cant build tutorial in moveit2 humble docker container

[fschiro]

Description

The tutorial MoveIt Quickstart in RViz does not seem to work in the MoveIt2 Docker container.

I built the moveit-2 humble docker container following the guide How to Set Up MoveIt 2 Docker Containers in Ubuntu](https://moveit.picknik.ai/humble/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.html).

I then tried to build the tutorial and some of the packages failed to build successfully and the tutorial moveit2 demo would not work.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Source or Binary build? container default or source

Steps to reproduce

Install and start docker container following tutorial steps:

wget https://raw.githubusercontent.com/abake48/moveit2_tutorials/how-to-docker-ubuntu/_scripts/start-docker.sh -O ~/.local/bin/start-docker.sh
chmod +x ~/.local/bin/start-docker.sh

start-docker.sh moveit2-humble moveit/moveit2:humble-source false
start-docker.sh moveit2-humble
source install/setup.bash

Install and build tutorial package following steps in guide. Below, the difference for version 1 and 2 is the inclusion or exclusion of the tutorial step vcs import < moveit2_tutorials/moveit2_tutorials.repos which I believe rebuilds moveit2 from source.

Version 1
In this version, I skipped the step vcs import < moveit2_tutorials/moveit2_tutorials.repos because I assume the docker container already has this built. So these are the commands I entered:

cd ../
mkdir -p ~/ws_moveit2/src
cd ~/ws_moveit2/src
git clone https://github.com/ros-planning/moveit2_tutorials -b humble --depth 1
sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/ws_moveit2
colcon build --mixin release

Version 2:
In this version I included vcs import < moveit2_tutorials/moveit2_tutorials.repos . In this version two packages failed to build and I believe this caused the motion planning tutorial to not work correctly.

cd ../
mkdir -p ~/ws_moveit2/src
cd ~/ws_moveit2/src
git clone https://github.com/ros-planning/moveit2_tutorials -b humble --depth 1
vcs import < moveit2_tutorials/moveit2_tutorials.repos
sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
cd ~/ws_moveit2
colcon build --mixin release

These are the two failed packages:

Summary: 55 packages finished [10.0s]
  2 packages had stderr output: launch_param_builder moveit_configs_utils

I launched RViz with this command: ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true but I could not see the two interactive markers. Also motion plan and execute did not seem to work.

Expected behaviour

The tutorial package should build and the demo MoveIt Quickstart in RViz should work.

Backtrace or Console output

version 2:

Summary: 55 packages finished [10.0s]
  2 packages had stderr output: launch_param_builder moveit_configs_utils

version 1

After running this command:

sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

I got the following output:

Get:1 http://packages.ros.org/ros2-testing/ubuntu jammy InRelease [4673 B]
Get:2 http://security.ubuntu.com/ubuntu jammy-security InRelease [110 kB]       
Get:3 http://packages.ros.org/ros2-testing/ubuntu jammy/main amd64 Packages [768 kB]
Get:4 http://archive.ubuntu.com/ubuntu jammy InRelease [270 kB]                         
Get:5 http://security.ubuntu.com/ubuntu jammy-security/restricted amd64 Packages [522 kB]         
Get:6 http://archive.ubuntu.com/ubuntu jammy-updates InRelease [114 kB]
Get:7 http://archive.ubuntu.com/ubuntu jammy-backports InRelease [99.8 kB]
Get:8 http://security.ubuntu.com/ubuntu jammy-security/main amd64 Packages [614 kB]
Get:9 http://security.ubuntu.com/ubuntu jammy-security/universe amd64 Packages [767 kB]
Get:10 http://archive.ubuntu.com/ubuntu jammy/main amd64 Packages [1792 kB]   
Get:11 http://security.ubuntu.com/ubuntu jammy-security/multiverse amd64 Packages [4642 B]
Get:12 http://archive.ubuntu.com/ubuntu jammy/universe amd64 Packages [17.5 MB]
Get:13 http://archive.ubuntu.com/ubuntu jammy/restricted amd64 Packages [164 kB]
Get:14 http://archive.ubuntu.com/ubuntu jammy/multiverse amd64 Packages [266 kB]
Get:15 http://archive.ubuntu.com/ubuntu jammy-updates/restricted amd64 Packages [573 kB]
Get:16 http://archive.ubuntu.com/ubuntu jammy-updates/universe amd64 Packages [952 kB]
Get:17 http://archive.ubuntu.com/ubuntu jammy-updates/multiverse amd64 Packages [8056 B]
Get:18 http://archive.ubuntu.com/ubuntu jammy-updates/main amd64 Packages [914 kB]
Get:19 http://archive.ubuntu.com/ubuntu jammy-backports/universe amd64 Packages [7275 B]
Get:20 http://archive.ubuntu.com/ubuntu jammy-backports/main amd64 Packages [3175 B]
Fetched 25.4 MB in 3s (8119 kB/s)                           
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
All packages are up to date.
W: http://packages.ros.org/ros2-testing/ubuntu/dists/jammy/InRelease: Key is stored in legacy trusted.gpg keyring (/etc/apt/trusted.gpg), see the DEPRECATION section in apt-key(8) for details.
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
moveit2_tutorials: Cannot locate rosdep definition for [moveit_task_constructor_core]
Continuing to install resolvable dependencies...
executing command [apt-get install -y ros-humble-moveit-visual-tools]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
The following additional packages will be installed:
  ros-humble-graph-msgs ros-humble-moveit-common ros-humble-moveit-core
  ros-humble-moveit-ros-occupancy-map-monitor ros-humble-moveit-ros-planning
  ros-humble-rviz-visual-tools
The following NEW packages will be installed:
  ros-humble-graph-msgs ros-humble-moveit-common ros-humble-moveit-core
  ros-humble-moveit-ros-occupancy-map-monitor ros-humble-moveit-ros-planning
  ros-humble-moveit-visual-tools ros-humble-rviz-visual-tools
0 upgraded, 7 newly installed, 0 to remove and 0 not upgraded.
Need to get 3332 kB of archives.
After this operation, 15.6 MB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2-testing/ubuntu jammy/main amd64 ros-humble-graph-msgs amd64 0.2.0-3jammy.20221108.172221 [56.4 kB]
Get:2 http://packages.ros.org/ros2-testing/ubuntu jammy/main amd64 ros-humble-moveit-common amd64 2.5.3-1jammy.20221108.152618 [7854 B]
Get:3 http://packages.ros.org/ros2-testing/ubuntu jammy/main amd64 ros-humble-moveit-core amd64 2.5.3-1jammy.20221108.191703 [1146 kB]
Get:4 http://packages.ros.org/ros2-testing/ubuntu jammy/main amd64 ros-humble-moveit-ros-occupancy-map-monitor amd64 2.5.3-1jammy.20221108.195706 [243 kB]
Get:5 http://packages.ros.org/ros2-testing/ubuntu jammy/main amd64 ros-humble-moveit-ros-planning amd64 2.5.3-1jammy.20221108.200157 [1272 kB]
Get:6 http://packages.ros.org/ros2-testing/ubuntu jammy/main amd64 ros-humble-rviz-visual-tools amd64 4.1.3-1jammy.20221108.211502 [302 kB]
Get:7 http://packages.ros.org/ros2-testing/ubuntu jammy/main amd64 ros-humble-moveit-visual-tools amd64 4.1.0-1jammy.20221108.212223 [304 kB]
Fetched 3332 kB in 1s (4028 kB/s)                        
debconf: delaying package configuration, since apt-utils is not installed
Selecting previously unselected package ros-humble-graph-msgs.
(Reading database ... 100953 files and directories currently installed.)
Preparing to unpack .../0-ros-humble-graph-msgs_0.2.0-3jammy.20221108.172221_amd64.deb ...
Unpacking ros-humble-graph-msgs (0.2.0-3jammy.20221108.172221) ...
Selecting previously unselected package ros-humble-moveit-common.
Preparing to unpack .../1-ros-humble-moveit-common_2.5.3-1jammy.20221108.152618_amd64.deb ...
Unpacking ros-humble-moveit-common (2.5.3-1jammy.20221108.152618) ...
Selecting previously unselected package ros-humble-moveit-core.
Preparing to unpack .../2-ros-humble-moveit-core_2.5.3-1jammy.20221108.191703_amd64.deb ...
Unpacking ros-humble-moveit-core (2.5.3-1jammy.20221108.191703) ...
Selecting previously unselected package ros-humble-moveit-ros-occupancy-map-monitor.
Preparing to unpack .../3-ros-humble-moveit-ros-occupancy-map-monitor_2.5.3-1jammy.20221108.195706_amd64.deb ...
Unpacking ros-humble-moveit-ros-occupancy-map-monitor (2.5.3-1jammy.20221108.195706) ...
Selecting previously unselected package ros-humble-moveit-ros-planning.
Preparing to unpack .../4-ros-humble-moveit-ros-planning_2.5.3-1jammy.20221108.200157_amd64.deb ...
Unpacking ros-humble-moveit-ros-planning (2.5.3-1jammy.20221108.200157) ...
Selecting previously unselected package ros-humble-rviz-visual-tools.
Preparing to unpack .../5-ros-humble-rviz-visual-tools_4.1.3-1jammy.20221108.211502_amd64.deb ...
Unpacking ros-humble-rviz-visual-tools (4.1.3-1jammy.20221108.211502) ...
Selecting previously unselected package ros-humble-moveit-visual-tools.
Preparing to unpack .../6-ros-humble-moveit-visual-tools_4.1.0-1jammy.20221108.212223_amd64.deb ...
Unpacking ros-humble-moveit-visual-tools (4.1.0-1jammy.20221108.212223) ...
Setting up ros-humble-moveit-common (2.5.3-1jammy.20221108.152618) ...
Setting up ros-humble-moveit-core (2.5.3-1jammy.20221108.191703) ...
Setting up ros-humble-moveit-ros-occupancy-map-monitor (2.5.3-1jammy.20221108.195706) ...
Setting up ros-humble-rviz-visual-tools (4.1.3-1jammy.20221108.211502) ...
Setting up ros-humble-graph-msgs (0.2.0-3jammy.20221108.172221) ...
Setting up ros-humble-moveit-ros-planning (2.5.3-1jammy.20221108.200157) ...
Setting up ros-humble-moveit-visual-tools (4.1.0-1jammy.20221108.212223) ...
Processing triggers for libc-bin (2.35-0ubuntu3.1) ...
executing command [apt-get install -y ros-humble-rviz-visual-tools]
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-humble-rviz-visual-tools is already the newest version (4.1.3-1jammy.20221108.211502).
ros-humble-rviz-visual-tools set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
#All required rosdeps installed successfully

notably this error: moveit2_tutorials: Cannot locate rosdep definition for [moveit_task_constructor_core]

Then after running: colcon build --mixin release I got the following:

--- stderr: moveit2_tutorials                         
CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "Findmoveit_task_constructor_core.cmake" in
  CMAKE_MODULE_PATH this project has asked CMake to find a package
  configuration file provided by "moveit_task_constructor_core", but CMake
  did not find one.

  Could not find a package configuration file provided by
  "moveit_task_constructor_core" with any of the following names:

    moveit_task_constructor_coreConfig.cmake
    moveit_task_constructor_core-config.cmake

  Add the installation prefix of "moveit_task_constructor_core" to
  CMAKE_PREFIX_PATH or set "moveit_task_constructor_core_DIR" to a directory
  containing one of the above files.  If "moveit_task_constructor_core"
  provides a separate development package or SDK, be sure it has been
  installed.


---
Failed   <<< moveit2_tutorials [3.20s, exited with code 1]

Summary: 0 packages finished [3.30s]
  1 package failed: moveit2_tutorials
  1 package had stderr output: moveit2_tutorials

[fschiro]

The main branch docker install tutorial used docker-compose and this worked.
The Humble branch link did not work.

I used this command to start the tutorial:

DOCKER_IMAGE=rolling-tutorial docker-compose run --rm --name moveit2_container cpu

Since rolling can be changed to humble maybe the humble guide should be changed to be like the main branch guide.

[stenwire]

I happened to have this error while building on Humble, how do I solve it?
@fschiro

My error:

  By not providing "Findmoveit_task_constructor_core.cmake" in
  CMAKE_MODULE_PATH this project has asked CMake to find a package
  configuration file provided by "moveit_task_constructor_core", but CMake
  did not find one.

  Could not find a package configuration file provided by
  "moveit_task_constructor_core" with any of the following names:

    moveit_task_constructor_coreConfig.cmake
    moveit_task_constructor_core-config.cmake

  Add the installation prefix of "moveit_task_constructor_core" to
  CMAKE_PREFIX_PATH or set "moveit_task_constructor_core_DIR" to a directory
  containing one of the above files.  If "moveit_task_constructor_core"
  provides a separate development package or SDK, be sure it has been
  installed

After running: colcon build --mixin release, from the docs https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html

[stenwire]

I happened to have this error while building on Humble, how do I solve it? @fschiro

My error:

  By not providing "Findmoveit_task_constructor_core.cmake" in
  CMAKE_MODULE_PATH this project has asked CMake to find a package
  configuration file provided by "moveit_task_constructor_core", but CMake
  did not find one.

  Could not find a package configuration file provided by
  "moveit_task_constructor_core" with any of the following names:

    moveit_task_constructor_coreConfig.cmake
    moveit_task_constructor_core-config.cmake

  Add the installation prefix of "moveit_task_constructor_core" to
  CMAKE_PREFIX_PATH or set "moveit_task_constructor_core_DIR" to a directory
  containing one of the above files.  If "moveit_task_constructor_core"
  provides a separate development package or SDK, be sure it has been
  installed

After running: colcon build --mixin release, from the docs https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html

Fixed

[raihan619]

How did u fix this issue, im not using a docker, im trying to run https://github.com/PickNikRobotics/UR10e_welding_demo
because im having trouble doing hybrid planning in my roobt, i have followed demo tutorial using panda arm from moveit2 but im stuck in making the planning scene work, and also using OMPL+PRMstakCOnfig planner work. as i dont find a way to use them in the tutorial.
so i was hoping to get insight from this uR10e welding demo, but im stuck at this phase.