ROS Resources: Documentation | Support | Discussion Forum | Service Status | Q&A answers.ros.org
Ask Your Question
3

Cannot catkinify Baxter SDK

asked 2014-12-26 13:08:00 -0500

Liberona gravatar image

Hi everyone,

This is the first time I ask for a question in the Forum, I looked for this question in the search bar, but my problem didn't specifically appeared.

I'm having troubles with the Step 5 of this tutorial: Workstation Setup. In this step, it says "Install Baxter Research Robot SDK", and I'm installing the current recommended installation: 1.0 Source; with ROS Groovy, in Ubuntu 12.04.

The features of my notebook are:

-Intel® Core™ i5-4210U CPU @ 1.70GHz × 4 -3,8 GiB -Kernel Linux 3.13.0-43-generic -64-bit arquitecture processor

First, I sourced the ROS setup with

source /opt/ros/groovy/setup.bash

Then, when I try to build and install with catkin, the Terminal throws me this:

root@pablo-Latitude-3440:/home/pablo/ros_ws# catkin_make
Base path: /home/pablo/ros_ws
Source space: /home/pablo/ros_ws/src
Build space: /home/pablo/ros_ws/build
Devel space: /home/pablo/ros_ws/devel
Install space: /home/pablo/ros_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/pablo/ros_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/pablo/ros_ws/build"
####
[  0%] [  0%] Built target geometry_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_py
[  0%] Built target std_msgs_generate_messages_cpp
Built target std_msgs_generate_messages_lisp
[  0%] [  0%] Built target sensor_msgs_generate_messages_py
Built target geometry_msgs_generate_messages_cpp
[  0%] [  0%] Built target sensor_msgs_generate_messages_lisp
Built target sensor_msgs_generate_messages_cpp
[  0%] Built target geometry_msgs_generate_messages_lisp
[  0%] Built target baxter_examples_gencfg
[  7%] [ 10%] Built target baxter_maintenance_msgs_generate_messages_py
Built target baxter_interface_gencfg
[ 15%] Built target baxter_maintenance_msgs_generate_messages_lisp
[ 43%] Built target baxter_core_msgs_generate_messages_py
[ 44%] [ 44%] [ 44%] Generating C++ code from baxter_maintenance_msgs/TareEnable.msg
Generating C++ code from baxter_maintenance_msgs/UpdateSource.msg
[ 70%] Generating C++ code from baxter_core_msgs/EndEffectorProperties.msg
Built target baxter_core_msgs_generate_messages_lisp
[ 71%] Generating C++ code from baxter_maintenance_msgs/CalibrateArmData.msg
Traceback (most recent call last):
  File "/opt/ros/groovy/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
    import genmsg.template_tools
  File "/opt/ros/groovy/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
    import em
ImportError: No module named em
make[2]: *** [/home/pablo/ros_ws/devel/include/baxter_maintenance_msgs/UpdateSource.h] Error 1
make[2]: *** Se espera a que terminen otras tareas....
Traceback (most recent call last):
  File "/opt/ros/groovy/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
    import genmsg.template_tools
  File "/opt/ros/groovy/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
    import em
ImportError: No module named em
Traceback (most recent call last):
  File "/opt/ros/groovy/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
    import genmsg.template_tools
  File "/opt/ros/groovy/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in <module>
    import em
ImportError: No module named em
[ 72%] make[2]: *** [/home/pablo/ros_ws/devel/include/baxter_maintenance_msgs/TareEnable.h] Error 1
make[2]: *** [/home/pablo/ros_ws/devel/include/baxter_core_msgs/EndEffectorProperties.h] Error 1
make[2]: *** Se espera a que terminen otras tareas....
Generating C++ code from baxter_core_msgs/AnalogOutputCommand.msg
Traceback (most recent call last):
  File "/opt/ros/groovy/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in <module>
    import genmsg.template_tools
  File "/opt/ros/groovy/lib/python2.7/dist-packages/genmsg/template_tools ...
(more)
edit retag flag offensive close merge delete

3 Answers

Sort by » oldest newest most voted
3

answered 2014-12-26 14:51:08 -0500

Dirk Thomas gravatar image

em is the template engine used in several ROS packages and it can not be found in your case. You can check if Python can find it by calling:

python -c "import em; print(em.__file__)"

Since you installed the Debian packages they depend on python-empy and therefore should have installed it. Please verify that by running:

dpkg -l | grep python-empy

If that package is installed you should double check your Python path:

env | grep PYTHONPATH
python -c "import sys; print(sys.path)"
edit flag offensive delete link more

Comments

I got the same error, and when I checked the variable PYTHONPATH, it was without the path of the OS python distribution, but it had the path of the ROS distribution python and of the PACKAGE distribution python. Well, why my python path was without the OS python distribution???

Randerson gravatar imageRanderson ( 2015-12-28 18:36:23 -0500 )edit

PYTHONPATH only _augments_ the import search path: https://docs.python.org/2/using/cmdli... So it is expected that the "OS python distribution" is not on the PYTHONPATH.

William gravatar imageWilliam ( 2015-12-29 03:37:17 -0500 )edit
1

answered 2014-12-26 14:55:23 -0500

130s gravatar image

The issue is that you haven't installed something that are required to build baxter related packages from source (em in your case). My guess is that you need to run something like the following (at the top of your catkin workspace) in order to redress the dependencies.

rosdep install --from-paths src --ignore-src --rosdistro groovy -y -r

If this resolves the issue, I don't know why it's not included in the tutorial you referred to.

Btw for the questions regarding Baxter Research Robot you might get more eyes on its email forum.

edit flag offensive delete link more
1

answered 2014-12-26 14:50:57 -0500

ahendrix gravatar image

Try installing the empy package:

sudo apt-get install python-empy
edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2014-12-26 13:08:00 -0500

Seen: 1,009 times

Last updated: Dec 26 '14