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industrial_moveit package: constrained_ik failed to build

asked 2018-11-04 14:23:23 -0500

DieterWuytens gravatar image

updated 2018-11-05 02:09:24 -0500

gvdhoorn gravatar image

I have been trying to use STOMP planner within my RVIZ simulation with my KUKA KR5 arc robot, but for this i must have the industrial_movit package. I installed it, but something went wrong. I cloned it directly from github in this link: https://github.com/ros-industrial/ind...

I was following this tutorial: http://docs.ros.org/kinetic/api/movei... I was aware that i only needed stomp_core within the industrial_moveit package, but that doesn't work either because RVIZ somehow needs the other packages as well. I tried catkin clean --> catkin build, but that doesn't change the error message.

The error i got while doing catkin build:

Errors     << constrained_ik:make /home/dieter/ws_moveit/logs/constrained_ik/build.make.012.log
/home/dieter/ws_moveit/src/industrial_moveit/constrained_ik/src/moveit_interface/constrained_ik_plugin.cpp: In member function ‘virtual bool constrained_ik::ConstrainedIKPlugin::initialize(const string&, const string&, const string&, const string&, double)’:
/home/dieter/ws_moveit/src/industrial_moveit/constrained_ik/src/moveit_interface/constrained_ik_plugin.cpp:65:66: error: invalid initialization of reference of type ‘const boost::shared_ptr<srdf::Model>&’ from expression of type ‘const ModelSharedPtr {aka const std::shared_ptr<srdf::Model>}’
   const boost::shared_ptr<srdf::Model> &srdf = rdf_loader.getSRDF();
                                                                  ^
/home/dieter/ws_moveit/src/industrial_moveit/constrained_ik/src/moveit_interface/constrained_ik_plugin.cpp:75:69: error: no matching function for call to ‘moveit::core::RobotModel::RobotModel(const boost::shared_ptr<urdf::ModelInterface>&, const boost::shared_ptr<srdf::Model>&)’
   robot_model_ptr_.reset(new robot_model::RobotModel(urdf_model,srdf));
                                                                     ^
In file included from /home/dieter/ws_moveit/src/moveit/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h:40:0,
                 from /home/dieter/ws_moveit/src/industrial_moveit/constrained_ik/include/constrained_ik/solver_state.h:33,
                 from /home/dieter/ws_moveit/src/industrial_moveit/constrained_ik/include/constrained_ik/constraint.h:31,
                 from /home/dieter/ws_moveit/src/industrial_moveit/constrained_ik/include/constrained_ik/constraint_group.h:31,
                 from /home/dieter/ws_moveit/src/industrial_moveit/constrained_ik/include/constrained_ik/constrained_ik.h:30,
                 from /home/dieter/ws_moveit/src/industrial_moveit/constrained_ik/include/constrained_ik/moveit_interface/constrained_ik_plugin.h:30,
                 from /home/dieter/ws_moveit/src/industrial_moveit/constrained_ik/src/moveit_interface/constrained_ik_plugin.cpp:26:
/home/dieter/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/robot_model.h:71:3: note: candidate: moveit::core::RobotModel::RobotModel(const ModelInterfaceSharedPtr&, const ModelConstSharedPtr&)
   RobotModel(const urdf::ModelInterfaceSharedPtr& urdf_model, const srdf::ModelConstSharedPtr& srdf_model);
   ^
/home/dieter/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/robot_model.h:71:3: note:   no known conversion for argument 2 from ‘const boost::shared_ptr<srdf::Model>’ to ‘const ModelConstSharedPtr& {aka const std::shared_ptr<const srdf::Model>&}’
/home/dieter/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/robot_model.h:67:7: note: candidate: moveit::core::RobotModel::RobotModel(const moveit::core::RobotModel&)
 class RobotModel
       ^
/home/dieter/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/robot_model.h:67:7: note:   candidate expects 1 argument, 2 provided
make[2]: *** [CMakeFiles/constrained_ik_plugin.dir/src/moveit_interface/constrained_ik_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/constrained_ik_plugin.dir/all] Error 2
make: *** [all] Error 2
cd /home/dieter/ws_moveit/build/constrained_ik; catkin build --get-env constrained_ik | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

Thanks in advance.

Dieter

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answered 2018-11-07 04:46:10 -0500

DieterWuytens gravatar image

Solution found:

My movevit package was not a kinetic-devel branch. Other packages were also not correct.

Open a terminal within every package. I checked every package with "git branch" that gives the following branch --> melodic-devel --> this is not correct. Solution: "git checkout kinetic-devel" Make sure with "git branch" that the new branch is now kinetic-devel. Do this for every package within your catkin workspace. After this, rebuild the workspace.

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Asked: 2018-11-04 14:23:23 -0500

Seen: 142 times

Last updated: Nov 07 '18