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how to install move_group_interface from source

asked 2016-12-04 13:16:22 -0500

robbycandra gravatar image

updated 2016-12-04 13:47:04 -0500

Hi...

I tried to install moveit / kinetic. I follow Source Install Tutorial from http://moveit.ros.org/install/source/ , but include file and llibrary not installed on my system

on my program .cpp

 "#include <moveit//move_group_interface/move_group_interface.h>  
  --> give error : unresolved inclusion.

if I copy the header file to correct location, on build time i got:

undefined reference to `moveit::planning_interface::MoveGroupInterface::MoveGroupInterface

Looks like the move_group_interface not installed. Same thing happen with planning_scene_interface (on moveit_ros too).

But other package on moveit_core is OK.

Please help how to install moveit from source.

Thanks.

Update: This is my CMakeLists.txt

 cmake_minimum_required(VERSION 2.8.3)
 project(robin_001)

find_package(catkin REQUIRED COMPONENTS
  cmake_modules
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
  std_msgs
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

${catkin_EXPORTED_TARGETS})

add_definitions(
   -std=c++11
 )

include_directories(
   $ENV{OPENNI2_INCLUDE}
   /usr/local/include   #for realsense  
 )

link_directories(
    $ENV{OPENNI2_REDIST}    
/usr/local/lib          #for realsense
)

link_libraries(
   -lOpenNI2            
   -lrealsense         
)


find_package(Eigen REQUIRED)
include_directories(SYSTEM ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS})

add_executable(Robin001  
    src/ArmControl.cpp
    src/ArmPosition.cpp
    src/Calibration.cpp
    src/Cam2World.cpp
    src/ColorTracking.cpp
    src/MarkPointDetector.cpp
    src/RobinArm.cpp
    src/SenseStream.cpp
)
target_link_libraries(Robin001 ${catkin_LIBRARIES})

add_executable(RobinMoveit  
   src/robin_moveit.cpp
)
target_link_libraries(RobinMoveit ${catkin_LIBRARIES})
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Comments

Looks like the move_group_interface not installed.

Not necessarily. Are you trying to include that header in a program of your own, or does MoveIt itself not even build successfully? If the first: please show us your CMakeLists.txt. In both cases, please provide more information.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-04 13:18:48 -0500 )edit

Hi @gvdhoorn

Thanks for your answer. But I already check /opt/ros/kinetic/include folder, and cannot find moveit/move_group_interface/move_group_interface.h file

I don't see any error when build moveit. I already try catkin_make and catkin build.

I put my CMakeLists.txt in my question

robbycandra gravatar image robbycandra  ( 2016-12-04 13:33:55 -0500 )edit
1

You don't seem to have MoveIt mentioned anywhere? I'd add it to your find_package(catkin [..]) call.

Also: include_directories(SYSTEM [..]) is not recommended. That can break catkin workspace overlaying in subtle and hard to debug ways.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-04 15:04:22 -0500 )edit

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answered 2016-12-04 17:47:17 -0500

robbycandra gravatar image

Thanks to @gvdhoorn

I was looking for solution at the wrong place. This is how to make it works:

 find_package(catkin REQUIRED COMPONENTS
       moveit_ros_planning_interface
       ..... 
    )
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Asked: 2016-12-04 13:16:22 -0500

Seen: 1,006 times

Last updated: Dec 04 '16