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SuperLuu7 avatar SuperLuu7 commented on September 25, 2024

I encountered the same problem, did you solve it?

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cambel avatar cambel commented on September 25, 2024

@SuperLuu7 @qdl49 Can you check that the robotiq package is on the noetic-devel branch?

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SuperLuu7 avatar SuperLuu7 commented on September 25, 2024

@SuperLuu7 @qdl49 Can you check that the robotiq package is on the noetic-devel branch?

Thank you for your reply. First when I check with rospack list | grep robotiq command, I found that there is no robotiq on my ros-noetic. Then I manually installed one. how should i solve this problem
Install command:
git clone https://github.com/ros-industrial/robotiq.git
rosdep install --from-paths src --ignore-src --rosdistro noetic -y
rospack list | grep robotiq query again, and there is robotiq on my ros-noetic. But I still get the error:

[ 97%] Built target robotiq_3f_rviz
/home/lilulu/ros_test5/src/robotiq/robotiq_3f_gripper_control/src/robotiq_3f_gripper_can_node.cpp: In function ‘int main(int, char**)’:
/home/lilulu/ros_test5/src/robotiq/robotiq_3f_gripper_control/src/robotiq_3f_gripper_can_node.cpp:144:41: warning: ‘virtual bool can::DriverInterface::init(const string&, bool)’ is deprecated: provide settings explicitly [-Wdeprecated-declarations]
  144 |   while(!driver_->init(can_device, false))
      |                                         ^
In file included from /opt/ros/noetic/include/socketcan_interface/asio_base.h:4,
                 from /opt/ros/noetic/include/socketcan_interface/socketcan.h:4,
                 from /home/lilulu/ros_test5/src/robotiq/robotiq_3f_gripper_control/include/robotiq_3f_gripper_control/robotiq_3f_gripper_can_client.h:29,
                 from /home/lilulu/ros_test5/src/robotiq/robotiq_3f_gripper_control/src/robotiq_3f_gripper_can_node.cpp:26:
/opt/ros/noetic/include/socketcan_interface/interface.h:180:65: note: declared here
  180 |     [[deprecated("provide settings explicitly")]]  virtual bool init(const std::string &device, bool loopback) = 0;
      |                                                                 ^~~~
[ 98%] Linking CXX executable /home/lilulu/ros_test5/devel/lib/robotiq_3f_gripper_control/robotiq_3f_gripper_can_node
[ 98%] Built target robotiq_3f_gripper_can_node
make: *** [Makefile:141: all] Error 2
**Invoking "make -j12 -l12" failed**

how should I solve this problem?

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cambel avatar cambel commented on September 25, 2024

@SuperLuu7

rospack list lists the installed packages. The error that you had initially was related to the building of that package, so it won't show up. Now, I use a custom version of that library which is already somewhere in your catkin_ws so you need to remove the package ros-industrial/robotiq.

What you need to check is the git branch of that robotiq package inside your catkin.

I think I understand the problem now. I forgot to update the installation instructions for Noetic so you had the dependencies issue due to executing instructions for Melodic.

Please try to follow the new instructions that are for Noetic from the beginning.

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SuperLuu7 avatar SuperLuu7 commented on September 25, 2024

Thanks for your reply, after compiling from source according to your instructions, building the whole workspace with command catkin build gives the following error:

_______________________________________________________________________________
Errors     << catkin_tools_prebuild:cmake /home/lilulu/ros_test6/logs/catkin_tools_prebuild/build.cmake.000.log
CMake Error at /opt/ros/noetic/share/catkin/cmake/empy.cmake:30 (message):
  Unable to find either executable 'empy' or Python module 'em'...  try
  installing the package 'python3-empy'
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/all.cmake:164 (include)
  /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:20 (include)
  CMakeLists.txt:4 (find_package)


cd /home/lilulu/ros_test6/build/catkin_tools_prebuild; catkin build --get-env catkin_tools_prebuild | catkin env -si  /usr/bin/cmake /home/lilulu/ros_test6/build/catkin_tools_prebuild --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/lilulu/ros_test6/devel/.private/catkin_tools_prebuild -DCMAKE_INSTALL_PREFIX=/home/lilulu/ros_test6/install; cd -

...............................................................................
Failed     << catkin_tools_prebuild:cmake                [ Exited with code 1 ]
Failed    <<< catkin_tools_prebuild                      [ 0.6 seconds ]       
Abandoned <<< gazebo_ros_link_attacher                   [ Unrelated job failed ]
Abandoned <<< robotiq_control                            [ Unrelated job failed ]
Abandoned <<< robotiq_description                        [ Unrelated job failed ]
Abandoned <<< robotiq_ft_sensor                          [ Unrelated job failed ]
Abandoned <<< robotiq_gazebo                             [ Unrelated job failed ]
Abandoned <<< robotiq_msgs                               [ Unrelated job failed ]
Abandoned <<< robotiq_urcap_control                      [ Unrelated job failed ]
Abandoned <<< trac_ik                                    [ Unrelated job failed ]
Abandoned <<< trac_ik_lib                                [ Unrelated job failed ]
Abandoned <<< trac_ik_examples                           [ Unrelated job failed ]
Abandoned <<< trac_ik_kinematics_plugin                  [ Unrelated job failed ]
Abandoned <<< trac_ik_python                             [ Unrelated job failed ]
Abandoned <<< universal_robots                           [ Unrelated job failed ]
Abandoned <<< ur3_description                            [ Unrelated job failed ]
Abandoned <<< ur3_gazebo                                 [ Unrelated job failed ]
Abandoned <<< ur_control                                 [ Unrelated job failed ]
Abandoned <<< ur_dashboard_msgs                          [ Unrelated job failed ]
Abandoned <<< ur_description                             [ Unrelated job failed ]
Abandoned <<< ur10_moveit_config                         [ Unrelated job failed ]
Abandoned <<< ur10e_moveit_config                        [ Unrelated job failed ]
Abandoned <<< ur16e_moveit_config                        [ Unrelated job failed ]
Abandoned <<< ur3_moveit_config                          [ Unrelated job failed ]
Abandoned <<< ur3e_moveit_config                         [ Unrelated job failed ]
Abandoned <<< ur5_moveit_config                          [ Unrelated job failed ]
Abandoned <<< ur5e_moveit_config                         [ Unrelated job failed ]
Abandoned <<< ur_gazebo                                  [ Unrelated job failed ]
Abandoned <<< ur_gripper_85_moveit_config                [ Unrelated job failed ]
Abandoned <<< ur_hande_moveit_config                     [ Unrelated job failed ]
Abandoned <<< ur_handeye_calibration                     [ Unrelated job failed ]
Abandoned <<< ur_kinematics                              [ Unrelated job failed ]
Abandoned <<< ur_pykdl                                   [ Unrelated job failed ]
Abandoned <<< ur_robot_driver                            [ Unrelated job failed ]
Abandoned <<< ur_calibration                             [ Unrelated job failed ]
[build] Summary: 0 of 34 packages succeeded.                                   
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: 33 packages were abandoned.                               
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 0.7 seconds total.

So I build the whole workspace with the command catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3, but I still get the following error:

[ 95%] Built target gazebo_ros_link_attacher
In file included from /home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:30:
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/include/ur_robot_driver/hardware_interface.h: In constructor ‘ur_driver::HardwareInterface::HardwareInterface()’:
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/include/ur_robot_driver/hardware_interface.h:283:20: warning: ‘ur_driver::HardwareInterface::cartesian_pose_command_’ will be initialized after [-Wreorder]
  283 |   urcl::vector6d_t cartesian_pose_command_;
      |                    ^~~~~~~~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/include/ur_robot_driver/hardware_interface.h:272:20: warning:   ‘urcl::vector6d_t ur_driver::HardwareInterface::joint_positions_’ [-Wreorder]
  272 |   urcl::vector6d_t joint_positions_;
      |                    ^~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:58:1: warning:   when initialized here [-Wreorder]
   58 | HardwareInterface::HardwareInterface()
      | ^~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘void ur_driver::HardwareInterface::publishIOData()’:
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1030:43: error: ‘__gnu_cxx::__alloc_traits<std::allocator<ur_msgs::Analog_<std::allocator<void> > >, ur_msgs::Analog_<std::allocator<void> > >::value_type’ {aka ‘struct ur_msgs::Analog_<std::allocator<void> >’} has no member named ‘domain’
 1030 |         io_pub_->msg_.analog_in_states[i].domain = analog_io_types_[i];
      |                                           ^~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1035:44: error: ‘__gnu_cxx::__alloc_traits<std::allocator<ur_msgs::Analog_<std::allocator<void> > >, ur_msgs::Analog_<std::allocator<void> > >::value_type’ {aka ‘struct ur_msgs::Analog_<std::allocator<void> >’} has no member named ‘domain’
 1035 |         io_pub_->msg_.analog_out_states[i].domain = analog_io_types_[i + 2];
      |                                            ^~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘bool ur_driver::HardwareInterface::setPayload(ur_msgs::SetPayloadRequest&, ur_msgs::SetPayloadResponse&)’:
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1162:16: error: ‘ur_msgs::SetPayloadRequest’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator<void> >’} has no member named ‘center_of_gravity’
 1162 |   cog[0] = req.center_of_gravity.x;
      |                ^~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1163:16: error: ‘ur_msgs::SetPayloadRequest’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator<void> >’} has no member named ‘center_of_gravity’
 1163 |   cog[1] = req.center_of_gravity.y;
      |                ^~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1164:16: error: ‘ur_msgs::SetPayloadRequest’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator<void> >’} has no member named ‘center_of_gravity’
 1164 |   cog[2] = req.center_of_gravity.z;
      |                ^~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1165:50: error: ‘ur_msgs::SetPayloadRequest’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator<void> >’} has no member named ‘mass’
 1165 |   res.success = this->ur_driver_->setPayload(req.mass, cog);
      |                                                  ^~~~
make[2]: *** [universal_robots_ros_driver/ur_robot_driver/CMakeFiles/ur_robot_driver_node.dir/build.make:76: universal_robots_ros_driver/ur_robot_driver/CMakeFiles/ur_robot_driver_node.dir/src/hardware_interface.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:10346: universal_robots_ros_driver/ur_robot_driver/CMakeFiles/ur_robot_driver_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:30:
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/include/ur_robot_driver/hardware_interface.h: In constructor ‘ur_driver::HardwareInterface::HardwareInterface()’:
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/include/ur_robot_driver/hardware_interface.h:283:20: warning: ‘ur_driver::HardwareInterface::cartesian_pose_command_’ will be initialized after [-Wreorder]
  283 |   urcl::vector6d_t cartesian_pose_command_;
      |                    ^~~~~~~~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/include/ur_robot_driver/hardware_interface.h:272:20: warning:   ‘urcl::vector6d_t ur_driver::HardwareInterface::joint_positions_’ [-Wreorder]
  272 |   urcl::vector6d_t joint_positions_;
      |                    ^~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:58:1: warning:   when initialized here [-Wreorder]
   58 | HardwareInterface::HardwareInterface()
      | ^~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘void ur_driver::HardwareInterface::publishIOData()’:
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1030:43: error: ‘__gnu_cxx::__alloc_traits<std::allocator<ur_msgs::Analog_<std::allocator<void> > >, ur_msgs::Analog_<std::allocator<void> > >::value_type’ {aka ‘struct ur_msgs::Analog_<std::allocator<void> >’} has no member named ‘domain’
 1030 |         io_pub_->msg_.analog_in_states[i].domain = analog_io_types_[i];
      |                                           ^~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1035:44: error: ‘__gnu_cxx::__alloc_traits<std::allocator<ur_msgs::Analog_<std::allocator<void> > >, ur_msgs::Analog_<std::allocator<void> > >::value_type’ {aka ‘struct ur_msgs::Analog_<std::allocator<void> >’} has no member named ‘domain’
 1035 |         io_pub_->msg_.analog_out_states[i].domain = analog_io_types_[i + 2];
      |                                            ^~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘bool ur_driver::HardwareInterface::setPayload(ur_msgs::SetPayloadRequest&, ur_msgs::SetPayloadResponse&)’:
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1162:16: error: ‘ur_msgs::SetPayloadRequest’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator<void> >’} has no member named ‘center_of_gravity’
 1162 |   cog[0] = req.center_of_gravity.x;
      |                ^~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1163:16: error: ‘ur_msgs::SetPayloadRequest’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator<void> >’} has no member named ‘center_of_gravity’
 1163 |   cog[1] = req.center_of_gravity.y;
      |                ^~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1164:16: error: ‘ur_msgs::SetPayloadRequest’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator<void> >’} has no member named ‘center_of_gravity’
 1164 |   cog[2] = req.center_of_gravity.z;
      |                ^~~~~~~~~~~~~~~~~
/home/lilulu/ros_test6/src/universal_robots_ros_driver/ur_robot_driver/src/hardware_interface.cpp:1165:50: error: ‘ur_msgs::SetPayloadRequest’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator<void> >’} has no member named ‘mass’
 1165 |   res.success = this->ur_driver_->setPayload(req.mass, cog);
      |                                                  ^~~~
make[2]: *** [universal_robots_ros_driver/ur_robot_driver/CMakeFiles/ur_robot_driver_plugin.dir/build.make:76: universal_robots_ros_driver/ur_robot_driver/CMakeFiles/ur_robot_driver_plugin.dir/src/hardware_interface.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:10024: universal_robots_ros_driver/ur_robot_driver/CMakeFiles/ur_robot_driver_plugin.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j12 -l12" failed

How can I solve it?

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cambel avatar cambel commented on September 25, 2024

The first issue is that you have a missing dependency, so you should install it:
sudo apt-get install python3-empy

The second problem is the package ur_robot_driver is it in the right branch recommended by the devs?

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SuperLuu7 avatar SuperLuu7 commented on September 25, 2024

The first issue is that you have a missing dependency, so you should install it: sudo apt-get install python3-empy

The second problem is the package ur_robot_driver is it in the right branch recommended by the devs?
Thanks for the reply, I still haven't solved it. It seems that the libraries in my ros environment and conda environment are conflicting. Anyway, thanks for your reply.

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