Moveit! make Invoking "make -j4 -l4" failed
I'm trying to install Moveit! as per http://moveit.ros.org/install/ for ROS Indigo on a 64bit system. I get the failed build error intermittently, but then it manages to overcome the issue and proceeds to further installation when i run catkinmake again - only to fail again. After multiple attempts it seem like the build fails at 82% i.e after moveitmovegroupinterface_python.
Please help! Thank you.
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#### Running command: "make -j4 -l4" in "/home/adi/moveit/build"
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Built target object_recognition_msgs_generate_messages_cpp
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Built target moveit_ros_manipulation_gencfg
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Built target moveit_kinematics_speed_and_validity_evaluator
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Building CXX object moveit_ros/robot_interaction/CMakeFiles/moveit_robot_interaction.dir/src/kinematic_options.cpp.o
[ 71%] Built target moveit_warehouse
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In file included from /usr/include/boost/math/policies/policy.hpp:20:0,
from /usr/include/boost/math/policies/error_handling.hpp:19,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/indigo/include/ros/time.h:58,
from /opt/ros/indigo/include/ros/serialization.h:34,
from /opt/ros/indigo/include/geometry_msgs/PoseStamped.h:14,
from /home/adi/moveit/src/moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h:40,
from /home/adi/moveit/src/moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h:40,
from /home/adi/moveit/src/moveit_ros/robot_interaction/src/kinematic_options.cpp:37:
/home/adi/moveit/src/moveit_ros/robot_interaction/src/kinematic_options.cpp: In member function ‘void robot_interaction::KinematicOptions::setOptions(const robot_interaction::KinematicOptions&, robot_interaction::KinematicOptions::OptionBitmask)’:
/home/adi/moveit/src/moveit_ros/robot_interaction/src/kinematic_options.cpp:118:3: error: invalid application of ‘sizeof’ to incomplete type ‘boost::STATIC_ASSERTION_FAILURE<false>’
BOOST_STATIC_ASSERT(sizeof(kinematics::KinematicsQueryOptions) ==
^
/home/adi/moveit/src/moveit_ros/robot_interaction/src/kinematic_options.cpp:118:3: error: template argument 1 is invalid
BOOST_STATIC_ASSERT(sizeof(kinematics::KinematicsQueryOptions) ==
^
/home/adi/moveit/src/moveit_ros/robot_interaction/src/kinematic_options.cpp:119:59: error: invalid type in declaration before ‘;’ token
sizeof(DummyKinematicsQueryOptions));
^
make[2]: *** [moveit_ros/robot_interaction/CMakeFiles/moveit_robot_interaction.dir/src/kinematic_options.cpp.o] Error 1
make[1]: *** [moveit_ros/robot_interaction/CMakeFiles/moveit_robot_interaction.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
Asked by Adibot on 2015-10-18 15:48:46 UTC
Answers
If I'm reading the boost source correctly, the error message invalid application of ‘sizeof’ to incomplete type ‘boost::STATIC_ASSERTION_FAILURE<false>’ means that the BOOST_STATIC_ASSERT is failing.
For some reason the types in question no longer have equal sizes.
The only thing I can see is that kinematics::KinematicsQueryOptions contains two boolean types and an enum type, and the DummyKinematicsQueryOptions contains two booleans and an int. If ints and enums aren't the same size on your system, or if those structs are not packed the same way, both of those could cause this assert to fail.
It would also be worthwhile to enable the compiler option which keeps the preprocessed source files around, and read the preprocessor output for kinematic_options.cpp to confirm that it's actually generating the correct DummyKinematicsQueryOptions.
Relevant source files: https://github.com/ros-planning/moveit_ros/blob/jade-devel/robot_interaction/src/kinematic_options.cpp https://github.com/ros-planning/moveit_ros/blob/indigo-devel/robot_interaction/include/moveit/robot_interaction/kinematic_options.h https://github.com/ros-planning/moveit_core/blob/indigo-devel/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
Asked by ahendrix on 2015-10-18 19:35:29 UTC
Comments
Probably related to ros-planning/moveit_ros/issues/588.
Asked by gvdhoorn on 2015-10-19 02:59:02 UTC
Thanks @ahendrix for your answer- I tried running gcc -E < files_you_suggested (.h) / (.cpp) >
and it failed to give me output for all three files.
That said, I deleted 'moveit' dir from the failed installation and ran the installation all over again-
issues are now resolved and works just fine
Asked by Adibot on 2015-10-20 20:01:09 UTC
I've gotten this build error when compiling a version of moveit_ros against a different version of moveit_core. Can you run "git pull" in both the moveit_ros and moveit_core directories and then try building again?
Asked by jbinney on 2015-10-26 21:50:07 UTC
Comments
Looks like someone else has similar issue with Boost static assert. http://stackoverflow.com/questions/31401851/why-is-booststatic-assertion-failure-false
Asked by Adibot on 2015-10-18 17:13:51 UTC