linking with youbot_driver

[dogoepp]

Catkin would not find youbot_driver when building youbot_driver_ros_interface.

I cloned and built youbot_diver, following the instructions, in ~/youbot_driver. Then, cloned youbot_driver_ros_interface in ~/catkin_ws/src and ran catkin_make. It appears that catkin can't make the link between the ROS interface and the driver, throwing the error

Could not find a package configuration file provided by "youbot_driver"
with any of the following names:
  youbot_driverConfig.cmake
  youbot_driver-config.cmake

Add the installation prefix of "youbot_driver" to CMAKE_PREFIX_PATH or set
  "youbot_driver_DIR" to a directory containing one of the above files.  If
  "youbot_driver" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  youbot_driver_ros_interface/CMakeLists.txt:5 (find_package)

[frederikhegger]

Make sure that the youbot_driver package is also inside the src folder your catkin workspace "~/catkin_ws/src".

[dogoepp]

I copied youbot_driver in ~catkin/src as you suggested, cleaned the build and devel folders of catkin, the build folder of catkin/src/youbot_driver. Then I compiled youbot_driver as explained in the documentation and did a catkin_make. Nonetheless, the same error occurs.

Le 18/09/2015 09:37, frederikhegger a écrit :

Make sure that the youbot_driver package is also inside the src folder your catkin workspace "~/catkin_ws/src".

— Reply to this email directly or view it on GitHub https://github.com/youbot/youbot_driver_ros_interface/issues/10#issuecomment-141371161.

[frederikhegger]

Can you check on which branch the youbot_driver repository is. It should be on hydro-devel.

If the error still occurs, can you please post the full CMake terminal output.

[dogoepp]

indeed, i was on master but switching to hydro-devel did not help.

Here is catkin's compilation log:

-- Using CATKIN_DEVEL_PREFIX: /home/omnigrasper/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/omnigrasper/catkin_ws/devel;/opt/ros/indigo
-- This workspace overlays: /home/omnigrasper/catkin_ws/devel;/opt/ros/indigo
-- 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/omnigrasper/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 2 packages in topological order:
-- ~~  - youbot_driver
-- ~~  - youbot_driver_ros_interface
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'youbot_driver'
-- ==> add_subdirectory(youbot_driver)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   thread
--   date_time
--   filesystem
--   system
--   regex
-- Ensure you cppunit installed version is at least
1.12.0
-- +++ processing catkin package: 'youbot_driver_ros_interface'
-- ==> add_subdirectory(youbot_driver_ros_interface)
-- Using these message generators: gencpp;genlisp;genpy
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a package configuration file provided by "brics_actuator"
  with any of the following names:

    brics_actuatorConfig.cmake
    brics_actuator-config.cmake

  Add the installation prefix of "brics_actuator" to CMAKE_PREFIX_PATH or set
  "brics_actuator_DIR" to a directory containing one of the above files.  If
  "brics_actuator" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  youbot_driver_ros_interface/CMakeLists.txt:5 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/omnigrasper/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/omnigrasper/catkin_ws/build/CMakeFiles/CMakeError.log".
Base path: /home/omnigrasper/catkin_ws
Source space: /home/omnigrasper/catkin_ws/src
Build space: /home/omnigrasper/catkin_ws/build
Devel space: /home/omnigrasper/catkin_ws/devel
Install space: /home/omnigrasper/catkin_ws/install
####
#### Running command: "cmake /home/omnigrasper/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/omnigrasper/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/omnigrasper/catkin_ws/install -G Unix Makefiles" in "/home/omnigrasper/catkin_ws/build"
####
Invoking "cmake" failed

[frederikhegger]

You have to install the missing dependency:

sudo apt-get install ros-hydro-brics-actuator

(if you are using hydro)

[dogoepp]

Thanks, this is done now.

However, There seems to be a difference between the driver and the ROS interface, since I now have no member named 'hasGripper()' found errors :

[ 92%] Building CXX object youbot_driver_ros_interface/CMakeFiles/youbot_driver_ros_interface.dir/src/YouBotOODLWrapper.cpp.o
/home/omnigrasper/catkin_ws/src/youbot_driver_ros_interface/src/YouBotOODLWrapper.cpp: In member function ‘void youBot::YouBotOODLWrapper::initializeArm(std::string)’:
/home/omnigrasper/catkin_ws/src/youbot_driver_ros_interface/src/YouBotOODLWrapper.cpp:166:73: error: ‘class youbot::YouBotManipulator’ has no member named ‘hasGripper’
     if(youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->hasGripper())
                                                                         ^
/home/omnigrasper/catkin_ws/src/youbot_driver_ros_interface/src/YouBotOODLWrapper.cpp: In member function ‘void youBot::YouBotOODLWrapper::computeOODLSensorReadings()’:
/home/omnigrasper/catkin_ws/src/youbot_driver_ros_interface/src/YouBotOODLWrapper.cpp:849:81: error: ‘class youbot::YouBotManipulator’ has no member named ‘hasGripper’
             if(youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->hasGripper())
                                                                                 ^
/home/omnigrasper/catkin_ws/src/youbot_driver_ros_interface/src/YouBotOODLWrapper.cpp:903:81: error: ‘class youbot::YouBotManipulator’ has no member named ‘hasGripper’
             if(youBotConfiguration.youBotArmConfigurations[armIndex].youBotArm->hasGripper() &&
                                                                                 ^
make[2]: *** [youbot_driver_ros_interface/CMakeFiles/youbot_driver_ros_interface.dir/src/YouBotOODLWrapper.cpp.o] Error 1
make[1]: *** [youbot_driver_ros_interface/CMakeFiles/youbot_driver_ros_interface.dir/all] Error 2

[frederikhegger]

Can you do execute the following command in both folders (youbot_driver and youbot_driver_ros_interface):

git remote -v

[dogoepp]

The remotes of youbot_driver (which was placed in ~/catkinws/src) are

• origin https://github.com/youbot/youbot_driver.git (fetch)
• origin https://github.com/youbot/youbot_driver.git (push)

As for youbot_driver_ros_interface (in the same src folder), they are

• origin https://github.com/mas-group/youbot_driver_ros_interface.git (fetch)
• origin https://github.com/mas-group/youbot_driver_ros_interface.git (push)

Both are on branch hydro-devel and up to date with regard to origin.

[frederikhegger]

There is the problem. The forks of the two remotes have diverged too much and are not compatible under each other.

So, either you clone everything from from youbot or mas-group.

[dogoepp]

my bad, sorry I was confused by the two sources of repositories.

The compilation and node does work now. Thanks a lot !

By the way, what makes the difference between the youbot and mas-group versions of the repositories ?

[frederikhegger]

The youbot repository is the official version and should be always stable. We just have our own fork because we wanted to have some modifications. Most of them are still open pull request at the original repository.

[dogoepp]

Ok, thanks again