Noetic-MoveIt catkin_make failed

[tangguotongling]

Hi, it's me again. To fix my previous issue, I cleaned the moveit workspace and clone/build it. But this time I did not pass the catkin_make process Here is the phenomena:

Describe the bug

Catkin_make MoveIt failed for Noetic on Windows 10

To Reproduce

I followed the article "MoveIt Tutorials on Windows"(https://ms-iot.github.io/ROSOnWindows/Moveit/moveit_tutorials.html)

• Catkin workspace setup instructions mkdir c:\opt\chocolatey set ChocolateyInstall=c:\opt\chocolatey choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1 choco upgrade ros-noetic-desktop_full -y --execution-timeout=0

• Clone locations mkdir c:\moveit_ws\src cd c:\moveit_ws\src

git clone https://github.com/ros-planning/moveit_tutorials.git -b master git clone https://github.com/ros-planning/panda_moveit_config.git -b melodic-devel git clone https://github.com/frankaemika/franka_ros-release -b release/kinetic/franka_description

• build command line cd c:\moveit_ws catkin_make

Expected behavior

However, the catkin_make process failed which reported errors like: C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(34): error C2653: 'moveit_cpp': is not a class or namespace name ... ninja: build stopped: subcommand failed. Invoking "ninja -j8 -l8" failed

Has anyone met the same problem on Noetic? Could you help me to fix it out? I quote the main error section at the bottom and attached the whole console output at the end (about 2000 lines......) I tried the melodic version and this did not happen.

Environment information:

• OS version: winver Windows10 21H1 19043.1320
• Chocolatey Versions: choco list --local-only Chocolatey v0.11.3 chocolatey-core.extension 1.3.5.1 chocolatey-windowsupdate.extension 1.0.4 KB2919355 1.0.20160915 KB2919442 1.0.20160915 KB2999226 1.0.20181019 KB3033929 1.0.3 KB3035131 1.0.3 ros-foxy-desktop 20201211.0.0.2104300001 ros-melodic-desktop_full 20201221.0.0.2104300002 ros-noetic-desktop_full 20201214.0.0.2104301300 vcredist140 14.30.30704 vcredist2010 10.0.40219.32503 12 packages installed.

main error output

[36/54] Building CXX object moveit_tutorials\doc\moveit_cpp\CMakeFiles\moveit_cpp_tutorial.dir\src\moveit_cpp_tutorial.cpp.obj FAILED: moveit_tutorials/doc/moveit_cpp/CMakeFiles/moveit_cpp_tutorial.dir/src/moveit_cpp_tutorial.cpp.obj C:\PROGRA~2\MICROS~3\2019\ENTERP~1\VC\Tools\MSVC\1428~1.299\bin\Hostx64\x64\cl.exe /nologo /TP -DNOMINMAX -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME="moveit_tutorials" -DWIN32_LEAN_AND_MEAN -D_USE_MATH_DEFINES -IC:\moveit_ws\src\moveit_tutorials\doc\interactivity\include -IC:\opt\ros\noetic\x64\include -IC:\opt\ros\noetic\x64\share\xmlrpcpp\cmake......\include\xmlrpcpp -IC:\opt\ros\noetic\x64\include\eigen3 -IC:\opt\ros\noetic\x64\share\urdfdom....\include -IC:\opt\ros\noetic\x64\share\urdfdom_headers....\include -IC:\opt\ros\noetic\x64\include\bullet -IC:\opt\ros\noetic\x64\share\orocos_kdl....\include -IC:\opt\ros\noetic\x64\share\orocos_kdl....\include\eigen3 /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /Zi /O2 /Ob1 /DNDEBUG /D _VARIADIC_MAX=10 /Zc:__cplusplus -std:c++14 /showIncludes /Fomoveit_tutorials\doc\moveit_cpp\CMakeFiles\moveit_cpp_tutorial.dir\src\moveit_cpp_tutorial.cpp.obj /Fdmoveit_tutorials\doc\moveit_cpp\CMakeFiles\moveit_cpp_tutorial.dir\ /FS -c C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp C:\opt\ros\noetic\x64\include\boost/bind.hpp(41): note: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.

C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(34): error C2653: 'moveit_cpp': is not a class or namespace name C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(34): error C2065: 'MoveItCpp': undeclared identifier C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(34): error C2672: 'std::make_shared': no matching overloaded function found C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(34): error C2974: 'std::make_shared': invalid template argument for '_Ty', type expected C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\VC\Tools\MSVC\14.28.29910\include\memory(2906): note: see declaration of 'std::make_shared' C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(35): error C3536: 'moveit_cpp_ptr': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(37): error C2653: 'moveit_cpp': is not a class or namespace name C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(37): error C2065: 'PlanningComponent': undeclared identifier C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(37): error C2672: 'std::make_shared': no matching overloaded function found C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(37): error C2974: 'std::make_shared': invalid template argument for '_Ty', type expected C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\VC\Tools\MSVC\14.28.29910\include\memory(2906): note: see declaration of 'std::make_shared' C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(39): error C3536: 'planning_components': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(40): error C3536: 'robot_model_ptr': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(86): error C3536: 'plan_solution1': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(89): error C3536: 'robot_start_state': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(95): error C3536: 'joint_model_group_ptr': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(125): error C3536: 'start_state': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(131): error C3536: 'plan_solution2': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(133): error C2664: 'moveit::core::RobotState::RobotState(const moveit::core::RobotModelConstPtr &)': cannot convert argument 1 from 'int' to 'const moveit::core::RobotModelConstPtr &' C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(133): note: Reason: cannot convert from 'int' to 'const moveit::core::RobotModelConstPtr' C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(133): note: No constructor could take the source type, or constructor overload resolution was ambiguous C:\opt\ros\noetic\x64\include\moveit/robot_state/robot_state.h(94): note: see declaration of 'moveit::core::RobotState::RobotState' C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(163): error C2100: illegal indirection C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(176): error C3536: 'plan_solution3': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(178): error C2664: 'moveit::core::RobotState::RobotState(const moveit::core::RobotModelConstPtr &)': cannot convert argument 1 from 'int' to 'const moveit::core::RobotModelConstPtr &' C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(178): note: Reason: cannot convert from 'int' to 'const moveit::core::RobotModelConstPtr' C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(178): note: No constructor could take the source type, or constructor overload resolution was ambiguous C:\opt\ros\noetic\x64\include\moveit/robot_state/robot_state.h(94): note: see declaration of 'moveit::core::RobotState::RobotState' C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(219): error C3536: 'plan_solution4': cannot be used before it is initialized C:\moveit_ws\src\moveit_tutorials\doc\moveit_cpp\src\moveit_cpp_tutorial.cpp(221): error C2664: 'moveit::core::RobotState::RobotState(const moveit::core::RobotModelConstPtr &)': cannot convert argument 1 from 'int' to 'const moveit::core::RobotModelConstPtr &' ...... [43/54] Building CXX object moveit_tutorials\doc\subframes\CMakeFiles\subframes_tutorial.dir\src\subframes_tutorial.cpp.obj C:\opt\ros\noetic\x64\include\boost/bind.hpp(41): note: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior. C:\moveit_ws\src\moveit_tutorials\doc\subframes\src\subframes_tutorial.cpp(215): warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data ninja: build stopped: subcommand failed. Invoking "ninja -j8 -l8" failed

ms-noetic-moveit-catkinmake.log

[lilustga]

Hi @tangguotongling,

This is a known breaking change between the Noetic tutorials and the current Noetic on Windows release for moveit. We have work planned to fix it.

Did the Melodic tutorials work for you in the previous issue you opened?

[tangguotongling]

Hi @lilustga

Thank you for your attention~

Yes, I turned back to ROS-Melodic again.

As you suggested I tried the command in "MoveIt Quickstart in RViz"(http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html) roslaunch panda_moveit_config demo.launch rviz_tutorial:=true Yes, I can see the RViz window this time. But if I continue with the "Move Group C++ Interface":(http://docs.ros.org/en/melodic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html) roslaunch panda_moveit_config demo.launch roslaunch moveit_tutorials move_group_interface_tutorial.launch RViz did not appear, which prevent the interactive with the demo since it requires a click on the 'Next' button. I can shield the RViz visualization related lines in the source code of "Move Group C++ Interface". But that degenerates to a pure console window....... Any more suggestion? O(∩_∩)O

[FeiyuYan95]

@tangguotongling hi

[lilustga]

Hi @tangguotongling,

Could you try deleting your moveit workspace and going through the instructions again now?