I cannot install UR ROS driver on ROS Noetic 20.04 #432
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build issue
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A solution has been proposed inside the issue. Waiting for user feedback.
Comments
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First of all, |
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I do encounter the very same problem. I've overcome it once, so i got it build on my system already (in another workspace), but I do not know why, its odd. On my side the problem seams to be raised by 'ur_kinematics' as well, but I believe there is some more to it. That is why I choosed to stay inside this issue for now, but I might not read the output the right way. Here it is:
( I've followed the install instructions inside the Readme.md)
$ source /opt/ros/noetic/setup.bash
$ mkdir -p workspace_ur/src
$ cd workspace_ur
$ git clone https://github.com/UniversalRobots/Universal_Robots_ROS_Driver.git src/Universal_Robots_ROS_Driver
$ git clone -b calibration_devel https://github.com/fmauch/universal_robot.git src/fmauch_universal_robot
$ sudo apt update -qq && rosdep update
$ rosdep install --from-paths src --ignore-src -y
( #All required rosdeps installed successfully )
$ catkin_makeBase path: /home/finn/workspace_ur
Source space: /home/finn/workspace_ur/src
Build space: /home/finn/workspace_ur/build
Devel space: /home/finn/workspace_ur/devel
Install space: /home/finn/workspace_ur/install
####
#### Running command: "cmake /home/finn/workspace_ur/src -DCATKIN_DEVEL_PREFIX=/home/finn/workspace_ur/devel -DCMAKE_INSTALL_PREFIX=/home/finn/workspace_ur/install -G Unix Makefiles" in "/home/finn/workspace_ur/build"
####
-- The C compiler identification is GNU 9.3.0
-- The CXX compiler identification is GNU 9.3.0
-- Check for working C compiler: /bin/cc
-- Check for working C compiler: /bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /bin/c++
-- Check for working CXX compiler: /bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/finn/workspace_ur/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/noetic
-- This workspace overlays: /opt/ros/noetic
-- Found PythonInterp: /bin/python3 (found suitable version "3.8.10", minimum required is "3")
-- Using PYTHON_EXECUTABLE: /bin/python3
-- Using Debian Python package layout
-- Found PY_em: /usr/lib/python3/dist-packages/em.py
-- Using empy: /usr/lib/python3/dist-packages/em.py
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/finn/workspace_ur/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /bin/python3 (found version "3.8.10")
-- Found Threads: TRUE
-- Using Python nosetests: /bin/nosetests3
-- catkin 0.8.10
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 16 packages in topological order:
-- ~~ - universal_robots (metapackage)
-- ~~ - ur_dashboard_msgs
-- ~~ - controller_stopper
-- ~~ - ur_description
-- ~~ - ur_gazebo
-- ~~ - ur_kinematics
-- ~~ - ur10_moveit_config
-- ~~ - ur10e_moveit_config
-- ~~ - ur16e_moveit_config
-- ~~ - ur3_moveit_config
-- ~~ - ur3e_moveit_config
-- ~~ - ur5_moveit_config
-- ~~ - ur5e_moveit_config
-- ~~ - ur_controllers
-- ~~ - ur_robot_driver
-- ~~ - ur_calibration
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'universal_robots'
-- ==> add_subdirectory(fmauch_universal_robot/universal_robots)
-- +++ processing catkin package: 'ur_dashboard_msgs'
-- ==> add_subdirectory(Universal_Robots_ROS_Driver/ur_dashboard_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action ur_dashboard_msgs/SetMode /home/finn/workspace_ur/src/Universal_Robots_ROS_Driver/ur_dashboard_msgs/action/SetMode.action
Generating for action SetMode
-- ur_dashboard_msgs: 10 messages, 10 services
-- +++ processing catkin package: 'controller_stopper'
-- ==> add_subdirectory(Universal_Robots_ROS_Driver/controller_stopper)
-- +++ processing catkin package: 'ur_description'
-- ==> add_subdirectory(fmauch_universal_robot/ur_description)
-- +++ processing catkin package: 'ur_gazebo'
-- ==> add_subdirectory(fmauch_universal_robot/ur_gazebo)
-- +++ processing catkin package: 'ur_kinematics'
-- ==> add_subdirectory(fmauch_universal_robot/ur_kinematics)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Boost: /lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: system
-- +++ processing catkin package: 'ur10_moveit_config'
-- ==> add_subdirectory(fmauch_universal_robot/ur10_moveit_config)
-- +++ processing catkin package: 'ur10e_moveit_config'
-- ==> add_subdirectory(fmauch_universal_robot/ur10e_moveit_config)
-- +++ processing catkin package: 'ur16e_moveit_config'
-- ==> add_subdirectory(fmauch_universal_robot/ur16e_moveit_config)
-- +++ processing catkin package: 'ur3_moveit_config'
-- ==> add_subdirectory(fmauch_universal_robot/ur3_moveit_config)
-- +++ processing catkin package: 'ur3e_moveit_config'
-- ==> add_subdirectory(fmauch_universal_robot/ur3e_moveit_config)
-- +++ processing catkin package: 'ur5_moveit_config'
-- ==> add_subdirectory(fmauch_universal_robot/ur5_moveit_config)
-- +++ processing catkin package: 'ur5e_moveit_config'
-- ==> add_subdirectory(fmauch_universal_robot/ur5e_moveit_config)
-- +++ processing catkin package: 'ur_controllers'
-- ==> add_subdirectory(Universal_Robots_ROS_Driver/ur_controllers)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'ur_robot_driver'
-- ==> add_subdirectory(Universal_Robots_ROS_Driver/ur_robot_driver)
ur_robot_driver: You did not request a specific build type: selecting 'RelWithDebInfo'.
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Boost: /lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0")
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Installing devel-space wrapper /home/finn/workspace_ur/src/Universal_Robots_ROS_Driver/ur_robot_driver/scripts/tool_communication to /home/finn/workspace_ur/devel/lib/ur_robot_driver
-- +++ processing catkin package: 'ur_calibration'
-- ==> add_subdirectory(Universal_Robots_ROS_Driver/ur_calibration)
CMake Error at /home/finn/workspace_ur/devel/share/ur_robot_driver/cmake/ur_robot_driverConfig.cmake:113 (message):
Project 'ur_robot_driver' specifies '/include' as an include dir, which is
not found. It does neither exist as an absolute directory nor in
'/home/finn/workspace_ur/src/Universal_Robots_ROS_Driver/ur_robot_driver//include'.
Check the issue tracker
'https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/issues' and
consider creating a ticket if the problem has not been reported yet.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
Universal_Robots_ROS_Driver/ur_calibration/CMakeLists.txt:7 (find_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:
Boost_INCLUDE_DIR
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
-- Configuring incomplete, errors occurred!
See also "/home/finn/workspace_ur/build/CMakeFiles/CMakeOutput.log".
See also "/home/finn/workspace_ur/build/CMakeFiles/CMakeError.log".The most odd line may be Hope this clears things up, @MartinJensen37 might be able to recognize this as the same Error. I'd be glad for any hint, even in means in moving the issue over to |
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Hello @FinnLinxxx. I have the exact same error message however I still don't know how to fix it. I suspect that the ${include} definition is getting changed from include to /include, but I can't find out where it is. |
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I found this piece of code in the ur_robot_driverConfig.cmake file that is raising the error. It can be seen that a path just called /include is added in the include_dirs. I'm not sure how to remove this since the path does not exist let alone if it is the problem to begin with. The code is here: I'll try and contact Felix Exner as written in the file if I don't find a fix to the current build error. |
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Hey Martin, Felix Exner is the maintainer of the https://github.com/fmauch/universal_robot repository (FZI Forschungszentrum Informatik) I hope he has time to look over the issue |
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@MartinJensen37 @FinnLinxxx Until a proper solution is proposed to fix this issue, you could try to create In addition, is a system install of the client_library a requirement for your use case (via # flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
set(ur_robot_driver_FOUND_CATKIN_PROJECT TRUE)
if(NOT "/home/scherzin/src/robot_folders/checkout/ur_rosin/catkin_ws/src/Universal_Robots_ROS_Driver/ur_robot_driver/include;/usr/include;/home/scherzin/src/robot_folders/checkout/ur_rosin/catkin_ws/devel_isolated/ur_client_library/include " STREQUAL " ")
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It's possible this is caused by this line in the I'd suggest printing the |
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@stefanscherzinger thank you very much for your suggestions and hints. ...
-- +++ processing catkin package: 'ur_robot_driver'
-- ==> add_subdirectory(Universal_Robots_ROS_Driver/ur_robot_driver)
ur_robot_driver: You did not request a specific build type: selecting 'RelWithDebInfo'.
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Boost: /lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0")
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Installing devel-space wrapper /home/finn/workspace_ur/src/Universal_Robots_ROS_Driver/ur_robot_driver/scripts/tool_communication to /home/finn/workspace_ur/devel/lib/ur_robot_driver
-- +++ processing catkin package: 'ur_calibration'
-- ==> add_subdirectory(Universal_Robots_ROS_Driver/ur_calibration)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
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:
Boost_INCLUDE_DIR
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
used as include directory in directory /home/finn/workspace_ur/src/fmauch_universal_robot/ur_kinematics
...Unfortunately the main issue is still there. As I have no further constrains, I've followed up on your second thought:
The Error Resists. My # flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
set(ur_robot_driver_FOUND_CATKIN_PROJECT TRUE)
if(NOT "/home/finn/workspace_ur/src/Universal_Robots_ROS_Driver/ur_robot_driver/include;/include;/home/finn/workaround_ur/devel_isolated/ur_client_library/include " STREQUAL " ") |
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@gavanderhoorn I would like to provide the given variable. Unfortunately I don't know how to output the parameter. $ mkdir ~/buildURCL
$ cd ~/buildURCL
$ git clone -b boost https://github.com/UniversalRobots/Universal_Robots_Client_Library.git
$ cd ~/buildURCL/Universal_Robots_Client_Library
$ vim ur_client_libraryConfig.cmakeinclude(CMakeFindDependencyMacro)
if(NOT TARGET ur_client_library::urcl)
include("${CMAKE_CURRENT_LIST_DIR}/urclTargets.cmake")
endif()
# This is for catkin compatibility. Better use target_link_libraries(<my_target> ur_client_library::ur_client_library)
set(ur_client_library_LIBRARIES ur_client_library::urcl)
get_target_property(ur_client_library_INCLUDE_DIRS ur_client_library::urcl INTERFACE_INCLUDE_DIRECTORIES)
message(${ur_client_library_INCLUDE_DIRS})$ mkdir build && cd build
$ cmake ..(no: If its not too much, I kindly ask you to advise me on how to do it the right way. |
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Thanks @FinnLinxxx for trying the suggestions and your detailed output. It's probably two issues. The first one being the obscure Concerning the second issue, from your build output, I get that Boost is found via
which only defines I'm not sure right now, but I could imagine that this line dates back to older Boost versions. include_directories(SYSTEM ${Boost_INCLUDE_DIRS})to see if this fixes the build issue. |
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Concerning the first issue and what @gavanderhoorn suggested, you need to add the cmake message to your find_package(ur_client_library REQUIRED)
# Print client library includes of the driver
message(WARNING "############### My ur_client_library_INCLUDE_DIRS: ${ur_client_library_INCLUDE_DIRS}")
and build it with catkin_make_isolated --pkg ur_robot_driverYou might need to build the client library before (individually with |
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@stefanscherzinger
Thank you very much for your expertise and patience! This might be interesting for @MartinJensen37 as well. @stefanscherzinger @gavanderhoorn Following up the second problem in this issue, I add up the lines as prompted. ...
-- +++ processing catkin package: 'ur_robot_driver'
-- ==> add_subdirectory(Universal_Robots_ROS_Driver/ur_robot_driver)
ur_robot_driver: You did not request a specific build type: selecting 'RelWithDebInfo'.
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Boost: /lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0")
CMake Warning at Universal_Robots_ROS_Driver/ur_robot_driver/CMakeLists.txt:34 (message):
############### My ur_client_library_INCLUDE_DIRS:
/home/finn/workaround_ur/devel_isolated/ur_client_library/include;/include
-- Installing devel-space wrapper /home/finn/workspace_ur/src/Universal_Robots_ROS_Driver/ur_robot_driver/scripts/tool_communication to /home/finn/workspace_ur/devel/lib/ur_robot_driver
-- +++ processing catkin package: 'ur_calibration'
...Containing the ominous If you are not able to reproduce this behavior, let me now how I can help any further to get to the root of this "second" issue. |
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The root cause is the fact that |
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Hello again. I managed to reproduce the same results as @FinnLinxxx did. So all the packages can be built now. I'm guessing the issue has been resolved now (with exception of the workaround with the /include dir in the root folder). Thanks for the help @stefanscherzinger @gavanderhoorn @FinnLinxxx! |
stefanscherzinger
added
the
Solution proposed
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@gavanderhoorn Do you mean that using CMake's Edit: I'm interested in the chain of events to find out where to file an issue to fix this. |
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Same issue is persistent. When the line 26 in src/universal_robot/ur_kinematics/CMakeLists.txt contains I created a pull request that adds S to DIR |
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I still need to manually create include directory in root. I don't think that it is supposed to be like that. BTW I am running Ubuntu 20.04 and ROS Noetic |
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I have noticed that if I do a clean If Solution:
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Summary
The problem arises when I try to install the module from source. I get an issue with the package 'ur_kinematics', it's specifically a cmake error saying the following:
The error has many more lines that this but it's simply repeating the same thing. I looked the package 'ur_kinematics and it only seems to be supported by ROS kinetic.
I'm wondering if anyone has had the same problems and if you have managed to resolve them.
Thanks in advance!
Martin
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