UR5-with-Robotiq-Gripper-and-Kinect
UR5-with-Robotiq-Gripper-and-Kinect copied to clipboard
Published
20 hours ago •
philwall3
philwall3
Cannot build; dependencies unclear
I found this repository from this thread. I cloned it into a clean workspace but sadly I cannot build it. It seems that there are some undeclared dependencies, but I am not sure if something else is going wrong, too.
Until now, I did this:
- Add this openni_camera package
- Install the modbus drivers as described here, via
easy_install -U pymodbus - Comment "catkin_python_setup()" in robotiq_85_gripper-master/robotiq_85_driver/CMakeLists.txt
- Add
add_definitions (-std=c++11)to robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/CMakeLists.txt
But I am still getting a significant amount of errors:
Errors << robotiq_2f_hw_usb:cmake /root/catkin_ws/logs/robotiq_2f_hw_usb/build.cmake.007.log
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'modbus' but neither 'modbus_INCLUDE_DIRS' nor
'modbus_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:93 (catkin_package)
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
MODBUS_INCLUDE_DIR (ADVANCED)
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
used as include directory in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
MODBUS_LIBRARIES (ADVANCED)
linked by target "robotiq_2f_hw_usb_node" in directory /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb
cd /root/catkin_ws/build/robotiq_2f_hw_usb; catkin build --get-env robotiq_2f_hw_usb | catkin env -si /usr/bin/cmake /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_2f_hw_usb --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/root/catkin_ws/devel/.private/robotiq_2f_hw_usb -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install; cd -
Failed << robotiq_2f_hw_usb:cmake [ Exited with code 1 ]
Failed <<< robotiq_2f_hw_usb [ 1.1 seconds ]
Abandoned <<< common_sensors [ Unrelated job failed ]
Abandoned <<< robotiq_85_bringup [ Unrelated job failed ]
Abandoned <<< ur_driver [ Unrelated job failed ]
Abandoned <<< ur_modern_driver [ Unrelated job failed ]
Abandoned <<< robotiq_c_model_control [ Unrelated job failed ]
Abandoned <<< robotiq_action_server [ Unrelated job failed ]
Abandoned <<< robotiq_s_model_control [ Unrelated job failed ]
Abandoned <<< robotiq_joint_state_publisher [ Unrelated job failed ]
Abandoned <<< ur_bringup [ Unrelated job failed ]
Errors << ur_kinematics:make /root/catkin_ws/logs/ur_kinematics/build.make.007.log
In file included from /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/universal_robot-indigo-devel/ur_kinematics/src/ur_moveit_plugin.cpp:88:0:
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/universal_robot-indigo-devel/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:89:48: fatal error: moveit_msgs/GetKinematicSolverInfo.h: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/ur10_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/ur10_moveit_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/universal_robot-indigo-devel/ur_kinematics/src/ur_moveit_plugin.cpp:88:0:
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/universal_robot-indigo-devel/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h:89:48: fatal error: moveit_msgs/GetKinematicSolverInfo.h: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/ur5_moveit_plugin.dir/src/ur_moveit_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/ur5_moveit_plugin.dir/all] Error 2
make: *** [all] Error 2
cd /root/catkin_ws/build/ur_kinematics; catkin build --get-env ur_kinematics | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
Failed << ur_kinematics:make [ Exited with code 2 ]
Failed <<< ur_kinematics [ 1.3 seconds ]
[build - 2.8] [30/44 complete] [6/8 jobs] [0 queued] [2 failed] [ur5_moveit_config:cmake - 0.4] [roboticsgroup_gazebo_plugins:make (50%) - 2.5] [robotiq_ethercat:make (50%) - 0.7] [ur3_moveit_config:cmake - 0.5] [ur_gazebo:loadenv - ...
Errors << robotiq_ethercat:make /root/catkin_ws/logs/robotiq_ethercat/build.make.003.log
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq-new_2_finger_models/robotiq_ethercat/src/ethercat_manager.cpp:10:26: fatal error: ethercattype.h: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/robotiq_ethercat.dir/src/ethercat_manager.cpp.o] Error 1
make[1]: *** [CMakeFiles/robotiq_ethercat.dir/all] Error 2
make: *** [all] Error 2
cd /root/catkin_ws/build/robotiq_ethercat; catkin build --get-env robotiq_ethercat | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
Failed << robotiq_ethercat:make [ Exited with code 2 ]
Failed <<< robotiq_ethercat [ 0.8 seconds ]
[build - 2.9] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.5] [roboticsgroup_gazeb[build - 3.0] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.6] [roboticsgroup_gazeb[build - 3.1] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.7] [roboticsgroup_gazeb[build - 3.2] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.8] [roboticsgroup_gazeb[build - 3.3] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 0.9] [roboticsgroup_gazeb[build - 3.4] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.0] [roboticsgroup_gazeb[build - 3.5] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.1] [roboticsgroup_gazeb[build - 3.6] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.2] [roboticsgroup_gazeb[build - 3.7] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.3] [roboticsgroup_gazeb[build - 3.8] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.4] [roboticsgroup_gazeb[build - 3.9] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.5] [roboticsgroup_gazeb[build - 4.0] [31/44 complete] [5/8 jobs] [0 queued] [3 failed] [ur5_moveit_config:cmake - 1.6] [roboticsgroup_gazebFinished <<< ur3_moveit_config [ 1.8 seconds ]e - ...
Finished <<< ur5_moveit_config [ 1.7 seconds ]
[build - 4.1] [33/44 complete] [3/8 jobs] [0 queued] [3 failed] [roboticsgroup_gazebo_plugins:make (50%) - 3.8] [ur_[build - 4.2] [33/44 complete] [3/8 jobs] [0 queued] [3 failed] [roboticsgroup_gazebo_plugins:make (50%) - 3.9] [ur_[build - 4.3] [33/44 complete] [3/8 jobs] [0 queued] [3 failed] [roboticsgroup_gazebo_plugins:make (50%) - 4.0] [ur_Finished <<< ur_gazebo [ 1.6 seconds ]
[build - 6.3] [34/44 complete] [1/8 jobs] [0 queued] [3 failed] [roboticsgroup_gazebo_plugins:make (75%) - ...
Errors << roboticsgroup_gazebo_plugins:make /root/catkin_ws/logs/roboticsgroup_gazebo_plugins/build.make.007.log
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp: In member function 'virtual void gazebo::MimicJointPlugin::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)':
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp:142:19: error: 'class gazebo::physics::Joint' has no member named 'SetMaxForce'
mimic_joint_->SetMaxForce(0,max_effort_);
^
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp: In member function 'void gazebo::MimicJointPlugin::UpdateChild()':
/root/catkin_ws/src/UR5-with-Robotiq-Gripper-and-Kinect/robotiq_85_gripper-master/robotiq_85_simulation/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp:168:21: error: 'class gazebo::physics::Joint' has no member named 'SetAngle'
mimic_joint_->SetAngle(0, math::Angle(angle));
^
make[2]: *** [CMakeFiles/roboticsgroup_gazebo_mimic_joint_plugin.dir/src/mimic_joint_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/roboticsgroup_gazebo_mimic_joint_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2
cd /root/catkin_ws/build/roboticsgroup_gazebo_plugins; catkin build --get-env roboticsgroup_gazebo_plugins | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
Failed << roboticsgroup_gazebo_plugins:make [ Exited with code 2 ]
Failed <<< roboticsgroup_gazebo_plugins [ 6.1 seconds ]
[build] Summary: 31 of 44 packages succeeded.
[build] Ignored: 4 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: 9 packages were abandoned.
[build] Failed: 4 packages failed.
Is this supposed to run on a fresh system with kinetic? What else could I be missing?
I didn't try it further with this repository, but I succeeded with the Gazebo tutorial and this gripper package.
Sadly I don't have access to the PC that I was working on anymore. It had a lot of stuff preinstalled and was running Indigo. Those are some packages I found on my old VirtualBox. Maybe try those? https://github.com/HumaRobotics/modbus https://github.com/OpenEtherCATsociety/SOEM
edit: I have also seen that there was some information in the CMakeLists missing. I added those.
