# Failed to build package moveit_pr2 under indigo

Sorry if this is a total noob question. I try to build the moveit_pr2 package under ROS indigo .and have cloned the following packages into <catkin_workspace>/src directory:

ivcon            pr2_controllers     realtime_tools
CMakeLists.txt   moveit_pr2          pr2_mechanism       ros_control
control_toolbox  pr2_common          pr2_mechanism_msgs


when I built these packages ,i got following errors

lzm@ubuntu:~/ROS/catkin_ws$catkin_make Base path: /home/lzm/ROS/catkin_ws Source space: /home/lzm/ROS/catkin_ws/src Build space: /home/lzm/ROS/catkin_ws/build Devel space: /home/lzm/ROS/catkin_ws/devel Install space: /home/lzm/ROS/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/lzm/ROS/catkin_ws/build" #### #### #### Running command: "make -j4 -l4" in "/home/lzm/ROS/catkin_ws/build" #### [ 0%] Built target ivcon [ 0%] Built target _controller_manager_msgs_generate_messages_check_deps_UnloadController [ 0%] [ 0%] Built target _controller_manager_msgs_generate_messages_check_deps_SwitchController Built target _controller_manager_msgs_generate_messages_check_deps_ListControllerTypes [ 0%] Built target _controller_manager_msgs_generate_messages_check_deps_LoadController [ 0%] [ 0%] [ 0%] Built target _controller_manager_msgs_generate_messages_check_deps_ReloadControllerLibraries Built target std_msgs_generate_messages_py Built target _controller_manager_msgs_generate_messages_check_deps_ControllerStatistics [ 0%] Built target _controller_manager_msgs_generate_messages_check_deps_ControllerState [ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target _controller_manager_msgs_generate_messages_check_deps_ControllersStatistics [ 0%] Built target _controller_manager_msgs_generate_messages_check_deps_ListControllers [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_SwitchControllerGoal [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_ListControllers [ 0%] [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_ActuatorStatistics Built target actionlib_msgs_generate_messages_py [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_SwitchControllerFeedback [ 0%] [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_SwitchController Built target _pr2_mechanism_msgs_generate_messages_check_deps_ControllerStatistics [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_SwitchControllerActionGoal [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_SwitchControllerResult [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_SwitchControllerActionFeedback [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_ListControllerTypes [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_MechanismStatistics [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_JointStatistics [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_SwitchControllerAction [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_LoadController [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_ReloadControllerLibraries [ 0%] Built target actionlib_msgs_generate_messages_lisp [ 0%] [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_SwitchControllerActionResult Built target actionlib_msgs_generate_messages_cpp [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target _pr2_mechanism_msgs_generate_messages_check_deps_UnloadController [ 0%] Built target _pr2_msgs_generate_messages_check_deps_LaserTrajCmd [ 0%] Built target _pr2_msgs_generate_messages_check_deps_LaserScannerSignal [ 0%] Built target _pr2_msgs_generate_messages_check_deps_DashboardState [ 0%] Built target _pr2_msgs_generate_messages_check_deps_BatteryServer2 [ 0%] Built target _pr2_msgs_generate_messages_check_deps_BatteryState2 [ 0%] Built target _pr2_msgs_generate_messages_check_deps_PowerBoardState [ 0%] Built target _pr2_msgs_generate_messages_check_deps_AccelerometerState [ 0%] Built target _pr2_msgs_generate_messages_check_deps_PressureState [ 0%] Built target _pr2_msgs_generate_messages_check_deps_PeriodicCmd [ 0%] Built target _pr2_msgs_generate_messages_check_deps_AccessPoint [ 0%] Built target _pr2_msgs_generate_messages_check_deps_SetPeriodicCmd [ 0%] Built target _pr2_msgs_generate_messages_check_deps_GPUStatus [ 0%] Built target _pr2_msgs_generate_messages_check_deps_BatteryServer [ 0%] Built target _pr2_msgs_generate_messages_check_deps_BatteryState [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target geometry_msgs_generate_messages_cpp [ 0%] Built target _pr2_msgs_generate_messages_check_deps_PowerState [ 0%] Built target _pr2_msgs_generate_messages_check_deps_SetLaserTrajCmd [ 0%] Built target trajectory_msgs_generate_messages_py [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_Pr2GripperCommandActionResult [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_Pr2GripperCommandAction [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_PointHeadActionResult [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_JointTrajectoryActionFeedback [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_QueryTrajectoryState [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_SingleJointPositionAction [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_PointHeadGoal [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_SingleJointPositionActionResult [ 0%] [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_JointTrajectoryAction Built target _pr2_controllers_msgs_generate_messages_check_deps_SingleJointPositionGoal [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_JointTrajectoryResult [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_PointHeadActionFeedback [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_JointTrajectoryFeedback [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_Pr2GripperCommandGoal [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_JointTrajectoryGoal [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_SingleJointPositionActionFeedback [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_QueryCalibrationState [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_JointTrajectoryActionGoal [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_JointControllerState [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_PointHeadResult [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_SingleJointPositionResult [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_Pr2GripperCommand [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_SingleJointPositionFeedback [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_JointTrajectoryActionResult [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_Pr2GripperCommandActionGoal [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_SingleJointPositionActionGoal [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_PointHeadFeedback [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_Pr2GripperCommandResult [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_JointTrajectoryControllerState [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_Pr2GripperCommandActionFeedback [ 0%] [ 0%] Built target trajectory_msgs_generate_messages_cpp Built target _pr2_controllers_msgs_generate_messages_check_deps_PointHeadAction [ 0%] [ 0%] Built target _pr2_controllers_msgs_generate_messages_check_deps_PointHeadActionGoal Built target trajectory_msgs_generate_messages_lisp [ 0%] [ 0%] Built target realtime_tools Built target _pr2_controllers_msgs_generate_messages_check_deps_Pr2GripperCommandFeedback [ 0%] [ 0%] Built target roscpp_generate_messages_lisp Built target roscpp_generate_messages_cpp [ 0%] Built target rosgraph_msgs_generate_messages_lisp [ 0%] Built target roscpp_generate_messages_py [ 0%] [ 0%] Built target rosgraph_msgs_generate_messages_cpp Built target rosgraph_msgs_generate_messages_py [ 0%] Built target control_toolbox_gencfg [ 0%] Built target actionlib_generate_messages_lisp [ 0%] Built target gtest ... edit retag close merge delete ## Comments Please use the formatting tools for console output (the little '101010' button on the bar). It makes things much easier to read. ( 2014-12-22 01:40:52 -0500 )edit ## 1 Answer Sort by » oldest newest most voted It looks like the CMakeLists needs a dependencies on catkin_EXPORTED_TARGETS for the executables and libraries. The targets are getting built before the dependencies are generated. In file included from /home/lzm/ROS/catkin_ws/src/pr2_mechanism/pr2_mechanism_diagnostics/src/controller_diagnostics.cpp:36:0: /home/lzm/ROS/catkin_ws/src/pr2_mechanism/pr2_mechanism_diagnostics/include/pr2_mechanism_diagnostics/controller_diagnostics.h:42:52: fatal error: pr2_mechanism_msgs/MechanismStatistics.h: No such file or directory #include <pr2_mechanism_msgs mechanismstatistics.h=""> That tells you the controller_diagnostics.h is unable to find the MechanismStatistics message definition. But the compiler tells us Built target _pr2_mechanism_msgs_generate_messages_check_deps_MechanismStatistics Which means it was built, so it's there. If you change this line to your CMakeLists inside the pr2_mechanism_diagnostics/CMakeLists.txt file: add_library(${PROJECT_NAME} src/controller_diagnostics.cpp src/joint_diagnostics.cpp) target_link_libraries(${PROJECT_NAME}${catkin_LIBRARIES})

to

add_library(${PROJECT_NAME} src/controller_diagnostics.cpp src/joint_diagnostics.cpp) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) add_dependencies(${PROJECT_NAME} \${catkin_EXPORTED_TARGETS} pr2_mechanism_msgs_gencpp)

Then that executable will compile fine. I think the compiler tries to optimize, and runs several threads to get the job done fast. However, when it reaches this executable before the headers have been installed, this will happen. Since I'm the maintainer of this package, I'll do that for you. You'll have to ask the maintainer of the pr2_moveit_plugins package to do the other packages, or you can make a pull request of the fix (since you know what's wrong).

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