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Compilation error on STEAP interface:
/usr/local/include/gpmp2/planner/ISAM2TrajOptimizer-inl.h:106:63: error: no matching function for call to ‘gtsam::ISAM2::update(gtsam::NonlinearFactorGraph&, gtsam::Values&, std::vector<long unsigned int>&)’
isam_.update(inc_graph_, init_values_, removed_factor_index_);
Latest GTSAM version (commit:6f8bfe0) has the following ISAM2 update
call:
gtsam::ISAM2Result gtsam::ISAM2::update(const gtsam::NonlinearFactorGraph&, const gtsam::Values&, const FactorIndices&)
using the FactorIndices
typdef.
I have gtsam 4.0.3
& gpmp2
both installed on my home directory.
When I try to $ catkin_make -DBUILD_ALL_INTERFACE:OPTION=ON
, I get the error below.
dlee640@dlee640-T580:~/piper_ws$ catkin_make -DBUILD_ALL_INTERFACE:OPTION=ON
Base path: /home/dlee640/piper_ws
Source space: /home/dlee640/piper_ws/src
Build space: /home/dlee640/piper_ws/build
Devel space: /home/dlee640/piper_ws/devel
Install space: /home/dlee640/piper_ws/install
Creating symlink "/home/dlee640/piper_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/dlee640/piper_ws/src -DBUILD_ALL_INTERFACE:OPTION=ON -DCATKIN_DEVEL_PREFIX=/home/dlee640/piper_ws/devel -DCMAKE_INSTALL_PREFIX=/home/dlee640/piper_ws/install -G Unix Makefiles" in "/home/dlee640/piper_ws/build"
####
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/dlee640/piper_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/dlee640/champ_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/dlee640/champ_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /home/dlee640/.pyenv/shims/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /home/dlee640/.pyenv/shims/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/dlee640/piper_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /home/dlee640/.pyenv/shims/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - piper
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'piper'
-- ==> add_subdirectory(piper)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- serialization
-- system
-- filesystem
-- thread
-- program_options
-- date_time
-- timer
-- chrono
-- regex
-- atomic
-- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include
-- gpmp2 include directory: /usr/local/lib/cmake/gpmp2/../../../include
-- Configuring done
-- Generating done
-- Build files have been written to: /home/dlee640/piper_ws/build
####
#### Running command: "make -j8 -l8" in "/home/dlee640/piper_ws/build"
####
Scanning dependencies of target piperbase
[ 12%] Building CXX object piper/CMakeFiles/piperbase.dir/piper/base/traj.cpp.o
[ 37%] Building CXX object piper/CMakeFiles/piperbase.dir/piper/base/robot.cpp.o
[ 37%] Building CXX object piper/CMakeFiles/piperbase.dir/piper/base/problem.cpp.o
In file included from /usr/include/boost/math/policies/policy.hpp:20:0,
from /usr/include/boost/math/policies/error_handling.hpp:21,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/melodic/include/ros/time.h:58,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/dlee640/piper_ws/src/piper/piper/base/robot.h:13,
from /home/dlee640/piper_ws/src/piper/piper/base/robot.cpp:8:
/usr/include/boost/optional/detail/optional_reference_spec.hpp: In instantiation of ‘void boost::detail::prevent_binding_rvalue() [with From = const Eigen::Matrix<double, -1, 1>&&]’:
/usr/include/boost/optional/detail/optional_reference_spec.hpp:165:81: required from ‘boost::optional<T&>::optional(T&&) [with T = const Eigen::Matrix<double, -1, 1>]’
/home/dlee640/piper_ws/src/piper/piper/base/robot.cpp:63:125: required from here
/usr/include/boost/optional/detail/optional_reference_spec.hpp:32:5: error: static assertion failed: binding rvalue references to optional lvalue references is disallowed
BOOST_STATIC_ASSERT_MSG(boost::is_lvalue_reference<From>::value,
^
piper/CMakeFiles/piperbase.dir/build.make:86: recipe for target 'piper/CMakeFiles/piperbase.dir/piper/base/robot.cpp.o' failed
make[2]: *** [piper/CMakeFiles/piperbase.dir/piper/base/robot.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:516: recipe for target 'piper/CMakeFiles/piperbase.dir/all' failed
make[1]: *** [piper/CMakeFiles/piperbase.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed
Where is this error coming from and how do I solve it?
Hello,
i'm having a problem trying out the steap_interface using a simulated vector robot.
To launch the interface I use the following comand:
sudo roslaunch piper steap_interface.launch robot:=jaco2 problem:=example_vector
But the execution always crashed immediately on Loading robot parameters. This is the terminal output:
`nvidia@jetson-xavier-2:~/epic_ws$ roslaunch piper steap_interface.launch
... logging to /home/nvidia/.ros/log/1d8a82d6-a751-11eb-bf30-0a401d3f2f6e/roslaunch-jetson-xavier-2-7080.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://jetson-xavier-2:43041/
PARAMETERS
NODES
/
steap_interface (piper/steap_interface)
ROS_MASTER_URI=http://localhost:11311
process[steap_interface-1]: started with pid [7097]
[ INFO] [1619528028.967624684]: Loading robot parameters.
[steap_interface-1] process has died [pid 7097, exit code -11, cmd /home/nvidia/epic_ws/devel/lib/piper/steap_interface __name:=steap_interface __log:=/home/nvidia/.ros/log/1d8a82d6-a751-11eb-bf30-0a401d3f2f6e/steap_interface-1.log].
log file: /home/nvidia/.ros/log/1d8a82d6-a751-11eb-bf30-0a401d3f2f6e/steap_interface-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
`
Does anyone have an idea of what is going wrong?
Thanks.
I'm trying to create a config file for a complex system, that's composed of more than one chain. I know that for calculating the DH parameters we should consider one chain at a time. However I'm not sure how to create the config file. Should I create for each chain one file? And If so how can I define the relationship between the different chains.
Thanks in advance.
The robot don't move. The results are:
process[gpmp2_interface-1]: started with pid [22001]
[ INFO] [1597828819.063786529]: Loading robot parameters.
[ INFO] [1597828819.082953386]: Loading planning problem.
[ INFO] [1597828820.629328114, 1006.496000000]: Initializing trajectory.
[ INFO] [1597828820.629642480, 1006.496000000]: Optimizing...
[ INFO] [1597828820.697640979, 1006.555000000]: Batch GPMP2 optimization complete.
[ INFO] [1597828820.697810154, 1006.555000000]: Checking for collision.
[ INFO] [1597828820.702263705, 1006.560000000]: Executing GPMP2 planned trajectory open-loop...
[ INFO] [1597828820.806493377, 1006.658000000]: Done.
[gpmp2_interface-1] process has finished cleanly
log file: /home/xzq/.ros/log/a9a526a8-e1fa-11ea-8f8f-4889e758f115/gpmp2_interface-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
Hi, I am trying to run PIPER with example config and problem provided,
but getting 'Cannot find trajectory_control server' error.
Hello,
so i just recently installed Ubuntu 20.04 and installed Piper to use my Logitech Hero G502 with all the extra buttons.
The program recognized my mouse perfectly fine and everything works. Everything but the Back / Forward functions.
I know the physical buttons work because when i put other functions on them they work. But i cannot go back or forward in my browser or my folders at all.
Can you help me fix that?
Thanks
Could you provide interactive tutorials of STEAP algorithm with simulated robot, such as vector, wam, pr2, etc? How to set up action sever in simulated robot's API? I don't know how to solve 'Cannot find trajectory_control server'.
Hi,
I'm trying to integrate the GPMP2 with a Tiago robot, but I seem to have a problem understanding on how to place the spheres for collision checking.
The documentation mentions that they are attached relative to the joint. I was under the impression that a kinematic chain using DH parameters is attaching a coordinate frame to the links connecting to joints. So I'm a bit confused with this.
I tried visualising the spheres generated for the PR2 example with RViz but they seemed off. I can post the code used for the visualisation and maybe we can have it as a feature of piper.
Thanks in advance. Any help will be highly appreciated.
Cheers,
Niko
"roslaunch piper steap_interface.launch", then I get this result ------ "Cannot find trajectory_control server '/vector/full_body_controller/trajectory'.
what server I should connect ?
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