has no member named ‘getIdentityPose’

[CesMak]

Hey there,

• Ubuntu 18.04
• Melodic

building moveit_grasps fails for me with this error:

Errors     << moveit_grasps:make /home/mlamprecht/Desktop/melodic_ws/logs/moveit_grasps/build.make.003.log                                 
In file included from /home/mlamprecht/Desktop/melodic_ws/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:46:0:
/home/mlamprecht/Desktop/melodic_ws/src/moveit_grasps/include/moveit_grasps/grasp_generator.h: In member function ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’:
/home/mlamprecht/Desktop/melodic_ws/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:426:53: warning: ‘void moveit_grasps::GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>&)’ is deprecated: setIdealGraspPoseRPY has been renamed to setIdealTCPGraspPoseRPY [-Wdeprecated-declarations]
     setIdealGraspPoseRPY(ideal_grasp_orientation_rpy);
                                                     ^
/home/mlamprecht/Desktop/melodic_ws/src/moveit_grasps/include/moveit_grasps/grasp_generator.h:424:3: note: declared here
   setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
   ^~~~~~~~~~~~~~~~~~~~
/home/mlamprecht/Desktop/melodic_ws/src/moveit_grasps/src/demo/grasp_generator_demo.cpp: In constructor ‘moveit_grasps::GraspGeneratorDemo::GraspGeneratorDemo(int)’:
/home/mlamprecht/Desktop/melodic_ws/src/moveit_grasps/src/demo/grasp_generator_demo.cpp:156:49: error: ‘using element_type = class moveit_visual_tools::MoveItVisualTools {aka class moveit_visual_tools::MoveItVisualTools}’ has no member named ‘getIdentityPose’
       geometry_msgs::Pose pose = visual_tools_->getIdentityPose();

Any ideas what is going wrong here?

[Dale-Koenig]

Use melodic-devel for MoveitVisualTools and it should fix the problem. The melodic branches of various moveit repos should work together, and the master branches should all work together, but mixing and matching isn't guaranteed to work.

[karolyartur]

Hi!

• OS Version: Ubuntu 18.04.4 LTS
• ROS Distro: Melodic

The same error appears for me as well, when I try to build moveit_grasps from source, even though I am on the melodic-devel branch of both moveit_grasps and MoveitVisualTools.

I also tried with using the master branches for both, but I get the same error.

[Dale-Koenig]

Apologies, it is rviz_visual_tools, not moveit_visual_tools that matters.

[karolyartur]

I tried building moveit_grasps again while all three (moveit_grasps, rviz_visual_tools and moveit_visual_tools) packages are at their melodic-devel branch, but I still get the same error.

On rviz_visual_tools I am at commit 0c78ae2c (3.8.0 release) On moveit_visual_tools at commit f6388b and on moveit_grasps at bdbc78

I also tried with all the packages at master branch, but it still gives the same error.

[Dale-Koenig]

It seems getIdentityPose was added to rviz_visual_tools right after the 3.8.0 release, so perhaps the change to use that function should not have been applied to melodic_devel of moveit_grasps. So at the moment, it may be best to have rviz_visual_tools on the master branch even with melodic build of moveit_grasps.

However, with both on master branch it works (and builds successfully in CI). It is possible you are somehow not linking to the right copy of rviz_visual_tools, i.e. perhaps you are linking to the version in your ros install instead of the version built from source.

[karolyartur]

Thank you!

Using the master branch of rviz_visual_tools and the melodic-devel branch of moveit_grasps works for me.

[Reaper151]

I already use master branch of rviz_visual_tools and the melodic-devel branch of moveit_grasps as this reply but I still get this error. PS. my 'rviz_visual_tools' is 3.8.0-4bionic.20200320.161551 and moveit_grasps is from zip file of melodic-devel

Thank you!

Using the master branch of rviz_visual_tools and the melodic-devel branch of moveit_grasps works for me.

[cedre26]

Hello! I have been running in the exact same problem. However, I am new to ROS and I do not understand how to link to the source version instead of the one installed in /opt/ros. If changes are necessary in the CMakeLists, what should they be?

perhaps you are linking to the version in your ros install instead of the version built from source.

[Dale-Koenig]

I already use master branch of rviz_visual_tools and the melodic-devel branch of moveit_grasps as this reply but I still get this error. PS. my 'rviz_visual_tools' is 3.8.0-4bionic.20200320.161551 and moveit_grasps is from zip file of melodic-devel

Thank you! Using the master branch of rviz_visual_tools and the melodic-devel branch of moveit_grasps works for me.

You may have to use both rviz_visual_tools and moveit_visual_tools from source, since if you only use the former from source, the latter will still reference the released version of rviz_visual_tools.

[ZinnerC]

Hello. I currently have the same problem. I use the following build from source:

• moveit_visual_tools (melodic-devel)
• rviz_visual_tools (master)
• moveit_grasps (master)

If I do "catkin build moveit_graps", the following packages get built (panda_moveit_config, rviz_visual_tools, moveit_visual_tools, moveit_grasps) during the build of "moveit_grasps" i get the error "has no member named ‘getIdentityPose' "

Same error occures also for moveit_grasps on melodic-devel of the rest stays the same.

If I switch with moveit_visual_tools to melodic_devel the single build does not even work. Giving the error ‘solidPrimitiveDimCount’ is not a member of ‘geometric_shapes’

What was the solution for the other before me? Thanks for you help.

[felixvd]

Are you building the rest of MoveIt from source as well?

On Thu, Jan 7, 2021 at 19:05 ZinnerC [email protected] wrote:

Hello. I currently have the same problem. I use the following build from source:

• moveit_visual_tools (melodic-devel)
• rviz_visual_tools (master)
• moveit_grasps (master)

If I do "catkin build moveit_graps", the following packages get built (panda_moveit_config, rviz_visual_tools, moveit_visual_tools, moveit_grasps) during the build of "moveit_grasps" i get the error "has no member named ‘getIdentityPose' "

Same error occures also for moveit_grasps on melodic-devel of the rest stays the same.

If I switch with moveit_visual_tools to melodic_devel the single build does not even work. Giving the error ‘solidPrimitiveDimCount’ is not a member of ‘geometric_shapes’

What was the solution for the other before me? Thanks for you help.

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[ZinnerC]

Hello felixvd. No I used "sudo apt install ros-melodic-moveit". Should I? And if yes which branch should I use to build it from source? Thanks for you help.

[ZinnerC]

So for everybody who will have a similar issue. the following repositories on the respecitve branches worked to build "moveit_grasps"

• moveit (melodic-devel)
• moveit_msgs (melodic-devel)
• moveit_grasps (melodic-devel)
• moveit_visual_tools (melodic-devel)
• rviz_visual_tools (master)
• geometric_shapes (melodic-devel)

[Tuebel]

I ran into this issue, too. Indeed, building moveit from source was the key to success. Right now using melodic-devel for all the packages seems to work.

Make sure to uninstall ros-melodic-moveit from your system to prevent linking to the wrong version.

[felixvd]

So for everybody who will have a similar issue. the following repositories on the respecitve branches worked to build "moveit_grasps"

Sorry for the late response. If you follow the build instructions, those dependencies are cloned into your workspace automatically using wstool and the .rosinstall file.

Also, you don't need to uninstall ros-melodic-moveit from your system to use moveit as built from source. Just make sure to source your workspace's setup.bash (cd your_catkin_ws && source devel/setup.bash) and check with rospack list | grep moveit that the links point to your workspace and not /opt/ros/....