IKFast plugin generation with ROS2 foxy

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Hello,

I try to compute inverse kinematics of a 4DOF robot base on this tutorial https://ros-planning.github.io/moveit....

For testing i use urdf from panda example with ros2 foxy : ros2 run moveit_kinematics auto_create_ikfast_moveit_plugin.sh --iktype Transform6D panda.urdf panda_arm panda_link0 panda_link5

The problem is «could not import scipy.optimize.leastsq ».

I try to modify moveit_kinematics auto_create_ikfast_moveit_plugin.sh function build_docker_image by adding :

RUN pip install git+https://github.com/agramfort/temp... && \ pip install git+https://github.com/scipy/scipy.gi...

I get this errors :

warning: unable to rmdir doc/source/_static/scipy-mathjax: Directory not empty
warning: unable to rmdir scipy/_lib/boost: Directory not empty
warning: unable to rmdir scipy/_lib/highs: Directory not empty
warning: unable to rmdir scipy/_lib/unuran: Directory not empty
warning: unable to rmdir scipy/sparse/linalg/_propack/PROPACK: Directory not empty

I look lick one version of scipy was into the personalrobotics/ros-openrave docker image but without leastsq.

I am … lost Thanks in advance for your help!

ros2 run moveit_kinematics auto_create_ikfast_moveit_plugin.sh --iktype Transform6D panda.urdf panda_arm panda_link0 panda_link5

Converting urdf to Collada
Building docker image
Sending build context to Docker daemon   2.56kB
Step 1/3 : FROM personalrobotics/ros-openrave

 ---> 3470beb7a703
Step 2/3 : RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 &&     apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116 &&     apt-get update &&     apt-get install -y --no-install-recommends python-pip build-essential liblapack-dev ros-indigo-collada-urdf &&     apt-get clean && rm -rf /var/lib/apt/lists/*
 ---> Using cache
 ---> 1884b0dfb679
Step 3/3 : RUN pip install git+https://github.com/sympy/sympy.git@sympy-0.7.1
 ---> Using cache
 ---> cb8ac83b0c13
Successfully built cb8ac83b0c13
Successfully tagged fixed-openrave:latest
Successfully built docker image.
Converting urdf to Collada
[rospack] Error: package 'moveit_resources_panda_description' not found
[librospack]: error while executing command
[rospack] Error: package 'moveit_resources_panda_description' not found
[librospack]: error while executing command
[rospack] Error: package 'moveit_resources_panda_description' not found
[librospack]: error while executing command
[rospack] Error: package 'moveit_resources_panda_description' not found
[librospack]: error while executing command
[rospack] Error: package 'moveit_resources_panda_description' not found
[librospack]: error while executing command
[rospack] Error: package 'moveit_resources_panda_description' not found
[librospack]: error while executing command
[rospack] Error: package 'moveit_resources_panda_description' not found
[librospack]: error while executing command
[rospack] Error: package 'moveit_resources_panda_description' not found
[librospack]: error while executing command
[ WARN] [1659601691.246610702]: failed to load resource package://moveit_resources_panda_description/meshes/visual/link0.dae
[ WARN] [1659601691.257806092]: failed to load resource package://moveit_resources_panda_description/meshes/visual/link1.dae
[ WARN] [1659601691.268645086]: failed to load resource package://moveit_resources_panda_description/meshes/visual/link2.dae
[ WARN] [1659601691.279888288]: failed to load resource package://moveit_resources_panda_description/meshes/visual/link3.dae
[ WARN] [1659601691.291748322]: failed to load resource package://moveit_resources_panda_description/meshes/visual/link4.dae
[ WARN] [1659601691.302024951]: failed to load resource package://moveit_resources_panda_description/meshes/visual/link5.dae
[ WARN] [1659601691.313834727]: failed to load resource package://moveit_resources_panda_description/meshes/visual/link6.dae
[ WARN] [1659601691.329535692]: failed to load resource package://moveit_resources_panda_description/meshes/visual/link7.dae

Document successfully written to robot.dae
Running openrave0.9.py --database inversekinematics --robot=/input/wrapper.xml --iktype=Transform6D --iktests=1000
could not import scipy.optimize.leastsq
2022-08-04 ...