find moveit_resources issue

[jhu-gh]

when I tried to compile a new ros workspace with this repo, it complained that cannot find "moveit_resourcesConfig.cmake", which makes sense since moveit_resources is a metapackage.

so, should I find each individual package within moveit_resources instead of using this line? I'm not sure about the right way to solve this issue, thanks!

[Skoven]

I have the same problem

[fzoric8]

I'm also facing the same problem when using catkin build. After cloning descartes_capabilities and running all commands, during catkin build descartes_capabilities package gets Abanoned.

Output from catkin build is following:

WARNING: package "descartes_capability" should not depend on metapackage "moveit_resources" but on its packages instead

Abandoned <<< descartes_capability                                           [ Depends on unknown jobs: moveit_resources ]                                                                          

I'm using ROS melodic on Ubuntu 18.04 with MoveIt built from source in Docker. Thank you in advance.

EDIT/UPDATE:

I've managed to fix this build issue with following code changes. Everything works fine for me now.

[gy2256]

I have the same problem. After commenting out the find_package(moveit_resources REQUIRED) at line 136 in file catkin_ws\src\descartes_capability\CMakeLists.txt, the issue is temporarily resolved.

That being said, I encoutnered another issue:

Errors     << descartes_capability:make /home/xv/python_joy_ws/logs/descartes_capability/build.make.000.log                                                                              
/home/xv/python_joy_ws/src/descartes_capability/src/descartes_path_service_capability.cpp: In member function ‘bool descartes_capability::MoveGroupDescartesPathService::initializeDescartesModel(const string&, const string&, const string&)’:
/home/xv/python_joy_ws/src/descartes_capability/src/descartes_path_service_capability.cpp:264:109: error: no matching function for call to ‘descartes_moveit::MoveitStateAdapter::initialize(planning_scene_monitor::PlanningSceneMonitorPtr&, const string&, const string&, const string&)’
  264 |       moveit_state_adapter->initialize(context_->planning_scene_monitor_, group_name, world_frame, tcp_frame);
      |                                                                                                             ^
In file included from /home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/ikfast_moveit_state_adapter.h:22,
                 from /home/xv/python_joy_ws/src/descartes_capability/include/descartes_capability/descartes_path_service_capability.h:49,
                 from /home/xv/python_joy_ws/src/descartes_capability/src/descartes_path_service_capability.cpp:41:
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:43:16: note: candidate: ‘virtual bool descartes_moveit::MoveitStateAdapter::initialize(const string&, const string&, const string&, const string&)’
   43 |   virtual bool initialize(const std::string &robot_description, const std::string &group_name,
      |                ^~~~~~~~~~
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:43:46: note:   no known conversion for argument 1 from ‘planning_scene_monitor::PlanningSceneMonitorPtr’ {aka ‘std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor>’} to ‘const string&’ {aka ‘const std::__cxx11::basic_string<char>&’}
   43 |   virtual bool initialize(const std::string &robot_description, const std::string &group_name,
      |                           ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:46:16: note: candidate: ‘virtual bool descartes_moveit::MoveitStateAdapter::initialize(moveit::core::RobotModelConstPtr, const string&, const string&, const string&)’
   46 |   virtual bool initialize(robot_model::RobotModelConstPtr robot_model, const std::string &group_name,
      |                ^~~~~~~~~~
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:46:59: note:   no known conversion for argument 1 from ‘shared_ptr<planning_scene_monitor::PlanningSceneMonitor>’ to ‘shared_ptr<const moveit::core::RobotModel>’
   46 |   virtual bool initialize(robot_model::RobotModelConstPtr robot_model, const std::string &group_name,
      |                           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
make[2]: *** [CMakeFiles/descartes_capability.dir/build.make:63: CMakeFiles/descartes_capability.dir/src/descartes_path_service_capability.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:499: CMakeFiles/descartes_capability.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/xv/python_joy_ws/build/descartes_capability; catkin build --get-env descartes_capability | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

[DocVaughan]

@gy2256 Were you able to figure this out? I am running into the same issue.

[gy2256]

@DocVaughan Not really. I will give it another try later.

[Giggus]

I just commented all test related parts (dependent on moveit_resources