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ros-hydro-navigation stack compilation - trouble with openni [closed]

asked 2014-10-06 05:05:29 -0500

draziel gravatar image

updated 2014-10-06 12:11:34 -0500

Hello,

I have some troubles with the compilation of the package hydro-navigation-devel fetched from github here

This is my configuration :

-Ubuntu 12.04
-ros-groovy-desktop-full installed
-ros-hydro-desktop full installed
-pcl 1.7 installed
-ros-groovy /hydro-navigation installed
-ros-groovy/hydro-pcl-installed
-ros-hydro-perception-pcl installed
-libopenni-dev installed
-openni-dev NOT installed

All those package are installed from synaptic (apt-get)

ros-hydro-navigation is working perfectly

Then, I tried to compile the package from source (source from the git navigation-hydro-devel) so I did a catkin_make on the costmap_2d (after successfully compiling the voxel_grid package) in my catkin workspace and I got some errors :

catkin_make -DCATKIN_WHITELIST_PACKAGES="costmap_2d"
Base path: /home/XXX/hydroWS
Source space: /home/XXX/hydroWS/src
Build space: /home/XXX/hydroWS/build
Devel space: /home/XXX/hydroWS/devel
Install space: /home/XXX/hydroWS/install
####
#### Running command: "cmake /home/XXX/hydroWS/src -DCATKIN_DEVEL_PREFIX=/home/XXX/hydroWS/devel -DCMAKE_INSTALL_PREFIX=/home/XXX/hydroWS/install -DCATKIN_WHITELIST_PACKAGES=costmap_2d" in "/home/XXX/hydroWS/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/XXX/hydroWS/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/groovy
-- This workspace overlays: /opt/ros/groovy
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/XXX/hydroWS/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.89
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 1 packages in topological order:
-- ~~  - costmap_2d
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'costmap_2d'
-- ==> add_subdirectory(navigation-hydro-devel/costmap_2d)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a configuration file for package cmake_modules.

  Set cmake_modules_DIR to the directory containing a CMake configuration
  file for cmake_modules.  The file will have one of the following names:

    cmake_modulesConfig.cmake
    cmake_modules-config.cmake

Call Stack (most recent call first):
  navigation-hydro-devel/costmap_2d/CMakeLists.txt:4 (find_package)


CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a configuration file for package map_msgs.

  Set map_msgs_DIR to the directory containing a CMake configuration file for
  map_msgs.  The file will have one of the following names:

    map_msgsConfig.cmake
    map_msgs-config.cmake

Call Stack (most recent call first):
  navigation-hydro-devel/costmap_2d/CMakeLists.txt:4 (find_package)


-- Using these message generators: gencpp;genlisp;genpy
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- checking for module 'openni-dev'
--   package 'openni-dev' not found
-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_VISUALIZATION
-- looking for PCL_OUTOFCORE
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_PEOPLE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_SURFACE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- Eigen found (include: /usr/include/eigen3)
CMake Error at /opt/ros/hydro/share/genmsg/cmake/genmsg-extras.cmake:255 (message):
  Messages depends on unknown pkg: map_msgs (Missing find_package(map_msgs?))
Call Stack (most recent call first):
  navigation-hydro-devel/costmap_2d/CMakeLists.txt:44 (generate_messages)


-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

When I am compiling from source the groovy nav stack, I also have some troubles with openni but it passes this error by ... (more)

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Closed for the following reason the question is answered, right answer was accepted by draziel
close date 2014-10-07 04:43:32.365820

Comments

2

sudo apt-get install ros-hydro-cmake-modules ros-hydro-map-msgs

ahendrix gravatar imageahendrix ( 2014-10-06 10:38:00 -0500 )edit

I tried with this... but it didn't solve the problem

draziel gravatar imagedraziel ( 2014-10-06 12:01:03 -0500 )edit

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answered 2014-10-06 12:28:50 -0500

paulbovbel gravatar image

updated 2014-10-07 11:38:15 -0500

For starters, make sure you have the ros-hydro-cmake-modules and -map-msgs package installed.

To isolate the issue, try:

  • removing all versions of openni and pcl from your system, and remove + purge any PPAs (jspricke's?) that may be conflicting

  • put the whole navigation stack in a fresh empty workspace, make sure you have the base ROS installation sourced, and try running rosdep install --from-path src --rosdistro hydro -i -y to grab all the dependencies

  • run catkin_make on the whole workspace, not just costmap_2d

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answered 2014-10-07 04:42:45 -0500

draziel gravatar image

Thank you for the answer, i don't know if this will work, but I finally found a solution :

  • uninstall libopenni (it uninstall pcl & ros-navigation)
  • install openni-dev
  • install pcl from ppa (pcl website) which works with openni-dev
  • install pcl-ros and perception-pcl from apt
  • change pcl cmake at /opt/ros/hydro/share/pcl_ros/cmake by switching /usr/include/ni to /usr/include/openni
  • compile

still, this seems ugly and your solution is probably the best one.

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Comments

You will definitely have headaches down the line. You should avoid using any ppas for openni/pcl as this will provide inconsistent naming and versions for dependencies

paulbovbel gravatar imagepaulbovbel ( 2014-10-07 11:39:21 -0500 )edit

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Asked: 2014-10-06 05:05:29 -0500

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Last updated: Oct 07 '14