SofaROSConnector ROS-melodic with SOFA in Linux 18.04 (Plugin Installation Problem)

Hey guys @faichele @guparan @hugtalbot,

I was working on the control solution of a soft-robot in SOFA using RL (from python3). Well, since SofaPython3 is a WIP so I thought maybe I can try to find a work around by using ros as a middleware for communication b/w my python script and Sofa simulation of a soft robot. I built SOFA from the source and after that I was trying to build the SofaROSConnector plugin to run my simulation. I followed the exact procedure from here (https://www.sofa-framework.org/community/doc/getting-started/build/linux/) and here (https://github.com/sofa-framework/SofaROSConnector). We fixed a few things like all the paths in ZyROSConnector/CMakeLists.txt, added a variable CMAKE_MODULE_PATH= $HOME/sofa/src/applications/plugins/SofaROSConnector/cmake/Modules, and changed SofaROSConnector CmakeList since sofa_create_package is called with wrong arguments.

After all this, it still does not work and the error we got is: Adding application runSofa Write Plugin list at /home/my-machine/sofa/build/lib/plugin_list.conf.default Configuring done CMake Error: install(EXPORT "SoftRobotsTargets" ...) includes target "SoftRobots" which requires target "ZyROSConnector" that is not in any export set. CMake Error: install(EXPORT "SoftRobotsTargets" ...) includes target "SoftRobots" which requires target "ZyROSConnectionManager" that is not in any export set.

I have no idea how to fix it. Thank you for your help! and I really appreciate your work.

Feb 12 '21 18:02 Sunny-Nazeer

dear @Sunny-Nazeer Thank you for your message. SofaPython3 is no WIP project any more: the v20.12 release of SOFA is now properly working with the plugin (thanks to the tremendous work of @guparan @jnbrunet)

@Sunny-Nazeer have you looked in the CMakeLists of other projects like Cosserat? Their CMake files are up-to-date with SOFA. Would you also consider PRing your fixes for ROSConnector? It would a nice contribution!

@faichele would you be available for an upgrade of your nice ROSConnector plugin compatible with the v20.12 release of SOFA? Few issues were noticed like here on the forum.

Best, Hugo

Feb 15 '21 21:02 hugtalbot

Dear @hugtalbot Thank you so much for getting back to me. It is actually great news regarding the SofaPython3 plugin. I wonder if with this plugin it is possible to call sofa simulation within the python3 framework to make it work with current reinforcement learning algorithms. I mean if it is possible to create instants of the sofa simulation and run them based on the actions selected by an RL agent then it would be an incredible win for everyone working in the field of soft robotics control. If it can be done then I'll work on creating some sofa projects compatible with openai gym.

Other than that, (me and my colleague Ugo Albanese) worked on a few fixes of SofaROSConnector and we will like to bring those changes here as soon as we fix that last error I reported. I am waiting for @faichele to get back to me for that.

@hugtalbot thank you for your help anyway. Best,

Feb 16 '21 17:02 Sunny-Nazeer

This is the whole thing I get once I configure and generate in cmake and after this error, once generating is done, there is an additional notification that "Error in generation, project files may be invalid".

Install prefix: /home/my-system/sofa/build/install CMake Deprecation Warning at CMakeLists.txt:221 (message): Deprecated components are activated (SOFA_WITH_DEPRECATED_COMPONENTS variable is ON)

Found Boost: /usr/include (found version "1.65.1") found components: system filesystem program_options thread chrono date_time atomic Adding module SofaSimpleFem Adding module SofaRigid Adding module SofaDeformable Adding module SofaObjectInteraction Adding module SofaMeshCollision Adding module SofaEngine Adding module SofaExplicitOdeSolver Adding module SofaImplicitOdeSolver Adding module SofaLoader Adding module SofaGeneralVisual Adding module SofaGraphComponent Adding module SofaGeneralMeshCollision Adding module SofaBoundaryCondition Adding module SofaGeneralAnimationLoop Adding module SofaGeneralDeformable Adding module SofaGeneralEngine Adding module SofaGeneralExplicitOdeSolver Adding module SofaGeneralImplicitOdeSolver Adding module SofaGeneralLinearSolver Adding module SofaGeneralRigid Adding module SofaGeneralObjectInteraction Adding module SofaGeneralSimpleFem Adding module SofaGeneralTopology Adding module SofaTopologyMapping Adding module SofaUserInteraction Adding module SofaConstraint Adding module SofaGeneralLoader Adding module SofaSparseSolver SofaSparseSolver: using built-in metis library Adding module SofaPreconditioner Adding module SofaHaptics Adding module SofaValidation Adding module SofaDenseSolver Adding module SofaNonUniformFem Adding module SofaOpenglVisual Adding module SofaMiscTopology Adding module SofaMiscExtra Adding module SofaMiscForceField Adding module SofaMiscEngine Adding module SofaMiscSolver Adding module SofaMiscFem Adding module SofaMiscMapping SofaGuiQt: Qt5Charts not found. No chart nor Profile will be compiled SofaGuiQt: QtCharts not found, SofaWindowProfiler will not be built. SofaGuiQt: Qt5WebEngine not found, QDocBrowser will not be built. Adding plugin SofaPython Adding module SofaExporter Adding collection SofaComponentAll CMake Deprecation Warning at /home/my-system/sofa/build/cmake/SofaCommonConfig.cmake:33 (message): SofaCommon is deprecated. You must now explicitely find (find_package) and link (target_link_library) the modules you need within: SofaSimpleFem;SofaRigid;SofaDeformable;SofaObjectInteraction;SofaMeshCollision;SofaEngine;SofaExplicitOdeSolver;SofaImplicitOdeSolver;SofaLoader Call Stack (most recent call first): applications/collections/SofaComponentAll/CMakeLists.txt:5 (find_package)

CMake Deprecation Warning at /home/my-system/sofa/build/cmake/SofaGeneralConfig.cmake:33 (message): SofaGeneral is deprecated. You must now explicitely find (find_package) and link (target_link_library) the modules you need within: SofaBoundaryCondition;SofaGeneralMeshCollision;SofaGeneralVisual;SofaGraphComponent;SofaGeneralAnimationLoop;SofaGeneralDeformable;SofaGeneralEngine;SofaGeneralExplicitOdeSolver;SofaGeneralImplicitOdeSolver;SofaGeneralLinearSolver;SofaGeneralRigid;SofaGeneralObjectInteraction;SofaGeneralSimpleFem;SofaGeneralTopology;SofaTopologyMapping;SofaUserInteraction;SofaConstraint;SofaGeneralLoader Call Stack (most recent call first): applications/collections/SofaComponentAll/CMakeLists.txt:6 (find_package)

CMake Deprecation Warning at /home/my-system/sofa/build/cmake/SofaMiscConfig.cmake:33 (message): SofaMisc is deprecated. You must now explicitely find (find_package) and link (target_link_library) the modules you need within: SofaMiscExtra;SofaMiscEngine;SofaMiscFem;SofaMiscForceField;SofaMiscMapping;SofaMiscSolver;SofaMiscTopology Call Stack (most recent call first): applications/collections/SofaComponentAll/CMakeLists.txt:7 (find_package)

SofaTest: optional dependency SofaPython found, Python_test will be built Adding plugin CImgPlugin CImgPlugin: TIFF Image Format enabled CImgPlugin: JPEG Image Format enabled CImgPlugin: PNG Image Format enabled Adding plugin SofaMiscCollision SofaMiscModule: build all maintained sofa components. SofaMiscCollision: optional dependency SofaSphFluid not found de-activing: <SpatialGridPointModel> Adding plugin STLIB Install prefix: /home/my-system/sofa/build/install -- Found SofaPython Adding plugin SoftRobots Install prefix: /home/my-system/sofa/build/install CMake Deprecation Warning at /home/my-system/sofa/build/cmake/SofaCommonConfig.cmake:33 (message): SofaCommon is deprecated. You must now explicitely find (find_package) and link (target_link_library) the modules you need within: SofaSimpleFem;SofaRigid;SofaDeformable;SofaObjectInteraction;SofaMeshCollision;SofaEngine;SofaExplicitOdeSolver;SofaImplicitOdeSolver;SofaLoader Call Stack (most recent call first): applications/plugins/SoftRobots/CMakeLists.txt:7 (find_package)

CMake Deprecation Warning at /home/my-system/sofa/build/cmake/SofaMiscConfig.cmake:33 (message): SofaMisc is deprecated. You must now explicitely find (find_package) and link (target_link_library) the modules you need within: SofaMiscExtra;SofaMiscEngine;SofaMiscFem;SofaMiscForceField;SofaMiscMapping;SofaMiscSolver;SofaMiscTopology Call Stack (most recent call first): applications/plugins/SoftRobots/CMakeLists.txt:8 (find_package)

-- Found dependency : 'STLIB' plugin . ZyROSConnector plugin is part of the SOFA build, adding SoftRobots bindings. CMake Warning (dev) at applications/plugins/SoftRobots/CMakeLists.txt:191 (find_package): Policy CMP0074 is not set: find_package uses <PackageName>_ROOT variables. Run "cmake --help-policy CMP0074" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

CMake variable ROS_ROOT is set to:

/opt/ros/melodic

Environment variable ROS_ROOT is set to:

/opt/ros/melodic/share/ros

For compatibility, CMake is ignoring the variable. This warning is for project developers. Use -Wno-dev to suppress it.

REAL_ROS_ROOT: /opt/ros/melodic ROS_ROOT: /opt/ros/melodic Looking for ROS configuration under: /opt/ros/melodic CMake Warning (dev) at applications/plugins/SofaROSConnector/cmake/Modules/FindROS.cmake:116 (set): implicitly converting 'FILE' to 'STRING' type. Call Stack (most recent call first): applications/plugins/SoftRobots/CMakeLists.txt:191 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

Looking for ROS configuration: /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake rospack: /opt/ros/melodic/bin/rospack CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:7 (cmake_policy): The OLD behavior for policy CMP0011 will be removed from a future version of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): applications/plugins/SofaROSConnector/cmake/Modules/FindROS.cmake:125 (include) applications/plugins/SoftRobots/CMakeLists.txt:191 (find_package)

CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:16 (cmake_policy): The OLD behavior for policy CMP0002 will be removed from a future version of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): applications/plugins/SofaROSConnector/cmake/Modules/FindROS.cmake:125 (include) applications/plugins/SoftRobots/CMakeLists.txt:191 (find_package)

CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:18 (cmake_policy): The OLD behavior for policy CMP0003 will be removed from a future version of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): applications/plugins/SofaROSConnector/cmake/Modules/FindROS.cmake:125 (include) applications/plugins/SoftRobots/CMakeLists.txt:191 (find_package)

CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:20 (cmake_policy): The OLD behavior for policy CMP0005 will be removed from a future version of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): applications/plugins/SofaROSConnector/cmake/Modules/FindROS.cmake:125 (include) applications/plugins/SoftRobots/CMakeLists.txt:191 (find_package)

CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:23 (cmake_policy): The OLD behavior for policy CMP0011 will be removed from a future version of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): applications/plugins/SofaROSConnector/cmake/Modules/FindROS.cmake:125 (include) applications/plugins/SoftRobots/CMakeLists.txt:191 (find_package)

ROS libraries: roslib -- /opt/ros/melodic/lib/libroslib.so; roscpp -- /opt/ros/melodic/lib/libroscpp.so; cpp_common -- /opt/ros/melodic/lib/libcpp_common.so; rostime -- /opt/ros/melodic/lib/librostime.so; rosconsole -- /opt/ros/melodic/lib/librosconsole.so ROS_CONFIG: /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake ROS found: True ROS found: True Found log4cxx: /usr/lib/x86_64-linux-gnu/liblog4cxx.so CMake Warning at SofaKernel/SofaFramework/SofaMacrosInstall.cmake:1041 (message): Deprecated macro. Use 'sofa_create_package_with_targets' instead. Call Stack (most recent call first): applications/plugins/SoftRobots/CMakeLists.txt:275 (sofa_generate_package)

Adding plugin ZyROSConnector Adding SofaROSConnector plugins. ZyColladaLoader: Using Qt5 Found Boost: /usr/include (found version "1.65.1") found components: regex ZyColladaLoader: could not find Flexible ZyColladaLoader: could not find image Generating ROS message and service type header files. Adding define switch for ZY_ROS_CONNECTOR_GENERATE_FACTORY_METHODS Calling list_ros_message_types.sh with arguments: "ON" "/home/my-system/sofa/build/applications/plugins/SofaROSConnector/ZyROSConnector" "/opt/ros/melodic/share/ros" "melodic" INFO:root:===========================================================

INFO:root:ROS message and service type file generation starting HERE.

INFO:root:===========================================================

INFO:root:Arguments: generate_factory_methods=True, base_directory=/home/my-system/sofa/build/applications/plugins/SofaROSConnector/ZyROSConnector

INFO:main:Starting auto-generation of ROS message bindings.

INFO:ROSBindingGenerator:Generating ROS message binding sources. Message definitions passed: 264

INFO:ROSBindingGenerator:Factory methods generation set to: True

INFO:ROSBindingGenerator:Generating ROS message binding sources. Message definitions passed: 264

INFO:ROSBindingGenerator:Writing header file for messages to: /home/my-system/sofa/build/applications/plugins/SofaROSConnector/ZyROSConnector/ZyROS_MessageType_Instantiations_Subscribers.h

INFO:ROSBindingGenerator:Writing CPP file for messages to : /home/my-system/sofa/build/applications/plugins/SofaROSConnector/ZyROSConnector/ZyROSConnectorTopicSubscriber.cpp

INFO:ROSBindingGenerator:Generating ROS message binding sources. Message definitions passed: 264

INFO:ROSBindingGenerator:Writing message publisher header file to : /home/my-system/sofa/build/applications/plugins/SofaROSConnector/ZyROSConnector/ZyROS_MessageType_Instantiations_Publishers.h

INFO:ROSBindingGenerator:Writing message publisher CPP file for to: /home/my-system/sofa/build/applications/plugins/SofaROSConnector/ZyROSConnector/ZyROSConnectorTopicPublisher.cpp

INFO:main:Starting auto-generation of ROS service bindings.

INFO:ROSBindingGenerator:Generating ROS service binding sources. Service definitions passed: 77

INFO:ROSBindingGenerator:Factory methods generation set to: True

INFO:ROSBindingGenerator:Generating ROS message binding sources. Message definitions passed: 77

INFO:ROSBindingGenerator:Writing header file for services: /home/my-system/sofa/build/applications/plugins/SofaROSConnector/ZyROSConnector/ZyROS_ServiceType_Client_Instantiations.h

INFO:ROSBindingGenerator:Writing CPP file for services to: /home/my-system/sofa/build/applications/plugins/SofaROSConnector/ZyROSConnector/ZyROSConnectorServiceClient.cpp

INFO:ROSBindingGenerator:Writing CPP file for service servers: /home/my-system/sofa/build/applications/plugins/SofaROSConnector/ZyROSConnector/ZyROSConnectorServiceClient.cpp

CMake Warning (dev) at applications/plugins/SofaROSConnector/ZyROSConnector/CMakeLists.txt:68 (find_package): Policy CMP0074 is not set: find_package uses <PackageName>_ROOT variables. Run "cmake --help-policy CMP0074" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

CMake variable ROS_ROOT is set to:

/opt/ros/melodic

Environment variable ROS_ROOT is set to:

/opt/ros/melodic/share/ros

For compatibility, CMake is ignoring the variable. This warning is for project developers. Use -Wno-dev to suppress it.

REAL_ROS_ROOT: /opt/ros/melodic ROS_ROOT: /opt/ros/melodic Looking for ROS configuration under: /opt/ros/melodic CMake Warning (dev) at applications/plugins/SofaROSConnector/cmake/Modules/FindROS.cmake:116 (set): implicitly converting 'FILE' to 'STRING' type. Call Stack (most recent call first): applications/plugins/SofaROSConnector/ZyROSConnector/CMakeLists.txt:68 (find_package) This warning is for project developers. Use -Wno-dev to suppress it.

Looking for ROS configuration: /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake rospack: /opt/ros/melodic/bin/rospack CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:7 (cmake_policy): The OLD behavior for policy CMP0011 will be removed from a future version of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all policies are deprecated and that a policy should be set to OLD only under specific short-term circumstances. Projects should be ported to the NEW behavior and not rely on setting a policy to OLD. Call Stack (most recent call first): applications/plugins/SofaROSConnector/cmake/Modules/FindROS.cmake:125 (include) applications/plugins/SofaROSConnector/ZyROSConnector/CMakeLists.txt:68 (find_package)