MoveIt Tutorial Fails to Build
Following the MoveIt tutorial (again) and the catkin_make fails with the errors below. The directory opt/ros/melodic/include/moveit/kdl_kinematics_plugin
does not contain the header file.
Commenting out that #include results in a similar error for the file #include <moveit/kdl_kinematics_plugin/chainiksolver_vel_pinv_mimic.hpp>
Again, commenting it out allows the build to succeed.
In file included from /home/rmerriam/dev/ariac_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88:0:
/home/rmerriam/dev/ariac_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:97:10: fatal error: moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp: No such file or directory
#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
universal_robot/ur_kinematics/CMakeFiles/ur3_moveit_plugin.dir/build.make:62: recipe for target 'universal_robot/ur_kinematics/CMakeFiles/ur3_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o' failed
make[2]: *** [universal_robot/ur_kinematics/CMakeFiles/ur3_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:4612: recipe for target 'universal_robot/ur_kinematics/CMakeFiles/ur3_moveit_plugin.dir/all' failed
make[1]: *** [universal_robot/ur_kinematics/CMakeFiles/ur3_moveit_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/rmerriam/dev/ariac_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88:0:
/home/rmerriam/dev/ariac_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:97:10: fatal error: moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp: No such file or directory
#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
universal_robot/ur_kinematics/CMakeFiles/ur5_moveit_plugin.dir/build.make:62: recipe for target 'universal_robot/ur_kinematics/CMakeFiles/ur5_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o' failed
make[2]: *** [universal_robot/ur_kinematics/CMakeFiles/ur5_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:2288: recipe for target 'universal_robot/ur_kinematics/CMakeFiles/ur5_moveit_plugin.dir/all' failed
make[1]: *** [universal_robot/ur_kinematics/CMakeFiles/ur5_moveit_plugin.dir/all] Error 2
In file included from /home/rmerriam/dev/ariac_ws/src/universal_robot/ur_kinematics/src/ur_moveit_plugin.cpp:88:0:
/home/rmerriam/dev/ariac_ws/src/universal_robot/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:97:10: fatal error: moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp: No such file or directory
#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
universal_robot/ur_kinematics/CMakeFiles/ur10_moveit_plugin.dir/build.make:62: recipe for target 'universal_robot/ur_kinematics/CMakeFiles/ur10_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o' failed
make[2]: *** [universal_robot/ur_kinematics/CMakeFiles/ur10_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:4649: recipe for target 'universal_robot/ur_kinematics/CMakeFiles/ur10_moveit_plugin.dir/all' failed
make[1]: *** [universal_robot/ur_kinematics/CMakeFiles/ur10_moveit_plugin.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
Comments (3)
-
reporter -
Thanks. There's more info upstream at https://github.com/ros-industrial/universal_robot/pull/404
I rebased https://github.com/osrf/universal_robot/tree/ariac_2019_ur10_moveit_config to bring it up to date with upstream, and verified the tutorial worked.
Assuming you have no other changes to the ur10 moveit configs, you can get the latest code by running
cd path/to/your/clone/of/universal_robot git checkout ariac_2019_ur10_moveit_config git fetch git reset --hard origin/ariac_2019_ur10_moveit_config
If you have made changes to the moveit configs, then you'll need to do something else as that command will permanently overwrite them.
-
- changed status to resolved
Brought https://github.com/osrf/universal_robot/tree/ariac_2019_ur10_moveit_config up to date with upstream
- Log in to comment
In the file
ur_movit_plugin.h
comment out lines 97 and 98: