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Ch10 mastering ROS: AsyncSpinner not found (Kinetic) [closed]

asked 2019-06-20 15:46:56 -0600

marcusvini178 gravatar image

updated 2019-06-21 06:24:48 -0600

gvdhoorn gravatar image

I am having the following errors:

home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:9:6: error: ‘AsyncSpinner’ was not declared in this scope
  ros:AsyncSpinner async_spinner(1);


/home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:10:2: error: ‘spinner’ was not declared in this scope
  spinner.start();
  ^
/home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:13:2: error: ‘move_group_interface’ has not been declared
  move_group_interface::MoveGroupInterface move_group("arm");
  ^
/home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:15:2: error: ‘group’ was not declared in this scope
  group.setRandomTarget();

OBS: I have already copied the following code from github: "spinner,h" inside the moveit library and edited the cmakelists...to include this library....I am using kinetic so this library did not existed in the "/opt/ros/kinetic/include/moveit/move_group_interface$"

It only existed the move_group.h and the move_group_interface.h .....so I created the spinner.h too However You can see that in the error ....."the spinner" ..."the move_group"...."the move_group_interface" was not declared...

My test_random.cpp is below:

//Movelt! header file
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/move_group_interface/spinner.h>
#include <moveit/move_group_interface/move_group.h>
int main(int argc, char **argv)
{
    ros::init(argc, argv, "test_random_node", ros::init_options::AnonymousName);
    //start a ROS spinning thread
    ros:AsyncSpinner async_spinner(1);
    spinner.start();
    //this connects to a running instance of the move_group node
    //Here the Planning group is "arm"
    move_group_interface::MoveGroupInterface move_group("arm");
    //Specify that our target will be a random one
    group.setRandomTarget();
    //plan the motion and then move the group to the sampled target 
    group.move();
ros::waitForShutdown();
}

Edit: To link with roscpp I wrote in C.makeLists:

cmake_minimum_required(VERSION 2.8.3)
project(seven_dof_arm_test)

add_compile_options(-std=c++11)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  interactive_markers
  cmake_modules
  moveit_core
  moveit_ros_perception
  moveit_ros_planning_interface
  pluginlib
  roscpp
  std_msgs
).....................................etc....

and I included <ros/ros.h> and removed the spinner.h in include....However the terminal displayed the same error unfortunately.

Do you have another suggestion my friend?

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Closed for the following reason duplicate question by marcusvini178
close date 2019-06-27 16:44:28.432315

Comments

Please show us your complete CMakeLists.txt.

And "the same error" is too vague. Please show verbatim copy-pastes of error messages.

And I believe on Kinetic the correct type would be moveit::planning_interface::MoveGroupInterface, not move_group_interface::MoveGroupInterface.

gvdhoorn gravatar imagegvdhoorn ( 2019-06-21 06:31:12 -0600 )edit

Thanks for the answer. I tried to implement you suggestion above, unfortonately it did not work. My complete CMakeLists is following below:

cmake_minimum_required(VERSION 2.8.3) project(seven_dof_arm_test)

add_compile_options(-std=c++11)

Compile as C++11, supported in ROS Kinetic and newer

add_compile_options(-std=c++11)

Find catkin macros and libraries

if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

is used, also find other catkin packages

find_package(catkin REQUIRED COMPONENTS interactive_markers cmake_modules moveit_core moveit_ros_perception moveit_ros_planning_interface pluginlib roscpp std_msgs )

System dependencies are found with CMake's conventions

find_package(Boost REQUIRED COMPONENTS system)

Uncomment this if the package has a setup.py. This macro ensures

modules and global scripts declared therein get installed

See http://ros.org/doc/api/catkin/html/us...

catkin_python_setup()

marcusvini178 gravatar imagemarcusvini178 ( 2019-06-21 13:14:42 -0600 )edit

The terminal error is below:

In file included from /home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:4:0: /opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:43:2: warning: #warning "This header is deprecated and will go away in ROS lunar." "Please use moveit/move_group_interface/move_group_interface.h" "and the class MoveGroupInterface instead of MoveGroup" [-Wcpp] #warning "This header is deprecated and will go away in ROS lunar."\ ^ /home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp: In function ‘int main(int, char**)’: /home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:9:6: error: ‘AsyncSpinner’ was not declared in this scope ros:AsyncSpinner async_spinner(1); ^ /home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:9:6: note: suggested alternative: In file included from /opt/ros/kinetic/include/ros/node_handle.h:46:0, from /opt/ros/kinetic/include/ros/ros.h:45, from

marcusvini178 gravatar imagemarcusvini178 ( 2019-06-21 13:15:30 -0600 )edit

And finally my test_random.cpp is below:

//Movelt! header file

include <moveit move_group_interface="" move_group_interface.h="">

include<ros ros.h="">

include <moveit move_group_interface="" move_group.h="">

int main(int argc, char **argv) { ros::init(argc, argv, "test_random_node", ros::init_options::AnonymousName); //start a ROS spinning thread ros:AsyncSpinner async_spinner(1); spinner.start(); //this connects to a running instance of the move_group node //Here the Planning group is "arm" moveit::planning_interface::MoveGroupInterface move_group("arm"); //move_group_interface::MoveGroupInterface move_group("arm"); //Specify that our target will be a random one group.setRandomTarget(); //plan the motion and then move the group to the sampled target group.move(); ros::waitForShutdown();

marcusvini178 gravatar imagemarcusvini178 ( 2019-06-21 13:16:05 -0600 )edit

@marcusvini178 please don't use comments to give more code. That's not what they're for (plus it's completely unreadable)

jayess gravatar imagejayess ( 2019-06-21 17:17:58 -0600 )edit

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answered 2019-06-21 16:02:37 -0600

ssnover gravatar image

Your line ros:AsyncSpinner async_spinner(1); is missing a colon for the namespace. Add the colon to make it ros::AsyncSpinner async_spinner(1);.

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answered 2019-06-20 16:21:33 -0600

gvdhoorn gravatar image
//Movelt! header file
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/move_group_interface/spinner.h>
#include <moveit/move_group_interface/move_group.h>

I don't think this has anything to do with Kinetic vs Indigo: you're not including the required headers.

Remove the spinner.h you created and add

#include <ros/ros.h>

That should resolve your issues.

Be sure to also link against roscpp.

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Comments

Thanks it worked. I think I am with probllems in C++ and in to comprehend ROS errors...I having another problem with the test_custom.cpp in arm tutorial from chapter 10 of Mastering ROS....I am very sad..

marcusvini178 gravatar imagemarcusvini178 ( 2019-06-23 16:18:44 -0600 )edit

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Asked: 2019-06-20 15:46:56 -0600

Seen: 42 times

Last updated: Jun 21