ros-planning
moveit_task_constrctor failed when i colcon build
hello, i follow the tutorial for pick and place, when i build moveit_task_constructor i get a lot of errors (moveit_core)
uctor/merge.h:42:10: fatal error: moveit/trajectory_processing/time_parameterization.h: No such file or directory 42 | #include <moveit/trajectory_processing/time_parameterization.h> | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:115: src/CMakeFiles/moveit_task_constructor_core.dir/merge.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... In file included from /home/gal/ws_moveit2/src/moveit_task_constructor/core/include/moveit/task_constructor/task_p.h:42, from /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/introspection.cpp:38: /home/gal/ws_moveit2/src/moveit_task_constructor/core/include/moveit/task_constructor/task.h:50:10: fatal error: moveit/utils/moveit_error_code.h: No such file or directory 50 | #include <moveit/utils/moveit_error_code.h> | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:89: src/CMakeFiles/moveit_task_constructor_core.dir/introspection.cpp.o] Error 1 In file included from /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/container.cpp:39: /home/gal/ws_moveit2/src/moveit_task_constructor/core/include/moveit/task_constructor/merge.h:42:10: fatal error: moveit/trajectory_processing/time_parameterization.h: No such file or directory 42 | #include <moveit/trajectory_processing/time_parameterization.h> | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:63: src/CMakeFiles/moveit_task_constructor_core.dir/container.cpp.o] Error 1 /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp: In member function ‘virtual bool moveit::task_constructor::Connecting::compatible(const moveit::task_constructor::InterfaceState&, const moveit::task_constructor::InterfaceState&) const’: /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:905:22: error: ‘using element_type = struct collision_detection::World::Object’ {aka ‘struct collision_detection::World::Object’} has no member named ‘pose_’ 905 | if (!(from_object->pose_.matrix() - to_object->pose_.matrix()).isZero(1e-4)) { | ^~~~~ /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:905:50: error: ‘using element_type = const struct collision_detection::World::Object’ {aka ‘const struct collision_detection::World::Object’} has no member named ‘pose_’ 905 | if (!(from_object->pose_.matrix() - to_object->pose_.matrix()).isZero(1e-4)) { | ^~~~~ /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:955:31: error: ‘const class moveit::core::AttachedBody’ has no member named ‘getShapePosesInLinkFrame’ 955 | auto from_it = from_object->getShapePosesInLinkFrame().cbegin(); | ^~~~~~~~~~~~~~~~~~~~~~~~ /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:956:32: error: ‘const class moveit::core::AttachedBody’ has no member named ‘getShapePosesInLinkFrame’ 956 | auto from_end = from_object->getShapePosesInLinkFrame().cend(); | ^~~~~~~~~~~~~~~~~~~~~~~~ /home/gal/ws_moveit2/src/moveit_task_constructor/core/src/stage.cpp:957:27: error: ‘const class moveit::core::AttachedBody’ has no member named ‘getShapePosesInLinkFrame’ 957 | auto to_it = to_object->getShapePosesInLinkFrame().cbegin(); | ^~~~~~~~~~~~~~~~~~~~~~~~ make[2]: *** [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:141: src/CMakeFiles/moveit_task_constructor_core.dir/stage.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:264: src/CMakeFiles/moveit_task_constructor_core.dir/all] Error 2 make: *** [Makefile:141: all] Error 2
im using ros2 foxy. can anyone help me? thank you.
Looks like you are using incompatible versions of various source packages. Please list the versions of MoveIt and MTC you are using from source.
Looks like you are using incompatible versions of various source packages. Please list the versions of MoveIt and MTC you are using from source.
hey, i follow this tutorial: https://moveit.picknik.ai/humble/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.html
i source the MTC with this command: git clone https://github.com/ros-planning/moveit_task_constructor.git -b ros2
and the version of moveit i used is with this command: https://github.com/ros-planning/moveit2_tutorials/tree/foxy
im using ros2 foxy. can you help please?
The old Foxy release doesn't work with the latest ros2 branch. Try to use the humble branch instead.
Good day,
I have the same or similar issue running Ubuntu 22.04 and ROS2 Iron.
git clone https://github.com/ros-planning/moveit_task_constructor.git -b ros2
colcon build
Starting >>> moveit_task_constructor_msgs
Starting >>> rviz_marker_tools
Starting >>> hello_moveit
--- stderr: rviz_marker_tools
rviz_marker_tools: You did not request a specific build type: Choosing 'Release' for maximum performance
---
Finished <<< rviz_marker_tools [11.4s]
Finished <<< hello_moveit [23.8s]
Finished <<< moveit_task_constructor_msgs [28.4s]
Starting >>> moveit_task_constructor_core
[Processing: moveit_task_constructor_core]
[Processing: moveit_task_constructor_core]
--- stderr: moveit_task_constructor_core
moveit_task_constructor_core: You did not request a specific build type: Choosing 'Release' for maximum performance
Missing content of submodule pybind11: Use 'git clone --recurse-submodule' in future.
Checking out content automatically
Submodule 'core/python/pybind11' (https://github.com/pybind/pybind11) registered for path 'pybind11'
Cloning into '/home/nb5/myar_ws/src/moveit_task_constructor/core/python/pybind11'...
From https://github.com/pybind/pybind11
* branch f4bc71f981d4eb2dd780215fd3c5a7420f1f03aa -> FETCH_HEAD
/home/nb5/myar_ws/src/moveit_task_constructor/core/src/solvers/cartesian_path.cpp: In member function ‘virtual moveit::task_constructor::solvers::PlannerInterface::Result moveit::task_constructor::solvers::CartesianPath::plan(const PlanningSceneConstPtr&, const moveit::core::LinkModel&, const Isometry3d&, const Isometry3d&, const moveit::core::JointModelGroup*, double, robot_trajectory::RobotTrajectoryPtr&, const Constraints&)’:
/home/nb5/myar_ws/src/moveit_task_constructor/core/src/solvers/cartesian_path.cpp:123:42: error: ‘relative’ is not a member of ‘moveit::core::JumpThreshold’
123 | moveit::core::JumpThreshold::relative(props.get<double>("jump_threshold")), is_valid,
| ^~~~~~~~
gmake[2]: *** [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:230: src/CMakeFiles/moveit_task_constructor_core.dir/solvers/cartesian_path.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
/home/nb5/myar_ws/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp: In member function ‘moveit::task_constructor::solvers::PlannerInterface::Result moveit::task_constructor::solvers::PipelinePlanner::plan(const PlanningSceneConstPtr&, const moveit::core::JointModelGroup*, const Constraints&, double, robot_trajectory::RobotTrajectoryPtr&, const Constraints&)’:
/home/nb5/myar_ws/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp:213:53: error: ‘const class moveit::core::MoveItErrorCode’ has no member named ‘message’
213 | return { false, solution.error_code.message };
| ^~~~~~~
/home/nb5/myar_ws/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp:213:61: error: could not convert ‘{false, <expression error>}’ from ‘<brace-enclosed initializer list>’ to ‘moveit::task_constructor::solvers::PlannerInterface::Result’
213 | return { false, solution.error_code.message };
| ^
| |
| <brace-enclosed initializer list>
gmake[2]: *** [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:258: src/CMakeFiles/moveit_task_constructor_core.dir/solvers/pipeline_planner.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:364: src/CMakeFiles/moveit_task_constructor_core.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< moveit_task_constructor_core [1min 7s, exited with code 2]
Summary: 3 packages finished [1min 36s]
1 package failed: moveit_task_constructor_core
2 packages had stderr output: moveit_task_constructor_core rviz_marker_tools
4 packages not processed
Any ideas?
Trying with branch "humble" and I get a little different compile errors..
Starting >>> moveit_task_constructor_msgs
Starting >>> rviz_marker_tools
Starting >>> hello_moveit
Finished <<< hello_moveit [0.22s]
Finished <<< moveit_task_constructor_msgs [5.58s]
--- stderr: rviz_marker_tools
rviz_marker_tools: You did not request a specific build type: Choosing 'Release' for maximum performance
---
Finished <<< rviz_marker_tools [9.19s]
Starting >>> moveit_task_constructor_core
[Processing: moveit_task_constructor_core]
[Processing: moveit_task_constructor_core]
--- stderr: moveit_task_constructor_core
moveit_task_constructor_core: You did not request a specific build type: Choosing 'Release' for maximum performance
Missing content of submodule pybind11: Use 'git clone --recurse-submodule' in future.
Checking out content automatically
Submodule 'core/python/pybind11' (https://github.com/pybind/pybind11) registered for path 'pybind11'
Cloning into '/home/nb5/myar_ws/src/moveit_task_constructor/core/python/pybind11'...
From https://github.com/pybind/pybind11
* branch f4bc71f981d4eb2dd780215fd3c5a7420f1f03aa -> FETCH_HEAD
/home/nb5/myar_ws/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp: In member function ‘moveit::task_constructor::solvers::PlannerInterface::Result moveit::task_constructor::solvers::PipelinePlanner::plan(const PlanningSceneConstPtr&, const MotionPlanRequest&, robot_trajectory::RobotTrajectoryPtr&)’:
/home/nb5/myar_ws/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp:213:22: error: ‘struct planning_interface::MotionPlanResponse’ has no member named ‘trajectory_’; did you mean ‘trajectory’?
213 | result = res.trajectory_;
| ^~~~~~~~~~~
| trajectory
/home/nb5/myar_ws/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp:214:92: error: ‘struct planning_interface::MotionPlanResponse’ has no member named ‘error_code_’; did you mean ‘error_code’?
214 | return { success, success ? std::string() : moveit::core::error_code_to_string(res.error_code_.val) };
| ^~~~~~~~~~~
| error_code
/home/nb5/myar_ws/src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp:214:109: error: could not convert ‘{success, <expression error>}’ from ‘<brace-enclosed initializer list>’ to ‘moveit::task_constructor::solvers::PlannerInterface::Result’
214 | return { success, success ? std::string() : moveit::core::error_code_to_string(res.error_code_.val) };
| ^
| |
| <brace-enclosed initializer list>
gmake[2]: *** [src/CMakeFiles/moveit_task_constructor_core.dir/build.make:258: src/CMakeFiles/moveit_task_constructor_core.dir/solvers/pipeline_planner.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:362: src/CMakeFiles/moveit_task_constructor_core.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< moveit_task_constructor_core [1min 6s, exited with code 2]
Summary: 3 packages finished [1min 15s]
1 package failed: moveit_task_constructor_core
2 packages had stderr output: moveit_task_constructor_core rviz_marker_tools
4 packages not processed
Unfortunately, MoveIt2 has many branches with incompatible APIs. Looks like, we need a separate branch for Iron as well.
I don't have access to an Iron distro. I suggest starting from the ros2 branch and cherry-picking some of the latest commits on the humble branch to fix compiler issues. From the reported compiler logs, I guess you will need the following commits:
- 8d0708c1 Revert "Update to the more recent JumpThreshold API"
- e942e9c7 Revert "Enable parallel planning with PipelinePlanner"
- ba1d3df6 Revert "Fix generation of Solution msg: consider backward operation"
Hi @rhaschke and thank you for your reply,
I cherry picked those 3 commits, but the error remained.
I then went into src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp and renamed references to error_code_ to error_code and trajectory_ to trajectory, and it compiles. Maybe it works as well.
I then went into src/moveit_task_constructor/core/src/solvers/pipeline_planner.cpp and renamed references to error_code_ to error_code and trajectory_ to trajectory, and it compiles. Maybe it works as well.
Then you started off the humble branch... I suggested to start from the ros2 branch ;-)
Hi, no, pretty sure I started from ros2. Anyway, seems to be working, so now I can focus on trying to get my code to work.. =D