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Cannot catkin build moveit

Hi all,

I try to install moveit on my WSL and return an error after "catkin build". My ubuntu version 18.04 and ROS version is melodic. The error message state that fails to build moveit_visual_tools

Is there any solution?

Thanks Andy

Cannot catkin build moveit

Hi all,

I try to install moveit on my WSL and return an error after "catkin build". My ubuntu version 18.04 and ROS version is melodic. The error message state that fails to build moveit_visual_tools

Errors     << moveit_visual_tools:make /home/andy/ws_moveit/logs/moveit_visual_tools/build.make.005.log
/home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_robot_state.cpp: In member function ‘bool moveit_visual_tools::IMarkerRobotState::setFromPoses(EigenSTL::vector_Affine3d, const moveit::core::JointModelGroup*)’:
/home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_robot_state.cpp:305:88: error: no matching function for call to ‘moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*&, const vector_Affine3d&, std::vector<std::__cxx11::basic_string<char> >&, const size_t&, const double&, moveit::core::GroupStateValidityCallbackFn&)’
     if (!imarker_state_->setFromIK(group, poses, tips, attempts, timeout, constraint_fn))
                                                                                        ^
In file included from /opt/ros/melodic/include/moveit/robot_state/conversions.h:40:0,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_robot_state.cpp:40:
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:953:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Pose&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const geometry_msgs::Pose& pose, unsigned int attempts = 0,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:953:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Pose& {aka const geometry_msgs::Pose_<std::allocator<void> >&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:965:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Pose&, const string&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const geometry_msgs::Pose& pose, const std::string& tip,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:965:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Pose& {aka const geometry_msgs::Pose_<std::allocator<void> >&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:977:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Isometry3d&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, unsigned int attempts = 0,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:977:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Isometry3d& {aka const Eigen::Transform<double, 3, 1>&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:988:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Isometry3d&, const string&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, const std::string& tip,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:988:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Isometry3d& {aka const Eigen::Transform<double, 3, 1>&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1002:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Isometry3d&, const string&, const std::vector<double>&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, const std::string& tip,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1002:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Isometry3d& {aka const Eigen::Transform<double, 3, 1>&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1017:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const vector_Isometry3d&, const std::vector<std::__cxx11::basic_string<char> >&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const EigenSTL::vector_Isometry3d& poses,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1017:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const vector_Isometry3d& {aka const std::vector<Eigen::Transform<double, 3, 1>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 1> > >&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1033:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const vector_Isometry3d&, const std::vector<std::__cxx11::basic_string<char> >&, const std::vector<std::vector<double> >&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const EigenSTL::vector_Isometry3d& poses,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1033:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const vector_Isometry3d& {aka const std::vector<Eigen::Transform<double, 3, 1>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 1> > >&}’
In file included from /usr/include/eigen3/Eigen/Core:347:0,
                 from /usr/include/eigen3/Eigen/Geometry:11,
                 from /opt/ros/melodic/include/moveit/robot_model/joint_model.h:47,
                 from /opt/ros/melodic/include/moveit/robot_model/joint_model_group.h:41,
                 from /opt/ros/melodic/include/moveit/robot_model/robot_model.h:47,
                 from /opt/ros/melodic/include/moveit/robot_state/robot_state.h:41,
                 from /opt/ros/melodic/include/moveit/robot_state/conversions.h:40,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_robot_state.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/andy/ws_moveit/src/moveit_visual_tools/include/moveit_visual_tools/moveit_visual_tools.h:227:45:   required from here
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:331:5: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
     ^
In file included from /usr/include/eigen3/Eigen/Core:347:0,
                 from /usr/include/eigen3/Eigen/Geometry:11,
                 from /opt/ros/melodic/include/rviz_visual_tools/rviz_visual_tools.h:49,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/include/moveit_visual_tools/moveit_visual_tools.h:44,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/src/moveit_visual_tools.cpp:38:
/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/andy/ws_moveit/src/moveit_visual_tools/include/moveit_visual_tools/moveit_visual_tools.h:227:45:   required from here
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:331:5: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
     ^
In file included from /usr/include/eigen3/Eigen/Core:347:0,
                 from /opt/ros/melodic/include/eigen_conversions/eigen_msg.h:46,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_end_effector.cpp:46:
/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/andy/ws_moveit/src/moveit_visual_tools/include/moveit_visual_tools/moveit_visual_tools.h:227:45:   required from here
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:331:5: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
     ^
make[2]: *** [CMakeFiles/moveit_visual_tools.dir/src/imarker_robot_state.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/moveit_visual_tools.dir/src/imarker_end_effector.cpp.o] Error 1
make[2]: *** [CMakeFiles/moveit_visual_tools.dir/src/moveit_visual_tools.cpp.o] Error 1
make[1]: *** [CMakeFiles/moveit_visual_tools.dir/all] Error 2
make: *** [all] Error 2
cd /home/andy/ws_moveit/build/moveit_visual_tools; catkin build --get-env moveit_visual_tools | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
............................................................................................................................................................ Failed     << moveit_visual_tools:make           [ Exited with code 2 ]
Failed    <<< moveit_visual_tools                [ 21.0 seconds ]
Abandoned <<< moveit_tutorials                   [ Unrelated job failed ]
[build] Summary: 2 of 4 packages succeeded.
[build]   Ignored:   None.
[build]   Warnings:  None.
[build]   Abandoned: 1 packages were abandoned.
[build]   Failed:    1 packages failed.
[build] Runtime: 21.1 seconds total.

Is there any solution?

Thanks Andy Andy

Cannot catkin build moveit

Hi all,

I try to install moveit on my WSL and return an error after "catkin build". My ubuntu version 18.04 and ROS version is melodic. The error message state that fails to build moveit_visual_tools

Errors     << moveit_visual_tools:make /home/andy/ws_moveit/logs/moveit_visual_tools/build.make.005.log
/home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_robot_state.cpp: In member function ‘bool moveit_visual_tools::IMarkerRobotState::setFromPoses(EigenSTL::vector_Affine3d, const moveit::core::JointModelGroup*)’:
/home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_robot_state.cpp:305:88: error: no matching function for call to ‘moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*&, const vector_Affine3d&, std::vector<std::__cxx11::basic_string<char> >&, const size_t&, const double&, moveit::core::GroupStateValidityCallbackFn&)’
     if (!imarker_state_->setFromIK(group, poses, tips, attempts, timeout, constraint_fn))
                                                                                        ^
In file included from /opt/ros/melodic/include/moveit/robot_state/conversions.h:40:0,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_robot_state.cpp:40:
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:953:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Pose&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const geometry_msgs::Pose& pose, unsigned int attempts = 0,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:953:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Pose& {aka const geometry_msgs::Pose_<std::allocator<void> >&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:965:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Pose&, const string&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const geometry_msgs::Pose& pose, const std::string& tip,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:965:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Pose& {aka const geometry_msgs::Pose_<std::allocator<void> >&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:977:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Isometry3d&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, unsigned int attempts = 0,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:977:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Isometry3d& {aka const Eigen::Transform<double, 3, 1>&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:988:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Isometry3d&, const string&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, const std::string& tip,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:988:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Isometry3d& {aka const Eigen::Transform<double, 3, 1>&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1002:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const Isometry3d&, const string&, const std::vector<double>&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const Eigen::Isometry3d& pose, const std::string& tip,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1002:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const Isometry3d& {aka const Eigen::Transform<double, 3, 1>&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1017:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const vector_Isometry3d&, const std::vector<std::__cxx11::basic_string<char> >&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const EigenSTL::vector_Isometry3d& poses,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1017:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const vector_Isometry3d& {aka const std::vector<Eigen::Transform<double, 3, 1>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 1> > >&}’
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1033:8: note: candidate: bool moveit::core::RobotState::setFromIK(const moveit::core::JointModelGroup*, const vector_Isometry3d&, const std::vector<std::__cxx11::basic_string<char> >&, const std::vector<std::vector<double> >&, unsigned int, double, const GroupStateValidityCallbackFn&, const kinematics::KinematicsQueryOptions&)
   bool setFromIK(const JointModelGroup* group, const EigenSTL::vector_Isometry3d& poses,
        ^~~~~~~~~
/opt/ros/melodic/include/moveit/robot_state/robot_state.h:1033:8: note:   no known conversion for argument 2 from ‘const vector_Affine3d {aka const std::vector<Eigen::Transform<double, 3, 2>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 2> > >}’ to ‘const vector_Isometry3d& {aka const std::vector<Eigen::Transform<double, 3, 1>, Eigen::aligned_allocator<Eigen::Transform<double, 3, 1> > >&}’
In file included from /usr/include/eigen3/Eigen/Core:347:0,
                 from /usr/include/eigen3/Eigen/Geometry:11,
                 from /opt/ros/melodic/include/moveit/robot_model/joint_model.h:47,
                 from /opt/ros/melodic/include/moveit/robot_model/joint_model_group.h:41,
                 from /opt/ros/melodic/include/moveit/robot_model/robot_model.h:47,
                 from /opt/ros/melodic/include/moveit/robot_state/robot_state.h:41,
                 from /opt/ros/melodic/include/moveit/robot_state/conversions.h:40,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_robot_state.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/andy/ws_moveit/src/moveit_visual_tools/include/moveit_visual_tools/moveit_visual_tools.h:227:45:   required from here
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:331:5: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
     ^
In file included from /usr/include/eigen3/Eigen/Core:347:0,
                 from /usr/include/eigen3/Eigen/Geometry:11,
                 from /opt/ros/melodic/include/rviz_visual_tools/rviz_visual_tools.h:49,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/include/moveit_visual_tools/moveit_visual_tools.h:44,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/src/moveit_visual_tools.cpp:38:
/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/andy/ws_moveit/src/moveit_visual_tools/include/moveit_visual_tools/moveit_visual_tools.h:227:45:   required from here
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:331:5: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
     ^
In file included from /usr/include/eigen3/Eigen/Core:347:0,
                 from /opt/ros/melodic/include/eigen_conversions/eigen_msg.h:46,
                 from /home/andy/ws_moveit/src/moveit_visual_tools/src/imarker_end_effector.cpp:46:
/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/andy/ws_moveit/src/moveit_visual_tools/include/moveit_visual_tools/moveit_visual_tools.h:227:45:   required from here
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:331:5: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
     ^
make[2]: *** [CMakeFiles/moveit_visual_tools.dir/src/imarker_robot_state.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/moveit_visual_tools.dir/src/imarker_end_effector.cpp.o] Error 1
make[2]: *** [CMakeFiles/moveit_visual_tools.dir/src/moveit_visual_tools.cpp.o] Error 1
make[1]: *** [CMakeFiles/moveit_visual_tools.dir/all] Error 2
make: *** [all] Error 2
cd /home/andy/ws_moveit/build/moveit_visual_tools; catkin build --get-env moveit_visual_tools | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
............................................................................................................................................................ Failed     << moveit_visual_tools:make           [ Exited with code 2 ]
Failed    <<< moveit_visual_tools                [ 21.0 seconds ]
Abandoned <<< moveit_tutorials                   [ Unrelated job failed ]
[build] Summary: 2 of 4 packages succeeded.
[build]   Ignored:   None.
[build]   Warnings:  None.
[build]   Abandoned: 1 packages were abandoned.
[build]   Failed:    1 packages failed.
[build] Runtime: 21.1 seconds total.

Is there any solution?

Thanks Andy