MOVEIT GRASP COMPILATION ERROR

asked 2020-02-14 14:28:23 -0600

epsilon11101 gravatar image

Hi everyone i'm traying to use this MOVEIT GRASP package https://github.com/ros-planning/movei..., but i have a compilation problem , i'm using kinetic branch and i followed all the steps to install it , but i had the below problem

Errors     << moveit_grasps:make /home/ixmatix-manuel/openDog_arm/logs/moveit_grasps/build.make.002.log
/home/ixmatix-manuel/openDog_arm/src/moveit_grasps/src/grasp_data.cpp: In member function ‘virtual bool moveit_grasps::GraspData::loadGraspData(const ros::NodeHandle&, const string&)’:
/home/ixmatix-manuel/openDog_arm/src/moveit_grasps/src/grasp_data.cpp:114:92: error: invalid initialization of non-const reference of type ‘Eigen::Affine3d& {aka Eigen::Transform<double, 3, 2>&}’ from an rvalue of type ‘Eigen::Affine3d {aka Eigen::Transform<double, 3, 2>}’
     error += !rosparam_shortcuts::get(parent_name, child_nh, "tcp_to_eef_mount_transform", tcp_to_eef_mount_);
                                                                                            ^
In file included from /usr/include/eigen3/Eigen/Geometry:44:0,
             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_state/robot_state.h:41,
             from /home/ixmatix-manuel/openDog_arm/src/moveit_grasps/include/moveit_grasps/grasp_data.h:52,
             from /home/ixmatix-manuel/openDog_arm/src/moveit_grasps/src/grasp_data.cpp:40:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:320:10: note:   after user-defined conversion: Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 1; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 2; int _Options = 0]

   inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
          ^
In file included from /home/ixmatix-manuel/openDog_arm/src/moveit_grasps/src/grasp_data.cpp:51:0:
/opt/ros/kinetic/include/rosparam_shortcuts/rosparam_shortcuts.h:93:6: note:   initializing argument 4 of ‘bool rosparam_shortcuts::get(const string&, const ros::NodeHandle&, const string&, Eigen::Affine3d&)’
 bool get(const std::string &parent_name, const ros::NodeHandle &nh, const std::string &param_name,
      ^
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_state/robot_state.h:41,
             from /home/ixmatix-manuel/openDog_arm/src/moveit_grasps/include/moveit_grasps/grasp_data.h:52,
             from /home/ixmatix-manuel/openDog_arm/src/moveit_grasps/src/grasp_data.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/ixmatix-manuel/openDog_arm/src/moveit_grasps/src/grasp_data.cpp:163:81:   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]: *** [CMakeFiles/moveit_grasps.dir/src/grasp_data.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1 ...
(more)
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