Building problem: Failed <<< moveit_ros_planning

[Llavrih]

Description

---

I'm tying to source build moveit2 form main branch but getting error:

Starting >>> moveit_common Starting >>> moveit_resources_panda_description Starting >>> moveit_resources_fanuc_description Starting >>> controller_manager_msgs Starting >>> moveit_configs_utils Starting >>> ros2_control_test_assets Starting >>> moveit_resources_pr2_description Starting >>> moveit_resources_prbt_support Finished <<< moveit_common [0.83s] Starting >>> joint_limits Finished <<< moveit_resources_prbt_support [0.82s] Starting >>> rls_6_robot_description_test Finished <<< moveit_resources_panda_description [1.25s] Starting >>> moveit_resources_panda_moveit_config stderr: moveit_configs_utils /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn(

Finished <<< moveit_configs_utils [1.29s] Finished <<< moveit_resources_fanuc_description [1.35s] Starting >>> moveit_resources_fanuc_moveit_config Finished <<< ros2_control_test_assets [1.40s] Starting >>> hardware_interface Finished <<< moveit_resources_pr2_description [1.50s] Finished <<< moveit_resources_panda_moveit_config [0.96s] Starting >>> moveit_core Finished <<< moveit_resources_fanuc_moveit_config [0.95s] Starting >>> moveit_resources Finished <<< rls_6_robot_description_test [1.66s] Finished <<< moveit_resources [0.96s] [Processing: controller_manager_msgs, hardware_interface, joint_limits, moveit_core] Finished <<< controller_manager_msgs [42.4s] Finished <<< joint_limits [44.6s] Finished <<< hardware_interface [1min 10s] Starting >>> controller_interface Starting >>> transmission_interface [Processing: controller_interface, moveit_core, transmission_interface] Finished <<< controller_interface [36.8s] Starting >>> controller_manager Finished <<< transmission_interface [45.1s] [Processing: controller_manager, moveit_core] [Processing: controller_manager, moveit_core] stderr: controller_manager /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn(

Finished <<< controller_manager [1min 18s] Starting >>> ros2controlcli stderr: ros2controlcli /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn(

Finished <<< ros2controlcli [0.89s] Starting >>> ros2_control Finished <<< ros2_control [0.64s] [Processing: moveit_core] [Processing: moveit_core] [Processing: moveit_core] Finished <<< moveit_core [4min 51s] Starting >>> moveit_ros_occupancy_map_monitor Starting >>> moveit_simple_controller_manager Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin Starting >>> chomp_motion_planner Starting >>> pilz_industrial_motion_planner_testutils [Processing: chomp_motion_planner, moveit_resources_prbt_ikfast_manipulator_plugin, moveit_ros_occupancy_map_monitor, moveit_simple_controller_manager, pilz_industrial_motion_planner_testutils] Finished <<< moveit_simple_controller_manager [32.5s] Starting >>> moveit_plugins Starting >>> moveit_ros_control_interface Finished <<< moveit_plugins [0.70s] Finished <<< pilz_industrial_motion_planner_testutils [37.8s] Finished <<< chomp_motion_planner [47.5s] Starting >>> moveit_chomp_optimizer_adapter Starting >>> moveit_planners_chomp Finished <<< moveit_resources_prbt_ikfast_manipulator_plugin [52.4s] Finished <<< moveit_ros_occupancy_map_monitor [57.5s] Starting >>> moveit_ros_planning Finished <<< moveit_chomp_optimizer_adapter [13.1s] Finished <<< moveit_ros_control_interface [29.2s] Finished <<< moveit_planners_chomp [26.7s] [Processing: moveit_ros_planning] [Processing: moveit_ros_planning] [Processing: moveit_ros_planning] stderr: moveit_ros_planning /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)' /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)' collect2: error: ld returned 1 exit status gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_print_planning_scene_info.dir/build.make:318: planning_components_tools/moveit_print_planning_scene_info] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:930: planning_components_tools/CMakeFiles/moveit_print_planning_scene_info.dir/all] Error 2 gmake[1]: *** Waiting for unfinished jobs.... /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)' /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)' collect2: error: ld returned 1 exit status gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_evaluate_collision_checking_speed.dir/build.make:318: planning_components_tools/moveit_evaluate_collision_checking_speed] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:1020: planning_components_tools/CMakeFiles/moveit_evaluate_collision_checking_speed.dir/all] Error 2 /usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)' /usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)' collect2: error: ld returned 1 exit status gmake[2]: *** [planning_scene_monitor/CMakeFiles/current_state_monitor_tests.dir/build.make:320: planning_scene_monitor/current_state_monitor_tests] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:788: planning_scene_monitor/CMakeFiles/current_state_monitor_tests.dir/all] Error 2 /usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)' /usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)' collect2: error: ld returned 1 exit status gmake[2]: *** [planning_scene_monitor/CMakeFiles/trajectory_monitor_tests.dir/build.make:320: planning_scene_monitor/trajectory_monitor_tests] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:820: planning_scene_monitor/CMakeFiles/trajectory_monitor_tests.dir/all] Error 2 /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)' /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)' collect2: error: ld returned 1 exit status gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_visualize_robot_collision_volume.dir/build.make:319: planning_components_tools/moveit_visualize_robot_collision_volume] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:990: planning_components_tools/CMakeFiles/moveit_visualize_robot_collision_volume.dir/all] Error 2 /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)' /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)' collect2: error: ld returned 1 exit status gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_display_random_state.dir/build.make:318: planning_components_tools/moveit_display_random_state] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:960: planning_components_tools/CMakeFiles/moveit_display_random_state.dir/all] Error 2 /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)' /usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.1: undefined reference to planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)' collect2: error: ld returned 1 exit status gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_publish_scene_from_text.dir/build.make:318: planning_components_tools/moveit_publish_scene_from_text] Error 1 gmake[1]: *** [CMakeFiles/Makefile2:1050: planning_components_tools/CMakeFiles/moveit_publish_scene_from_text.dir/all] Error 2 gmake: *** [Makefile:146: all] Error 2

Failed <<< moveit_ros_planning [1min 52s, exited with code 2]

Summary: 29 packages finished [7min 43s] 1 package failed: moveit_ros_planning 4 packages had stderr output: controller_manager moveit_configs_utils moveit_ros_planning ros2controlcli 24 packages not processed

I also have a question if binary build will be ready for humble anytime soon?

Your environment

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• ROS Distro: Humble
• OS Version: e.g. Ubuntu 22.04
• Source build
• branch main

Steps to reproduce

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Following steps https://moveit.ros.org/install-moveit2/source/ for ros humble source build, using branch main (branch humble does not have right form of launch files for msa -> the pkg I want to use).

[rcywongaa]

Possible duplicate of https://github.com/ros-planning/moveit2/issues/1465 or https://github.com/ros-planning/moveit2/issues/1476, make sure you have the most up to date humble branch and clean build

[henningkayser]

Weeding out old issues. I'm pretty sure that this has been fixed for a while, the linked issues have been closed as well. Please reopen or comment if you think this hasn't been addressed yet.