MoveIt Tutorials not building on ROS Kinetic

asked 2019-01-07 11:43:01 -0500

pendragon gravatar image

updated 2019-01-07 12:08:57 -0500

gvdhoorn gravatar image

I cloned the kinetic-devel repository for moveit_tutorials having made no modifications whatsoever but when go to build with catkin build, I get this error:

In file included from /usr/include/eigen3/Eigen/Core:297:0,
                 from /usr/include/eigen3/Eigen/Geometry:11,
                 from /opt/ros/kinetic/include/moveit/robot_model/joint_model.h:47,
                 from /opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:41,
                 from /opt/ros/kinetic/include/moveit/robot_model/robot_model.h:47,
                 from /opt/ros/kinetic/include/moveit/robot_model_loader/robot_model_loader.h:41,
                 from /home/eph/ws_moveit/src/moveit_tutorials/doc/robot_model_and_robot_state/src/robot_model_and_robot_state_tutorial.cpp:40:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’:
/home/eph/ws_moveit/src/moveit_tutorials/doc/robot_model_and_robot_state/src/robot_model_and_robot_state_tutorial.cpp:118:102:   required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:330:5: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
make[2]: *** [doc/robot_model_and_robot_state/CMakeFiles/robot_model_and_robot_state_tutorial.dir/src/robot_model_and_robot_state_tutorial.cpp.o] Error 1
make[1]: *** [doc/robot_model_and_robot_state/CMakeFiles/robot_model_and_robot_state_tutorial.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /home/eph/ws_moveit/build/moveit_tutorials; catkin build --get-env moveit_tutorials | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

Any help regarding how to solve this would be greatly appreciated. Thanks.

PS: Ubuntu 16.04 | ROS Kinetic | ws_moveit (workspace)

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Is Eigen installed in your system?

kosmastsk gravatar image kosmastsk  ( 2019-01-07 13:36:34 -0500 )edit

This error is most likely related to you being on an incorrect commit relative to the versions of MoveIt! installed on your system. I'd either build MoveIt! from source, or checkout a different branch of the moveit_tutorials package.

jarvisschultz gravatar image jarvisschultz  ( 2019-01-07 14:40:55 -0500 )edit

This question has the exact same error, and I posted numerous comments with more details.

jarvisschultz gravatar image jarvisschultz  ( 2019-01-07 14:41:36 -0500 )edit

Perhaps this bug report is also of interest

jarvisschultz gravatar image jarvisschultz  ( 2019-01-07 14:42:39 -0500 )edit

I also met the same problem, please help me to solve this problem.

mengzhilinxi gravatar image mengzhilinxi  ( 2019-04-15 19:55:23 -0500 )edit

Are you checkout git right version?

KU-skuba-Pat gravatar image KU-skuba-Pat  ( 2020-02-04 08:11:07 -0500 )edit

@KU-skuba-Pat I converted your answer to a question comment. Please don't provide answers that aren't actually answers.

jarvisschultz gravatar image jarvisschultz  ( 2020-02-04 10:23:43 -0500 )edit