Moveit! tutorials on ROS Melodic

asked 2018-09-13 06:36:28 -0600

joao
11 ●1 ●1 ●3

updated 2022-01-22 16:09:53 -0600

Evgeny
26 ●6

Hi, I am trying to install Moveit! on new ROS distro (Melodic). I think I've done it successfully, but now I am trying to follow the tutorials to get started with moveit! I am in Getting Started but in the step "Build your Catkin Workspace" with the instructions

cd ~/ws_moveit/src
rosdep install -y --from-paths . --ignore-src --rosdistro kinetic

I get this:

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
panda_moveit_config: Cannot locate rosdep definition for [franka_description]

Does anybody know how to solve this?

Edit: Thank you very much! I've completed Getting Started with no errors. Still, I'm not able to launch moveit! quickstart (Moveit! Quickstart in RViz)

When launch it with tutorial instrcution I get:

Resource not found: franka_description
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/joao/ws_moveit/src/moveit_tutorials
ROS path [2]=/home/joao/ws_moveit/src/panda_moveit_config
ROS path [3]=/opt/ros/melo

Which seems strange to me, because I think I've just git -cloned franka_description package.

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I've created an issue to track this: https://github.com/ros-planning/movei...

A pull request with a work around would be very welcomed, especially in time for World MoveIt! Day

Dave Coleman ( 2018-10-18 13:46:16 -0600 )edit

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answered 2018-09-13 06:52:24 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2018-09-13 13:43:33 -0600

panda_moveit_config: Cannot locate rosdep definition for [franka_description]

The issue here is that while MoveIt itself has seen a first release into Melodic, the panda_moveit_config package has not been (see status_page/compare_kinetic_melodic.html?q=panda, notice how there is no version number listed in the Melodic column).

As those packages are a requirement of the tutorial packages that you've git cloned into your workspace, rosdep will try to install them and fail (seeing as they're not released yet).

What you could try is see whether git clone-ing those pkgs to your Catkin workspace and building them from source works. Note though, no guarantee this will work, as the tutorials have not been released for Melodic yet.

The packages that would be needed are:

panda_moveit_config
franka_description in frankaemika/franka_ros

Note: while panda_moveit_config is a simple, no-compilation needed configuration package, the packages in franka_ros are packages that contain a lot more. You might want to CATKIN_IGNORE or delete all the packages other than franka_description after you've git cloned the franka_ros repository.

After you've added those packages, re-run the rosdep command and it should succeed.

Note again: no guarantee this will work, as the tutorials have not been released for Melodic yet.

And note also: if there are more dependencies of the MoveIt tutorials that aren't available in ROS Melodic, then just getting the Panda pkgs doesn't resolve the issue of course.

Edit: also just noticed this:

rosdep install -y --from-paths . --ignore-src --rosdistro kinetic

Since you are on ROS Melodic, you obviously should specify --rosdistro melodic here, not kinetic.

Edit2:

When launch it with tutorial instrcution I get:
Resource not found: franka_description
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/joao/ws_moveit/src/moveit_tutorials
ROS path [2]=/home/joao/ws_moveit/src/panda_moveit_config
ROS path [3]=/opt/ros/melo
Which seems strange to me, because I think I've just git -cloned franka_description package.

That is slightly strange.

Did you delete all pkgs except franka_description from the franka_ros package?

Did you source your devel/setup.bash after building the workspace?

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answered 2018-10-17 15:16:57 -0600

cache
1

In my case it seemed that the environment variable ROS_PACKAGE_PATH did not have the franka_description path.

Try adding it and see if you get farther.

In my case I still had to apt-get install python-defusedxml and then symlink it from /usr/lib/python2.7/dist-packages/defusedxml to /opt/ros/melodic/lib/python/dist-packages/defusedxml

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1

Please don't change ROS_PACKAGE_PATH manually. It should not be needed and if it was, then that would point to something else not being correct.

As to defusedxml: that should not be necessary either / already installed for you.

Can you say something about the OS you're running this on?

gvdhoorn ( 2018-10-17 15:28:17 -0600 )edit

Thank you for your reply. I'm on ubuntu 18.04 and like the initial poster, I am also trying to start the tutorial with melodic and ubuntu 18.04.

cache ( 2018-10-17 23:44:50 -0600 )edit

Then none of this should be necessary.

The ROS_PACKAGE_PATH is managed by Catkin / the setup files. And defusedxml should be automatically installed for you.

If it isn't, that could be an issue with dependency management on 18.04 and would warrant a bug report.

gvdhoorn ( 2018-10-18 01:29:19 -0600 )edit

Also: manually symlinking libraries/packages/modules to other non-world-writable locations is a rather big sign something is off.

gvdhoorn ( 2018-10-18 01:29:45 -0600 )edit

Yes. That was an act of desperation as I am unfamiliar with rosdep and catkin internals. From what I have gathered, franka_description and libfranka (and I think moveit_visual_tools) are not available on 18.04 via rosdep (which I assume is a front for apt) yet.

cache ( 2018-10-18 01:41:17 -0600 )edit

1

re: rosdep front for apt: see #q215059 to clear that up a bit.

franka_description and libfranka (and I think moveit_visual_tools) are not available on 18.04 via rosdep

that's just because they haven't been released as Debian pkgs into Melodic as I explained in my answer above.

gvdhoorn ( 2018-10-18 01:54:50 -0600 )edit

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answered 2018-10-18 15:07:56 -0600

mlautman
101 ●1 ●5 ●6

The only package needed from franka_ros by the panda_moveit_config package is the franka_description package which doesn't change from kinetic to melodic.

Until Franka releases a franka_description package as a Debian, you can build the tutorials from source by building franka_description from source. One small issue with simply cloning franka_ros and building it from source is that there are a lot of additional pacakges that you don't want. To work around this, you can clone the franka_ros repo then tell catkin to ignore the rest of the packages from that repo by following the steps below

In your $CATKIN_SRC/src/ directory..

git clone git@github.com:frankaemika/franka_ros.git
cd franka_ros
declare -a franka_packages=(
    "franka_control/"
    "franka_example_controllers/"
    "franka_gripper/"
    "franka_hw/"
    "franka_msgs/"
    "franka_ros/"
    "franka_visualization/"
    "panda_moveit_config/"
)
for (( i = 0; i < ${#franka_packages[@]}; i++ ))
do
    if [ -d "${franka_packages[i]}" ]; then
        cd "${franka_packages[i]}" 
        echo "ignoring ${franka_packages[i]}" 
        touch CATKIN_IGNORE 
        cd ..
    else
        echo "Could not find directory ${franka_packages[i]}"
    fi
done

cd ..
catkin build

This should help solve your problem :)

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2

That's a rather involved way to do:

git clone https://github.com/frankaemika/franka_ros.git
mv franka_ros/franka_description src/
rm -rf franka_ros

?

gvdhoorn ( 2018-10-19 01:55:31 -0600 )edit

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answered 2019-09-13 06:23:35 -0600

ProfJust
1

For me it works like this: $ cd catkin_ws/src $ git clone https://github.com/frankaemika/franka...

then goto "catkin_ws/src/franka_ros" and delete all subdirectories expect "franka_description"

$ cd catkin_ws

$ catkin_make

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that works for me. Thanks!

zedrone ( 2022-01-03 04:12:20 -0600 )edit

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