time_parameterization.h missing

[qualia0000]

I am facing a problem when installing Deep_grasp_demo package in ROS melodic in Windows when the procedure hits Building CXX object moveit_task_constructor/core/src/CMakeFiles/moveit_task_constructor_core.dir/container.cpp.obj. The error is as following: moveit_task_constructor\core\include\moveit/task_constructor/merge.h(42): fatal error C1083: Cannot open include file: 'moveit/trajectory_processing/time_parameterization.h': No such file or directory

I searched the folder trajectory_processsing finding that no file named time_parameterization.h. In MoveIt git repo, the file is included in the folder. Besides, in MoveIt git repo, the header file iterative_time_parameterization.h has included time_parameterization.h but in the Windows version it does not.

Environment information:

• OS version: Windows 10 21H2
• Chocolatey Versions: Chocolatey v1.1.0

Appreciated for every help.

[ooeygui]

Thank you for the report.

Investigation

We snapped the melodic release of MoveIt in https://github.com/ms-iot/ros-windows-build/blob/master/ros/melodic/melodic_override.repos with some minor fixes for windows (which were later up streamed):

  moveit:
    type: git
    url: https://github.com/ms-iot/moveit.git
    version: windows/1.0.7

This was snapped 2 years ago - the last time we touched Melodic, and not moved forward.

It looks like the Time parameterization header was added on January 6th 2022: https://github.com/ros-planning/moveit/commits/3ba0a077a219d8ecea5465e19a886ce28faa6e36/moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_parameterization.h

There are some options here:

• You can include the current tip of tree of moveit in your project repo. It should override the MoveIt build in c:\opt
• We would need to respin melodic with an updated moveit.

Can you tell me more about what you are trying to do? Is this for a commercial project?

[qualia0000]

@ooeygui Thank you for your reply. Would you mind elaborating the including steps? Should I clone the latest version of moveit-melodic repo from moveit? I am afraid without Chocolatey the moveit cannot be successfully compiled.

[qualia0000]

Update: I am trying the method in https://moveit.ros.org/install/source-windows/ to build MoveIt repo from source. However the wstool is not working on ROS Windows. I also used vcs command as alternative but there is an error when executing it: File "C:\opt\ros\melodic\x64\Scripts\vcs-script.py", line 11, in <module> load_entry_point('vcstool==0.3.0', 'console_scripts', 'vcs')() File "C:\opt\ros\melodic\x64\lib\site-packages\pkg_resources\__init__.py", line 489, in load_entry_point return get_distribution(dist).load_entry_point(group, name) File "C:\opt\ros\melodic\x64\lib\site-packages\pkg_resources\__init__.py", line 2852, in load_entry_point return ep.load() File "C:\opt\ros\melodic\x64\lib\site-packages\pkg_resources\__init__.py", line 2443, in load return self.resolve() File "C:\opt\ros\melodic\x64\lib\site-packages\pkg_resources\__init__.py", line 2449, in resolve module = __import__(self.module_name, fromlist=['__name__'], level=0) File "C:\opt\ros\melodic\x64\lib\site-packages\vcstool\commands\__init__.py", line 1, in <module> from .branch import BranchCommand File "C:\opt\ros\melodic\x64\lib\site-packages\vcstool\commands\branch.py", line 6, in <module> from .command import Command File "C:\opt\ros\melodic\x64\lib\site-packages\vcstool\commands\command.py", line 6, in <module> from vcstool.executor import execute_jobs File "C:\opt\ros\melodic\x64\lib\site-packages\vcstool\executor.py", line 31 file=stdout) SyntaxError: invalid syntax