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Compiling ROS to Virtual Nao [closed]

asked 2014-06-10 08:38:21 -0600

Dominic gravatar image

Hello there,

I have been attempting to complete the tutorial (I can't publish links! Simply google "ros compile nao virtual" and click the 1st result) which attempts to compile ROS to a virtual Nao, before copying the files across to the actual robot.

There have been a number of problems throughout the process, however it is of my understanding that these have been dealt with successfully. I have followed the Wiki as closely as possible.

I am using VirtualBox Graphical User Interface Version 4.2.10_Ubuntu r84101.

The OpenNao image is "opennao-vm-"

I have managed to "emerge" all packages mentioned in the Wiki. I decided to add "Boost" as well. Problems have arisen when attempting to compile the packages, using the command:

$ src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

This attempts to compile 81 separate packages - I can only make it as far as the 37th package before I get an error, specifically (I have to type all of this since my VM won't allow me to cut & paste: please excuse any spelling errors!)

;pluginlib [37 of 81]==> Processing catkin package: 'pluginlib'
==> Building with env: '/home/nao/nao_ros_ws/install_isolated/'
==> cmake /home/nao/nao_ros_ws/src/pluginlib -DCATKIN_DEVEL_PREFIX=/home/nao/nao
_ros_ws/devel_isolated/pluginlib -DCMAKE_INSTALL_PREFIX=/home/nao/nao_ros_ws/ins
tall_isolated -DCMAKE_BUILD_TYPE=Release in '/home/nao/nao_ros_ws/build_isolated
-- Using CATKIN_DEVEL_PREFIX: /home/nao/nao_ros_ws/devel_isolated/pluginlib
-- Using CMAKE_PREFIX_PATH: /home/nao/nao_ros_ws/install_isolated
-- This workspace overlays: /home/nao/nao_ros_ws/install_isolated
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using default Python package layout
-- Using empy: /usr/lib/python2.7/site-packages/empy-3.3.2-py2.7.egg/em.pyc
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/nao/nao_ros_ws/build_isolated/pluginlib/
-- gtest not found, C++ tests can not be built. Please install the gtest headers
 globally in your system to enable gtests
-- Using Python nosetests: /usr/bin/nosetest-2.7
-- catkin 0.6.6
-- Boost version: 1.48.0
-- Found the following Boost libraries:
--    filesystem
--    system
CMake Warning at /home/nao/nao_ros_ws/install_isolated/share/catkin/cmake/test/g
test.cmake:29 (message):
  skipping gtest 'pluginlib_utest' in project 'pluginlib'
Call Stack (most recent call first):
  CMakeLists.txt:35 (catkin_add_gtest)

CMake Error at CMakeLists.txt:36 (target_link_libraries):
  Cannot specify link libraries for target "pluginlib_utest" which is not
  built by this project.

-- Configuring incomplete, errors occurred!
<== Failed to process package 'pluginlib':
  Command '/home/nao/nao_ros_ws/install_isolated/ cmake /home/nao/nao_ros_
ws/src/pluginlib -DCATKIN_DEVEL_PREFIX=/home/nao/nao_ros_ws/devel_isolated/plugi
nlib -DCMAKE_INSTALL_PREFIX=/home/nao/nao_ros_ws/install_isolated -DCMAKE_BUILD_
TYPE=Release' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/nao/nao_ros_ws/build_isolated/pluginlib && /home/nao/nao_ros_ws/ins
tall_isolated/ cmake /home/nao/nao_ros_ws/pluginlib -DCATKIN_DEVEL_PRE
FIX=/home/nao/nao_ros_ws/devel_isolated/pluginlib -DCMAKE_INSTALL_PREFIX=/home/n
ao/nao_ros_ws/install_isolated -DCMAKE_BUILD_TYPE=Release

Command failed, exiting.

Of course, this is only stage 37 of 81, so I assume fixing this error could open up more. Either way, any suggestions would be greatly appreciated.

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Closed for the following reason the question is answered, right answer was accepted by Vincent Rabaud
close date 2014-08-01 05:12:58.059520



The answer is in the output: -- gtest not found, C++ tests can not be built. Please install the gtest headers globally in your system to enable gtests Is gtest really installed there ? (is it part of your workspace or emerged ?)

Vincent Rabaud gravatar image Vincent Rabaud  ( 2014-06-10 09:19:48 -0600 )edit

This has resolved all of my issues - thanks very much! Now to try to copy the files to the real robot. I will update the wiki and add the command: $ sudo emerge -u gtest

Dominic gravatar image Dominic  ( 2014-06-11 04:16:12 -0600 )edit

Please "check" the answer to accept it, so others will know your question has been resolved.

joq gravatar image joq  ( 2014-06-11 09:58:38 -0600 )edit

@joq, that was basically a bug in the instructions that got fixed. What do you mean by "check" ? (no real answer appeared). Thx !

Vincent Rabaud gravatar image Vincent Rabaud  ( 2014-06-11 10:32:24 -0600 )edit

There is one answer below, or you could convert your original comment into an answer. The Q&A site works best when every question has an "accepted" answer, so people who find it later can figure out what to do.

joq gravatar image joq  ( 2014-06-11 10:53:05 -0600 )edit

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answered 2014-06-12 02:14:58 -0600

Vincent Rabaud gravatar image

This was an upstream bug in the instructions as mentioned in the comments. It was fixed. Please up that answer so that we can close it. Thx.

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answered 2014-06-10 10:29:58 -0600

esteve gravatar image

I'm tracking this at, but it looks a bit weird since catkin depends on gtest. I'm spawning an OpenNAO vm and see if I can reproduce this issue.

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Asked: 2014-06-10 08:38:21 -0600

Seen: 1,154 times

Last updated: Jun 12 '14