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Compile error building beta-testing branch

Open robotrapta opened this issue 4 years ago • 3 comments

Summary

I can't get the beta-testing branch to build following the README instructions. My C++ is super rusty (no pun intended) but it seems like the ur_robot_driver package isn't finding the headers from Universal_Robots_Client_Library or something. The errors are like urcl::comm::TrajectoryControlMessage has not been declared even though it's clearly there in the client library code, which is building properly.

Versions

  • ROS Driver version: tested on both melodic and noetic - identical results
  • Affected Robot Software Version(s): n/a
  • Affected Robot Hardware Version(s): n/a
  • Robot Serial Number: n/a
  • UR+ product(s) installed: n/a
  • URCaps Software version(s): n/a

Impact

Blocked. Can't use beta-testing branch at all.

Steps to Reproduce

Following the readme instructions:

$ source /opt/ros/melodic/setup.bash
$ mkdir -p catkin_ws/src && cd catkin_ws
$ git clone -b beta-testing-boost https://github.com/UniversalRobots/Universal_Robots_Client_Library.git src/Universal_Robots_Client_Library
$ git clone -b beta-testing https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
$ git clone -b beta-testing https://github.com/fzi-forschungszentrum-informatik/cartesian_ros_control.git src/cartesian_ros_control
$ git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
$ sudo apt update -qq
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y
$ catkin_make_isolated

gives build error messages:

/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:675:19: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
       ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_NOOP);
                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘virtual void ur_driver::HardwareInterface::write(const ros::Time&, const ros::Duration&)’:
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:675:19: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
       ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_NOOP);
                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:675:61: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
       ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_NOOP);
                                                             ^~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:675:61: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
       ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_NOOP);
                                                             ^~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:679:19: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
       ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_NOOP);
                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:679:19: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
       ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_NOOP);
                   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:679:61: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
       ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_NOOP);
                                                             ^~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:679:61: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
       ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_NOOP);
                                                             ^~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:689:91: error: ‘MODE_SPEEDL’ is not a member of urcl::comm::ControlMode’
       ur_driver_->writeJointCommand(cartesian_velocity_command_, urcl::comm::ControlMode::MODE_SPEEDL);
                                                                                           ^~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:689:91: error: ‘MODE_SPEEDL’ is not a member of urcl::comm::ControlMode’
       ur_driver_->writeJointCommand(cartesian_velocity_command_, urcl::comm::ControlMode::MODE_SPEEDL);
                                                                                           ^~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:703:87: error: ‘MODE_POSE’ is not a member of ‘urcl::comm::ControlMode’
       ur_driver_->writeJointCommand(cartesian_pose_command_, urcl::comm::ControlMode::MODE_POSE);
                                                                                       ^~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:703:87: error: ‘MODE_POSE’ is not a member of ‘urcl::comm::ControlMode’
       ur_driver_->writeJointCommand(cartesian_pose_command_, urcl::comm::ControlMode::MODE_POSE);
                                                                                       ^~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘void ur_driver::HardwareInterface::startJointInterpolation(const JointTrajectory&)’:
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1191:15: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_START, point_number);
               ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1191:57: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_START, point_number);
                                                         ^~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1204:17: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryPoint’
     ur_driver_->writeTrajectoryPoint(p, false, next_time - last_time);
                 ^~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘void ur_driver::HardwareInterface::startCartesianInterpolation(const CartesianTrajectory&)’:
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1214:15: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_START, point_number);
               ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1214:57: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_START, point_number);
                                                         ^~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1232:17: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryPoint’
     ur_driver_->writeTrajectoryPoint(p, true, next_time - last_time);
                 ^~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘void ur_driver::HardwareInterface::startJointInterpolation(const JointTrajectory&)’:
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1191:15: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_START, point_number);
               ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1191:57: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_START, point_number);
                                                         ^~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘void ur_driver::HardwareInterface::cancelInterpolation()’:
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1241:15: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_CANCEL);
               ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1241:57: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_CANCEL);
                                                         ^~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1204:17: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryPoint’
     ur_driver_->writeTrajectoryPoint(p, false, next_time - last_time);
                 ^~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘void ur_driver::HardwareInterface::startCartesianInterpolation(const CartesianTrajectory&)’:
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1214:15: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_START, point_number);
               ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1214:57: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_START, point_number);
                                                         ^~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1232:17: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryPoint’
     ur_driver_->writeTrajectoryPoint(p, true, next_time - last_time);
                 ^~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘void ur_driver::HardwareInterface::cancelInterpolation()’:
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1241:15: error: ‘class urcl::UrDriver’ has no member named ‘writeTrajectoryControlMessage’
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_CANCEL);
               ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/astro/beta_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:1241:57: error: ‘urcl::comm::TrajectoryControlMessage’ has not been declared
   ur_driver_->writeTrajectoryControlMessage(urcl::comm::TrajectoryControlMessage::TRAJECTORY_CANCEL);
                                                         ^~~~~~~~~~~~~~~~~~~~~~~~
CMakeFiles/ur_robot_driver_node.dir/build.make:86: recipe for target 'CMakeFiles/ur_robot_driver_node.dir/src/hardware_interface.cpp.o' failed

Expected Behavior

Successful build.

Actual Behavior

Build failed.

Workaround Suggestion

A small change to a build configuration maybe???

robotrapta avatar Apr 03 '21 20:04 robotrapta

This should not be the case, but is it possible, that another existing installation of the ur_client_library shadows the one from this workspace?

What is the output of echo $CMAKE_PREFIX_PATH (from the shell that your build failed)?

Is the binary debian package ros-melodic-ur-client-library installed?

fmauch avatar Apr 03 '21 20:04 fmauch

When I run echo $CMAKE_PREFIX_PATH I get /opt/ros/noetic and on another machine I get /opt/ros/melodic.

But you totally set me on the right track! Seems they were building against the Ubuntu/apt version of ur_client_library instead of the one in the catkin workspace. Which is fixed easily enough by:

sudo apt-get remove ros-melodic-ur-client-library

When I do this it builds properly. Not sure if this is something that the build system is supposed to correct for or not.

THANKS!! Off to play with cartesian control...

robotrapta avatar Apr 03 '21 20:04 robotrapta

It should not be shadowed by the one installed by the apt system... We'll dig deeper.

fmauch avatar Apr 03 '21 20:04 fmauch

Have you guys solved the problem?Please say something~

MikasaIL avatar Jun 06 '24 09:06 MikasaIL

The beta-testing branch has long been deprecated. Uninstalling the binary package when building the library from source seems like a solid workaround and we haven't found anything else until today.

I'll close this since the branch this is referring to isn't active anymore.

fmauch avatar Jun 07 '24 09:06 fmauch