ros2_SimRealRobotControl
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IFRA-Cranfield
Cannot build ros2srrc_execution
I followed the instructions including adding improved move_group_interface_improved.h
However colcon build fails with:
OS: Ubuntu 22.04.3 LTS
ROS2: Humble
Moveit2: 2.5.5
/usr/bin/ld: CMakeFiles/robmove.dir/src/robmove.cpp.o: in function `ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Robmove> >)':
robmove.cpp:(.text._ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action7RobmoveEEEE[_ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action7RobmoveEEEE]+0x81b): undefined reference to `moveit::planning_interface::MoveGroupInterface::execute(moveit::planning_interface::MoveGroupInterface::Plan const&)'
/usr/bin/ld: CMakeFiles/move.dir/src/move.cpp.o: in function `ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Move> >)':
move.cpp:(.text._ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action4MoveEEEE[_ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action4MoveEEEE]+0x16bf): undefined reference to `moveit::planning_interface::MoveGroupInterface::execute(moveit::planning_interface::MoveGroupInterface::Plan const&)'
/usr/bin/ld: move.cpp:(.text._ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action4MoveEEEE[_ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action4MoveEEEE]+0x1de3): undefined reference to `moveit::planning_interface::MoveGroupInterface::execute(moveit::planning_interface::MoveGroupInterface::Plan const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/robmove.dir/build.make:366: robmove] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:195: CMakeFiles/robmove.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/move.dir/build.make:518: move] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:143: CMakeFiles/move.dir/all] Error 2
/usr/bin/ld: CMakeFiles/sequence.dir/src/sequence.cpp.o: in function `ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Sequence> >)':
sequence.cpp:(.text._ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action8SequenceEEEE[_ZN12ActionServer7executeESt10shared_ptrIN13rclcpp_action16ServerGoalHandleIN13ros2srrc_data6action8SequenceEEEE]+0x1641): undefined reference to `moveit::planning_interface::MoveGroupInterface::execute(moveit::planning_interface::MoveGroupInterface::Plan const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [CMakeFiles/sequence.dir/build.make:526: sequence] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:169: CMakeFiles/sequence.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< ros2srrc_execution [2.01s, exited with code 2]
UPDATE: After deleting all the code built with these warnings:
[Processing: ros2srrc_execution]
--- stderr: ros2srrc_execution
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_ROB()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:74:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declaration]
74 | bool success = (move_group_interface_ROB.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:41:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2srrc_data::action::Robmove_Goal_<std::allocator<void> > >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:115:77: warning: unused parameter ‘uuid’ [-Wunused-parameter]
115 | rclcpp_action::GoalResponse handle_goal(const rclcpp_action::GoalUUID & uuid, std::shared_ptr<const Robmove::Goal> goal)
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Robmove> >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:178:17: warning: comparison with string literal results in unspecified behavior [-Waddress]
178 | if (RES == "PLANNING: OK"){
| ~~~~^~~~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:180:122: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
180 | bool ExecSUCCESS = (move_group_interface_ROB.execute(MyPlan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:41:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:34:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp: In function ‘int main(int, char**)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:244:25: warning: format ‘%s’ expects argument of type ‘char*’, but argument 5 has type ‘std::__cxx11::basic_string<char>’ [-Wformat=]
244 | RCLCPP_INFO(logger, "MoveGroupInterface object created for ROBOT: %s", ROBname);
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/robmove.cpp:244:72: note: format string is defined here
244 | RCLCPP_INFO(logger, "MoveGroupInterface object created for ROBOT: %s", ROBname);
| ~^
| |
| char*
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/mover.cpp: In function ‘MoveRSTRUCT MoveRAction(ros2srrc_data::msg::Joint, std::vector<double, std::allocator<double> >, std::string)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/mover.cpp:201:27: warning: suggest parentheses around assignment used as truth value [-Wparentheses]
201 | } else if (InputJoint = "NotValid"){
| ~~~~~~~~~~~^~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_ROB()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:130:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
130 | bool success = (move_group_interface_ROB.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_EE()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:149:107: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
149 | bool success = (move_group_interface_EE.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2srrc_data::action::Move_Goal_<std::allocator<void> > >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:199:16: warning: unused variable ‘speed’ [-Wunused-variable]
199 | double speed = goal->speed;
| ^~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:193:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
193 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Move> >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:422:122: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
422 | bool ExecSUCCESS = (move_group_interface_ROB.execute(MyPlan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/move.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/mover.cpp: In function ‘MoveRSTRUCT MoveRAction(ros2srrc_data::msg::Joint, std::vector<double, std::allocator<double> >, std::string)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/mover.cpp:201:27: warning: suggest parentheses around assignment used as truth value [-Wparentheses]
201 | } else if (InputJoint = "NotValid"){
| ~~~~~~~~~~~^~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_ROB()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:143:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
143 | bool success = (move_group_interface_ROB.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In function ‘moveit::planning_interface::MoveGroupInterface::Plan plan_EE()’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:162:107: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
162 | bool success = (move_group_interface_EE.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In function ‘bool ATTACH(ros2srrc_data::msg::Linkattacher)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:205:18: warning: unused variable ‘attachOK’ [-Wunused-variable]
205 | if (bool attachOK = RES->success) {
| ^~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In function ‘bool DETACH(ros2srrc_data::msg::Linkattacher)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:233:18: warning: unused variable ‘detachOK’ [-Wunused-variable]
233 | if (bool detachOK = RES->success) {
| ^~~~~~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2srrc_data::action::Sequence_Goal_<std::allocator<void> > >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:321:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
321 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2srrc_data::action::Sequence> >)’:
/home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:561:130: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations]
561 | bool ExecSUCCESS = (move_group_interface_ROB.execute(MyPlan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
In file included from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/include/ros2srrc_execution/movej.h:43,
from /home/ubuntu/dev_ws/src/ros2_SimRealRobotControl/ros2srrc_execution/src/sequence.cpp:31:
/opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here
71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;
| ^~~~~~~~~~~~~~~
---
Finished <<< ros2srrc_execution [50.5s]
Summary: 30 packages finished [1min 12s]
1 package had stderr output: ros2srrc_execution
Hello there, even i facing the same issue of ros2_srrc_execution stderr output, let me know if anyone have a solution for this issue.
Hello there, even i facing the same issue of ros2_srrc_execution stderr output, let me know if anyone have a solution for this issue.
I just removed the build, install, and logs (everything except for src) folders and rebuilt everything. And for some reason, it worked. Are you having exactly the same error log?
Yes, i did had the same error log as you.
Well actually, we have to run colcon build twice back-to-back, and then i did not find any errors during the build and simulation worked smoothly.
Yes, i did had the same error log as you.
Well actually, we have to run
colcon buildtwice back-to-back, and then i did not find any errors during the build and simulation worked smoothly.
Glad to hear it works. Looks like building it twice is a part of the workflow (speaking sarcastically).
Well it worked for me after i executed colcon build twice back-to-back at the last step. I suggest you to follow the exact procedure as mentioned in the README file and at the last step colcon build it twice. Worked for me.