraph_msgs_generate_messages_py [ 2%] Built target rosgraph_msgs_generate_messages_lisp [ 2%] Built target rosgraph_msgs_generate_messages_cpp [ 2%] Built target _object_msgs_generate_messages_check_deps_ObjectInfo [ 2%] Built target roscpp_generate_messages_cpp [ 2%] Built target roscpp_generate_messages_py [ 2%] Built target rosgraph_msgs_generate_messages_nodejs [ 2%] Built target roscpp_generate_messages_lisp [ 2%] Built target _object_msgs_generate_messages_check_deps_ObjectPose [ 2%] Built target _object_msgs_generate_messages_check_deps_Object [ 2%] Built target actionlib_generate_messages_eus [ 2%] Built target actionlib_generate_messages_nodejs [ 2%] Built target rosgraph_msgs_generate_messages_eus [ 2%] Built target actionlib_generate_messages_py [ 2%] Built target actionlib_generate_messages_lisp [ 2%] Built target actionlib_generate_messages_cpp [ 2%] Built target sensor_msgs_generate_messages_eus [ 2%] Built target sensor_msgs_generate_messages_cpp [ 2%] Built target sensor_msgs_generate_messages_nodejs [ 2%] Built target sensor_msgs_generate_messages_lisp [ 2%] Built target visualization_msgs_generate_messages_nodejs [ 2%] Built target sensor_msgs_generate_messages_py [ 2%] Built target visualization_msgs_generate_messages_py [ 2%] Built target aruco_ros_gencfg [ 2%] Built target visualization_msgs_generate_messages_lisp [ 2%] Built target tf_generate_messages_py [ 2%] Built target visualization_msgs_generate_messages_eus [ 2%] Built target dynamic_reconfigure_gencfg [ 2%] Built target tf2_msgs_generate_messages_py [ 2%] Built target visualization_msgs_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_cpp [ 2%] Built target dynamic_reconfigure_generate_messages_nodejs [ 2%] Built target dynamic_reconfigure_generate_messages_eus [ 2%] Built target dynamic_reconfigure_generate_messages_lisp [ 2%] Built target tf_generate_messages_cpp Scanning dependencies of target _gazebo_test_tools_generate_messages_check_deps_RecognizeGazeboObject [ 2%] Built target tf_generate_messages_eus [ 2%] Built target dynamic_reconfigure_generate_messages_py Scanning dependencies of target std_srvs_generate_messages_lisp [ 2%] Built target tf2_msgs_generate_messages_cpp [ 2%] Built target tf2_msgs_generate_messages_eus Scanning dependencies of target std_srvs_generate_messages_cpp Scanning dependencies of target std_srvs_generate_messages_eus [ 2%] Built target tf_generate_messages_nodejs Scanning dependencies of target std_srvs_generate_messages_nodejs [ 2%] Built target tf_generate_messages_lisp Scanning dependencies of target gazebo_ros_gencfg [ 2%] Built target tf2_msgs_generate_messages_nodejs Scanning dependencies of target gazebo_msgs_generate_messages_lisp Scanning dependencies of target gazebo_msgs_generate_messages_cpp [ 2%] Built target trajectory_msgs_generate_messages_nodejs [ 2%] Built target trajectory_msgs_generate_messages_cpp Scanning dependencies of target gazebo_msgs_generate_messages_eus [ 2%] Built target trajectory_msgs_generate_messages_py [ 2%] Built target std_srvs_generate_messages_lisp [ 2%] Built target std_srvs_generate_messages_cpp Scanning dependencies of target gazebo_msgs_generate_messages_nodejs [ 2%] Built target trajectory_msgs_generate_messages_lisp [ 2%] Built target std_srvs_generate_messages_eus [ 2%] Built target aruco_ros_utils Scanning dependencies of target gazebo_msgs_generate_messages_py Scanning dependencies of target std_srvs_generate_messages_py [ 2%] Built target trajectory_msgs_generate_messages_eus [ 2%] Built target gazebo_ros_gencfg [ 2%] Built target std_srvs_generate_messages_nodejs [ 2%] Built target gazebo_msgs_generate_messages_lisp [ 2%] Built target gazebo_msgs_generate_messages_cpp [ 2%] Built target gazebo_msgs_generate_messages_eus [ 2%] Built target std_srvs_generate_messages_py [ 2%] Built target gazebo_msgs_generate_messages_nodejs [ 2%] Built target gazebo_msgs_generate_messages_py [ 2%] Built target _gazebo_test_tools_generate_messages_check_deps_RecognizeGazeboObject [ 2%] Built target visp_bridge [ 2%] Built target image_proc_gencfg [ 2%] Built target roboticsgroup_gazebo_disable_link_plugin [ 2%] Built target roboticsgroup_gazebo_mimic_joint_plugin [ 2%] Built target _visp_camera_calibration_generate_messages_check_deps_calibrate [ 2%] Built target _visp_camera_calibration_generate_messages_check_deps_CalibPoint [ 2%] Built target _visp_camera_calibration_generate_messages_check_deps_ImageAndPoints [ 2%] Built target _visp_hand2eye_calibration_generate_messages_check_deps_compute_effector_camera_quick [ 2%] Built target _visp_hand2eye_calibration_generate_messages_check_deps_TransformArray [ 2%] Built target _visp_tracker_generate_messages_check_deps_Init [ 2%] Built target visp_tracker_gencfg [ 2%] Built target _visp_camera_calibration_generate_messages_check_deps_ImagePoint [ 2%] Built target _visp_tracker_generate_messages_check_deps_KltSettings [ 2%] Built target _visp_camera_calibration_generate_messages_check_deps_CalibPointArray [ 2%] Built target _visp_tracker_generate_messages_check_deps_KltPoints [ 2%] Built target _visp_hand2eye_calibration_generate_messages_check_deps_compute_effector_camera [ 2%] Built target _visp_tracker_generate_messages_check_deps_MovingEdgeSite [ 2%] Built target _visp_hand2eye_calibration_generate_messages_check_deps_reset [ 2%] Built target controller_manager_msgs_generate_messages_cpp [ 2%] Built target _visp_tracker_generate_messages_check_deps_MovingEdgeSettings [ 3%] Built target visp_tracker_viewer [ 3%] Built target _visp_tracker_generate_messages_check_deps_MovingEdgeSites [ 3%] Built target _visp_tracker_generate_messages_check_deps_KltPoint [ 3%] Built target _visp_tracker_generate_messages_check_deps_TrackerSettings [ 3%] Built target control_toolbox_generate_messages_lisp [ 3%] Built target control_toolbox_generate_messages_cpp [ 3%] Built target control_toolbox_generate_messages_eus [ 3%] Built target controller_manager_msgs_generate_messages_lisp [ 3%] Built target control_toolbox_generate_messages_py [ 3%] Built target controller_manager_msgs_generate_messages_nodejs [ 3%] Built target control_toolbox_gencfg [ 3%] Built target control_toolbox_generate_messages_nodejs [ 3%] Built target controller_manager_msgs_generate_messages_eus [ 3%] Built target controller_manager_msgs_generate_messages_py Checking md5sum on /home/mmvc/zp/ws_xarm/devel/share/visp_tracker/bag/tutorial-static-box.bag [ 4%] Built target aruco_msgs_generate_messages_eus [ 5%] Built target aruco_msgs_generate_messages_py [ 5%] Built target aruco_msgs_generate_messages_nodejs [ 5%] Built target aruco_msgs_generate_messages_lisp [ 5%] Built target aruco_msgs_generate_messages_cpp [ 5%] Built target visp_tracker_bag [ 5%] Built target _xarm_gripper_generate_messages_check_deps_MoveResult [ 7%] Built target easy_handeye_msgs_generate_messages_cpp [ 7%] Built target _xarm_gripper_generate_messages_check_deps_MoveAction [ 9%] Built target easy_handeye_msgs_generate_messages_py [ 9%] Built target _xarm_gripper_generate_messages_check_deps_MoveActionGoal [ 9%] Built target _xarm_gripper_generate_messages_check_deps_MoveActionResult [ 9%] Built target _xarm_gripper_generate_messages_check_deps_MoveFeedback [ 9%] Built target _xarm_planner_generate_messages_check_deps_exec_plan [ 9%] Built target _xarm_gripper_generate_messages_check_deps_MoveActionFeedback [ 9%] Built target _xarm_gripper_generate_messages_check_deps_MoveGoal [ 9%] Built target _xarm_planner_generate_messages_check_deps_pose_plan [ 9%] Built target _xarm_planner_generate_messages_check_deps_single_straight_plan [ 11%] Built target easy_handeye_msgs_generate_messages_lisp [ 11%] Built target _xarm_planner_generate_messages_check_deps_joint_plan [ 13%] Built target easy_handeye_msgs_generate_messages_eus [ 15%] Built target easy_handeye_msgs_generate_messages_nodejs [ 20%] Built target xarm_msgs_generate_messages_eus [ 24%] Built target xarm_msgs_generate_messages_cpp [ 29%] Built target xarm_msgs_generate_messages_lisp [ 33%] Built target xarm_msgs_generate_messages_nodejs [ 38%] Built target xarm_msgs_generate_messages_py [ 41%] Built target path_navigation_msgs_generate_messages_py [ 46%] Built target xarm_cxx_sdk [ 48%] Built target path_navigation_msgs_generate_messages_cpp [ 49%] Built target object_msgs_generate_messages_py Scanning dependencies of target gazebo_version_helpers [ 50%] Built target path_navigation_msgs_generate_messages_nodejs [ 50%] Built target object_msgs_generate_messages_cpp [ 52%] Built target path_navigation_msgs_generate_messages_lisp [ 53%] Built target object_msgs_generate_messages_nodejs [ 53%] Built target object_msgs_generate_messages_lisp [ 56%] Built target path_navigation_msgs_generate_messages_eus [ 57%] Built target object_msgs_generate_messages_eus Scanning dependencies of target gazebo_world_plugin_loader Scanning dependencies of target gazebo_grasp_fix [ 57%] Built target marker_publisher [ 58%] Built target single [ 58%] Built target double [ 59%] Built target visp_camera_calibration_generate_messages_cpp [ 60%] Built target visp_camera_calibration_generate_messages_py [ 62%] Built target visp_hand2eye_calibration_generate_messages_cpp [ 62%] Built target visp_camera_calibration_generate_messages_lisp Checking md5sum on /home/mmvc/zp/ws_xarm/devel/share/visp_auto_tracker/bag/tutorial-qrcode.bag [ 62%] Built target visp_camera_calibration_generate_messages_eus [ 63%] Built target visp_camera_calibration_generate_messages_nodejs [ 63%] Built target visp_camera_calibration_common [ 64%] Built target visp_hand2eye_calibration_generate_messages_nodejs [ 65%] Built target visp_bridge_convert_camera_parameters [ 66%] Built target visp_hand2eye_calibration_generate_messages_eus [ 66%] Built target visp_hand2eye_calibration_common [ 67%] Built target visp_hand2eye_calibration_generate_messages_py [ 67%] Built target visp_hand2eye_calibration_generate_messages_lisp [ 67%] Built target visp_auto_tracker_bag [ 68%] Built target visp_tracker_generate_messages_lisp [ 69%] Built target visp_tracker_generate_messages_nodejs [ 70%] Built target visp_tracker_generate_messages_cpp [ 71%] Built target visp_tracker_generate_messages_py [ 73%] Built target visp_tracker_generate_messages_eus [ 73%] Built target xarm_ros_client [ 74%] Built target xarm_gripper_generate_messages_cpp [ 75%] Built target xarm_gripper_generate_messages_lisp [ 76%] Built target xarm_gripper_generate_messages_py [ 77%] Built target xarm_ros_driver [ 77%] Built target servo_cartesian_test [ 77%] Built target example1_report_norm [ 77%] Built target move_test [ 78%] Built target xarm_planner_generate_messages_py [ 79%] Built target xarm_gripper_generate_messages_eus [ 80%] Built target xarm_gripper_generate_messages_nodejs [ 80%] Built target xarm_planner_generate_messages_eus [ 81%] Built target xarm_planner_generate_messages_lisp Scanning dependencies of target gazebo_test_tools_generate_messages_cpp Scanning dependencies of target gazebo_test_tools [ 82%] Built target xarm_planner_generate_messages_cpp Scanning dependencies of target set_gazebo_physics_client Scanning dependencies of target gazebo_test_tools_generate_messages_py [ 82%] Built target aruco_msgs_generate_messages Scanning dependencies of target gazebo_test_tools_generate_messages_nodejs [ 82%] Built target easy_handeye_msgs_generate_messages [ 82%] Built target xarm_planner_generate_messages_nodejs Scanning dependencies of target gazebo_test_tools_generate_messages_lisp Scanning dependencies of target gazebo_test_tools_generate_messages_eus [ 82%] Built target xarm_msgs_generate_messages [ 82%] Built target path_navigation_msgs_generate_messages [ 82%] Built target object_msgs_generate_messages [ 82%] Building CXX object gazebo-pkgs/gazebo_world_plugin_loader/CMakeFiles/gazebo_world_plugin_loader.dir/src/GazeboPluginLoader.cpp.o [ 82%] Generating C++ code from gazebo_test_tools/RecognizeGazeboObject.srv [ 82%] Generating Javascript code from gazebo_test_tools/RecognizeGazeboObject.srv [ 82%] Generating Python code from SRV gazebo_test_tools/RecognizeGazeboObject [ 83%] Generating Lisp code from gazebo_test_tools/RecognizeGazeboObject.srv [ 83%] Generating EusLisp code from gazebo_test_tools/RecognizeGazeboObject.srv [ 83%] Building CXX object gazebo-pkgs/gazebo_test_tools/CMakeFiles/set_gazebo_physics_client.dir/src/SetGazeboPhysicsClient.cpp.o [ 83%] Generating EusLisp manifest code for gazebo_test_tools [ 83%] Built target visp_camera_calibration_gencpp [ 83%] Building CXX object gazebo-pkgs/gazebo_test_tools/CMakeFiles/gazebo_test_tools.dir/src/cube_spawner.cpp.o [ 83%] Built target visp_hand2eye_calibration_generate_messages [ 83%] Built target visp_camera_calibration_generate_messages [ 83%] Built target visp_hand2eye_calibration_gencpp [ 83%] Built target object_msgs_tools [ 83%] Built target visp_tracker_gencpp [ 83%] Built target visp_tracker_generate_messages [ 83%] Building CXX object gazebo-pkgs/gazebo_version_helpers/CMakeFiles/gazebo_version_helpers.dir/src/GazeboVersionHelpers.cpp.o [ 83%] Built target register_object_client [ 83%] Built target visp_tracker_client [ 84%] Building CXX object gazebo-pkgs/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/src/GazeboGraspFix.cpp.o [ 84%] Built target tracker [ 84%] Built target gazebo_test_tools_generate_messages_lisp [ 84%] Built target gazebo_test_tools_generate_messages_nodejs [ 85%] Built target test_xarm_states [ 86%] Built target xarm_traj_test [ 86%] Built target xarm_driver_node [ 86%] Built target test_xarm_ros_client [ 86%] Built target test_tool_modbus [ 86%] Building CXX object gazebo-pkgs/gazebo_grasp_plugin/CMakeFiles/gazebo_grasp_fix.dir/src/GazeboGraspGripper.cpp.o [ 87%] Built target sample_motion [ 87%] Built target test_xarm_velo_move [ 88%] Built target xarm_hw [ 88%] Built target xarm_planner_generate_messages [ 89%] Built target gripper_action_server [ 89%] Built target gripper_client [ 89%] Built target xarm_gripper_generate_messages [ 89%] Built target xarm_simple_planner_test [ 89%] Built target findobj2d_grasp_api [ 89%] Built target xarm_gripper_planner [ 90%] Built target obj2base [ 90%] Built target xarm_simple_planner [ 90%] Built target object_tf_broadcaster_node [ 90%] Built target findobj2d_grasp_moveit [ 91%] Built target visp_camera_calibration_camera [ 91%] Built target visp_camera_calibration_calibrator [ 91%] Built target visp_camera_calibration_image_processing [ 92%] Built target visp_hand2eye_calibration_calibrator [ 92%] Built target visp_hand2eye_calibration_client [ 92%] Built target uf_ros_controller [ 92%] Built target xarm_combined_hw [ 92%] Generating Python srv init.py for gazebo_test_tools [ 93%] Built target visp_tracker [ 93%] Built target xarm_combined_traj_controller [ 94%] Built target trackerNodelet [ 94%] Built target gazebo_test_tools_generate_messages_cpp Scanning dependencies of target fake_object_recognizer_cmd Scanning dependencies of target fake_object_recognizer [ 95%] Built target visp_auto_tracker_cmd_line [ 95%] Building CXX object gazebo-pkgs/gazebo_test_tools/CMakeFiles/fake_object_recognizer_cmd.dir/test/fake_object_recognizer_cmd.cpp.o [ 95%] Building CXX object gazebo-pkgs/gazebo_test_tools/CMakeFiles/fake_object_recognizer.dir/src/FakeObjectRecognizer.cpp.o [ 95%] Built target gazebo_test_tools_generate_messages_py [ 96%] Built target auto_tracker [ 96%] Built target visp_auto_tracker [ 96%] Built target gazebo_test_tools_generate_messages_eus Scanning dependencies of target gazebo_test_tools_generate_messages [ 96%] Built target gazebo_test_tools_generate_messages [ 96%] Linking CXX shared library /home/mmvc/zp/ws_xarm/devel/lib/libgazebo_test_tools.so [ 96%] Linking CXX executable /home/mmvc/zp/ws_xarm/devel/lib/gazebo_test_tools/set_gazebo_physics_client [ 96%] Built target set_gazebo_physics_client [ 97%] Linking CXX executable /home/mmvc/zp/ws_xarm/devel/lib/gazebo_test_tools/fake_object_recognizer_cmd [ 97%] Built target gazebo_test_tools Scanning dependencies of target cube_spawner [ 97%] Building CXX object gazebo-pkgs/gazebo_test_tools/CMakeFiles/cube_spawner.dir/src/cube_spawner_node.cpp.o [ 97%] Built target fake_object_recognizer_cmd [ 97%] Linking CXX executable /home/mmvc/zp/ws_xarm/devel/lib/gazebo_test_tools/cube_spawner [ 97%] Built target cube_spawner [ 97%] Linking CXX shared library /home/mmvc/zp/ws_xarm/devel/lib/libfake_object_recognizer.so [ 97%] Built target fake_object_recognizer Scanning dependencies of target fake_object_recognizer_node [ 97%] Building CXX object gazebo-pkgs/gazebo_test_tools/CMakeFiles/fake_object_recognizer_node.dir/src/fake_object_recognizer_node.cpp.o [ 98%] Linking CXX shared library /home/mmvc/zp/ws_xarm/devel/lib/libgazebo_world_plugin_loader.so [ 98%] Linking CXX executable /home/mmvc/zp/ws_xarm/devel/lib/gazebo_test_tools/fake_object_recognizer_node [ 98%] Built target fake_object_recognizer_node [ 98%] Linking CXX shared library /home/mmvc/zp/ws_xarm/devel/lib/libgazebo_version_helpers.so [ 98%] Built target gazebo_world_plugin_loader [ 98%] Built target gazebo_version_helpers Scanning dependencies of target gazebo_map_publisher Scanning dependencies of target gazebo_object_info Scanning dependencies of target gazebo_request_object_info [100%] Building CXX object gazebo-pkgs/gazebo_state_plugins/CMakeFiles/gazebo_request_object_info.dir/test/object_info_request.cpp.o [100%] Building CXX object gazebo-pkgs/gazebo_state_plugins/CMakeFiles/gazebo_object_info.dir/src/GazeboObjectInfo.cpp.o [100%] Building CXX object gazebo-pkgs/gazebo_state_plugins/CMakeFiles/gazebo_map_publisher.dir/src/GazeboMapPublisher.cpp.o [100%] Linking CXX shared library /home/mmvc/zp/ws_xarm/devel/lib/libgazebo_grasp_fix.so [100%] Built target gazebo_grasp_fix [100%] Linking CXX executable /home/mmvc/zp/ws_xarm/devel/lib/gazebo_state_plugins/gazebo_request_object_info [100%] Built target gazebo_request_object_info [100%] Linking CXX shared library /home/mmvc/zp/ws_xarm/devel/lib/libgazebo_object_info.so [100%] Linking CXX shared library /home/mmvc/zp/ws_xarm/devel/lib/libgazebo_map_publisher.so [100%] Built target gazebo_object_info [100%] Built target gazebo_map_publisher

PinkViolet commented 1 year ago

I have fixed the problem. Closing this issue.

For future user, the reason why I got above errors is that I installed the melodic-support branch of gazebo_pkgs. After I switch to the master branch of gazebo_pkgs and recompile the workspace, the errors go away.