Groot installation on ROS2 Galactic

asked 2022-08-07 13:09:54 -0500

lfb
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Hi everyone I'm facing the next errors when trying to install Groot on ROS2 Galactic

usr/include/zmq.hpp:638:14: error: ‘ZMQ_BLOCKY’ was not declared in this scope; did you mean ‘ZMQ_NOBLOCK’?
  638 |     blocky = ZMQ_BLOCKY,
      |              ^~~~~~~~~~
      |              ZMQ_NOBLOCK
/usr/include/zmq.hpp:642:31: error: ‘ZMQ_THREAD_AFFINITY_CPU_ADD’ was not declared in this scope
  642 |     thread_affinity_cpu_add = ZMQ_THREAD_AFFINITY_CPU_ADD,
      |                               ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/zmq.hpp:643:34: error: ‘ZMQ_THREAD_AFFINITY_CPU_REMOVE’ was not declared in this scope
  643 |     thread_affinity_cpu_remove = ZMQ_THREAD_AFFINITY_CPU_REMOVE,
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/zmq.hpp:644:26: error: ‘ZMQ_THREAD_NAME_PREFIX’ was not declared in this scope
  644 |     thread_name_prefix = ZMQ_THREAD_NAME_PREFIX,
      |                          ^~~~~~~~~~~~~~~~~~~~~~
/usr/include/zmq.hpp:645:17: error: ‘ZMQ_MAX_MSGSZ’ was not declared in this scope; did you mean ‘ZMQ_MAXMSGSIZE’?
  645 |     max_msgsz = ZMQ_MAX_MSGSZ,
      |                 ^~~~~~~~~~~~~
      |                 ZMQ_MAXMSGSIZE
/usr/include/zmq.hpp:652:18: error: ‘ZMQ_MSG_T_SIZE’ was not declared in this scope
  652 |     msg_t_size = ZMQ_MSG_T_SIZE
  |                  ^~~~~~~~~~~~~~

Where should I define this vars? Thanks in advance!

answered 2022-08-08 06:26:03 -0500

ljaniec

3064 ●14 ●297 ●50 https://www.linkedin.c...

For using Groot I have used this tutorial:

https://navigation.ros.org/tutorials/...

And these steps for the ROS2 Galactic installation:

   cd ~/dev_ws/src
   git clone https://github.com/BehaviorTree/Groot.git
   cd ..
   rosdep install --from-paths src --ignore-src
   colcon build --symlink-install --packages-select groot

I have sudo apt install ros-galactic-behaviortree-cpp-v3 before too.

You have to source install/setup.bash and then ./build/groot/Groot.

Can you check your installation with these steps? I installed it this way on ROS2 Galactic without errors (there were some warnings though). Maybe you missed some dependency?

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Thanks, @ljaniec! I think it was a conflict with a previous version of the libzmq library that I had on my system. To avoid the errors/warnings I had also to build depend/BehaviorTree.CPP from Groot...I don't know if it has any sense... Do you know if there is a simple tutorial/example of a ROS2 package with BT to check if everything is fine? Thanks again!

lfb ( 2022-08-08 12:04:37 -0500 )edit

I think the easiest way is use of Nav2 Simple Commander with goThroughPoses(poses, behavior_tree='') where you would put your modified BT, or just use some demos (e.g. demo_recoveries.py) with Groot BT visualization.

If my answer helped you, please upvote and accept it as correct so that it will be visible in the question queue as solved.

ljaniec ( 2022-08-08 14:22:32 -0500 )edit

Thanks @ljaniec! Of course it helped me. Thanks again!

lfb ( 2022-08-09 01:42:42 -0500 )edit

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