MoveIt Tutorial Fails to Build

[Rud Merriam]

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

[Rud Merriam]

In the file ur_movit_plugin.h comment out lines 97 and 98:

//#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>
//#include <moveit/kdl_kinematics_plugin/chainiksolver_vel_pinv_mimic.hpp>

[Shane Loretz]

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.

[Shane Loretz]

Brought https://github.com/osrf/universal_robot/tree/ariac_2019_ur10_moveit_config up to date with upstream