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Tutorials Implementing a realtime Cartesian controller

asked 2012-11-06 22:30:15 -0500

monidiaz gravatar image

I'm trying this tutorial

http://www.ros.org/wiki/pr2_mechanism/Tutorials/Implementing a realtime Cartesian controller

the previews tutorials was good.

When i'm trying to run the rosmake then to do the changes in this tutorial, i get the Next error:

[ rosmake ] rosmake starting...                                                 
[ rosmake ] No package specified.  Building ['my_controller_pkg']               
[ rosmake ] Packages requested are: ['my_controller_pkg']                       
[ rosmake ] Logging to directory /home/moni/.ros/rosmake/rosmake_output-20121107-112300
[ rosmake ] Expanded args ['my_controller_pkg'] to:
['my_controller_pkg']       
[rosmake-0] Starting >>> roslang [ make ]                                       
[rosmake-1] Starting >>> geometry_msgs [ make ]                                 
[rosmake-0] Finished <<< roslang  No Makefile in package roslang                
[rosmake-1] Finished <<< geometry_msgs  No Makefile in package geometry_msgs    
[rosmake-1] Starting >>> roscpp [ make ]                                        
[rosmake-0] Starting >>> colladadom [ make ]                                    
[rosmake-0] Finished <<< colladadom ROS_NOBUILD in package colladadom           
[rosmake-0] Starting >>> urdf_interface [ make ]                                
[rosmake-0] Finished <<< urdf_interface ROS_NOBUILD in package urdf_interface   
[rosmake-0] Starting >>> orocos_kdl [ make ]                                    
[rosmake-1] Finished <<< roscpp  No Makefile in package roscpp                  
[rosmake-1] Starting >>> pr2_hardware_interface [ make ]                        
[rosmake-1] Finished <<< pr2_hardware_interface ROS_NOBUILD in package pr2_hardware_interface
[rosmake-1] Starting >>> urdf_parser [ make ]                                   
[rosmake-1] Finished <<< urdf_parser ROS_NOBUILD in package urdf_parser         
[rosmake-1] Starting >>> collada_parser [ make ]                                
[rosmake-1] Finished <<< collada_parser ROS_NOBUILD in package collada_parser   
[rosmake-0] Finished <<< orocos_kdl ROS_NOBUILD in package orocos_kdl           
[rosmake-0] Starting >>> python_orocos_kdl [ make ]                             
[rosmake-0] Finished <<< python_orocos_kdl ROS_NOBUILD in package python_orocos_kdl
[rosmake-0] Starting >>> kdl [ make ]                                           
[rosmake-1] Starting >>> urdf [ make ]                                          
[rosmake-0] Finished <<< kdl ROS_NOBUILD in package kdl
 No Makefile in package kdl
[rosmake-0] Starting >>> rosbuild [ make ]                                      
[rosmake-0] Finished <<< rosbuild  No Makefile in package rosbuild              
[rosmake-0] Starting >>> roslib [ make ]                                        
[rosmake-0] Finished <<< roslib  No Makefile in package roslib                  
[rosmake-1] Finished <<< urdf ROS_NOBUILD in package urdf                       
[rosmake-1] Starting >>> kdl_parser [ make ]                                    
[rosmake-1] Finished <<< kdl_parser ROS_NOBUILD in package kdl_parser           
[rosmake-1] Starting >>> rosconsole [ make ]                                    
[rosmake-1] Finished <<< rosconsole  No Makefile in package rosconsole          
[rosmake-1] Starting >>> angles [ make ]                                        
[rosmake-1] Finished <<< angles ROS_NOBUILD in package angles                   
[rosmake-0] Starting >>> pluginlib [ make ]                                     
[rosmake-1] Starting >>> my_controller_pkg [ make ]                             
[rosmake-0] Finished <<< pluginlib ROS_NOBUILD in package pluginlib             
[rosmake-0] Starting >>> pr2_mechanism_model [ make ]                           
[rosmake-0] Finished <<< pr2_mechanism_model ROS_NOBUILD in package pr2_mechanism_model
[rosmake-0] Starting >>> pr2_controller_interface [ make ]                      
[rosmake-0] Finished <<< pr2_controller_interface ROS_NOBUILD in package pr2_controller_interface
[ rosmake ] All 21 linesy_controller_pkg: 0.4 sec ]  [ 1 Active 20/21 Complete ]
{-------------------------------------------------------------------------------
  mkdir -p bin
  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find rosbuild`/rostoolchain.cmake  ..
  [rosbuild] Building package my_controller_pkg
  Failed to invoke /opt/ros/fuerte/bin/rospack deps-manifests my_controller_pkg
  [rospack] Error: package/stack my_controller_pkg depends on non-existent package eigen


  CMake Error at /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:129 (message):


    Failed to invoke rospack to get compile flags for package
    'my_controller_pkg'.  Look above for errors from rospack itself.  Aborting.
    Please fix the broken dependency!

  Call Stack (most recent call first):
    /opt/ros/fuerte/share/ros/core/rosbuild/public.cmake:203 (rosbuild_invoke_rospack)
    CMakeLists.txt:13 (rosbuild_init)


  -- Configuring incomplete, errors occurred!
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package my_controller_pkg written to:
[ rosmake ]    /home/moni/.ros/rosmake/rosmake_output-20121107-112300/my_controller_pkg/build_output.log
[rosmake-1] Finished <<< my_controller_pkg [FAIL] [ 0.44 seconds ]              
[ rosmake ] Halting due to failure in package my_controller_pkg. 
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:                                                            
[ rosmake ] Built 21 packages with 1 failures.                                  
[ rosmake ] Summary output to directory                                         
[ rosmake ] /home/moni/.ros/rosmake/rosmake_output-20121107-112300

I tought that was the ROS_PACKAGE_PATH doesn't find the pkg that i'm using, but y export it and nothing is better.

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i'm using fuerte, and check the explanation on the page you given Ricky and doesn't work, i tried to run rosmake eigen and it's fails
[

monidiaz gravatar imagemonidiaz ( 2012-11-06 23:04:47 -0500 )edit

Does rosmake eigen fail due to Error: package/stack my_controller_pkg depends on non-existent package xxx again?

Po-Jen Lai gravatar imagePo-Jen Lai ( 2012-11-06 23:10:03 -0500 )edit

Packages requested are: ['eigen']/Logging to directory /home/moni/.ros/rosmake/rosmake_output-20121107-120355 /Expanded args ['eigen'] to: / WARNING: The following args could not be parsed as stacks or packages: ['eigen'] /ERROR: No arguments could be parsed into valid package or stack names.

monidiaz gravatar imagemonidiaz ( 2012-11-06 23:14:53 -0500 )edit

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answered 2012-11-06 22:52:55 -0500

Your error happened because you don't have "eigen" package installed.

Normally, you can solve this kind of question by getting the source on this page,then rosmake eigen should solve this problem.

But note that eigen has been deprecated since ros-electric, so don't do that. Check the explanation on this page.

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answered 2012-11-06 23:38:50 -0500

monidiaz gravatar image

Ready!

  1. just use the kdl, copy the codes with kdl the file.h and file.cpp
  2. in the manifest.xml erease the depend of eigen and run now rosmake
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that's good.

Po-Jen Lai gravatar imagePo-Jen Lai ( 2012-11-06 23:43:35 -0500 )edit

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Asked: 2012-11-06 22:30:15 -0500

Seen: 183 times

Last updated: Nov 06 '12