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Error when including eigenpy.hpp #195

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acxz opened this issue May 28, 2020 · 12 comments · Fixed by moveit/moveit#2118
Closed

Error when including eigenpy.hpp #195

acxz opened this issue May 28, 2020 · 12 comments · Fixed by moveit/moveit#2118

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@acxz
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acxz commented May 28, 2020 

In file included from /usr/include/eigenpy/fwd.hpp:14,
                 from /usr/include/eigenpy/eigenpy.hpp:9,
                 from /home/acxz/vcs/git/github/ros-noetic-arch/ros-noetic-moveit-ros-planning-interface/src/moveit-1.0.3/moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp:53:
/usr/include/eigenpy/numpy.hpp:15:10: fatal error: numpy/numpyconfig.h: No such file or directory
   15 | #include <numpy/numpyconfig.h>
      |          ^~~~~~~~~~~~~~~~~~~~~
@wxmerkt
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wxmerkt commented May 28, 2020

Hi @acxz,
I see you are compiling this for MoveIt on Arch using the Noetic release. I haven't tested either yet (and MoveIt hasn't been tested or released on Noetic). Can you please check whether numpy-dev is available and whether you can locate that header? (Or provide a docker to reproduce?)

Note: MoveIt is not yet using CMake targets but pkg-config.

@acxz
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acxz commented May 28, 2020

Hello @wxmerkt thx for responding

Just found out that there is a ros-noetic-eigenpy package that you are maintaining at https://github.com/ipab-slmc/eigenpy_catkin-release so I'm trying to build that package right now and use that as a dep instead of this repo. I'll let you know how it goes.

As for numpy headers I do have those installed.

@wxmerkt
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wxmerkt commented May 28, 2020

@acxz: The release has a few patches applied on top of this repository for noetic to fix some CMake module issues, cf. https://github.com/ipab-slmc/eigenpy_catkin-release/tree/patches/release/noetic/eigenpy

Any questions, please let me know

@acxz
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acxz commented May 28, 2020 •
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Is there any reason why these patches are not merged into this repository? Or rather this repo: https://github.com/jrl-umi3218/jrl-cmakemodules/tree/master?

Also seems like I am still getting the error even when using the release/noetic/eigenpy release. Looks like I need to dig a bit deeper.

@nim65s
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nim65s commented May 28, 2020

@acxz : on Arch, you can use directly https://aur.archlinux.org/packages/eigenpy/

@acxz
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acxz commented May 28, 2020 •
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Hey @nim65s! Thx for responding

That is actually how I got the error. So I was like hey maybe I should use the catkin package, but then looking at the latest moveit release they are using the system eigenpy, which does not work. It does however work with pkgconfig instead of find_package.

@acxz acxz mentioned this issue May 28, 2020
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@acxz
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acxz commented May 28, 2020 •
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The above mentioned PR resolves the issue for me. From what I understand, find_package does not properly work with eigenpy (might be some bug in eigenpy's CMakeLists.txt) so for me to use eigenpy in downstream packages I need to use its pkgconfig which resolved the issue for me for moveit-ros-planning-interface.

I'll keep this issue open since it seems like this points to a deeper issue in eigenpy's CMake configuration.

@wxmerkt in the latest release in moveit-ros-planning-interface they are using the system eigenpy not the ros eigenpy, therefore I did not need ros-noetic-eigenpy. Although for what it's worth ros-eigenpy (with those patches) did not resolve the issue for me either.

@jcarpent
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The cmake packaging of EigenPy is working and it is tested on the CI. Could you provide a tiny example to allow to reproduce it?

@acxz
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acxz commented May 28, 2020

@jcarpent sounds good, yeah maybe I am messing up somewhere locally on my end.

@nim65s nim65s mentioned this issue May 28, 2020
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@nim65s
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nim65s commented May 28, 2020 •
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Woops, I didn't meant to close this. @acxz: can you try moveit/moveit@24031ff ?

@nim65s nim65s reopened this May 28, 2020
@acxz
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acxz commented May 28, 2020

Just tried and it works, I think it is safe to close this since the issue is in the moveit repo.
Sorry for blaming the cmake packaging of eigenpy ...

Thx for quick response and the amazing software!

@acxz acxz closed this as completed May 28, 2020
nim65s added a commit to nim65s/moveit that referenced this issue May 28, 2020
@nim65s
[CMake] fix link to eigenpy
d99daad 
fix stack-of-tasks/eigenpy#195

Since moveit#1737, eigenpy is found
using find_package, so we can get all required informations to find
headers and link to shared objects with a target_link_libraries to the
eigenpy::eigenpy imported CMake target.
@wxmerkt
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wxmerkt commented May 29, 2020

To clarify: The EigenPy packaged via ROS is the EigenPy in this repository, plus the fixes to the cmake module linked above. MoveIt uses EigenPy via ROS that includes these fixes. We spent a long time (a process that took weeks and coordination) to ensure backward compatibility when the PkgConfig/CMake packaging changed, so it should all still work. My latest checks on Melodic work, and so does the CI that tests these. I will follow up on the MoveIt PR.

v4hn pushed a commit to moveit/moveit that referenced this issue May 29, 2020
@nim65s
[CMake] fix link to eigenpy (#2118)
81e64b9 
fix stack-of-tasks/eigenpy#195

Since #1737, eigenpy is found
using find_package, so we can get all required informations to find
headers and link to shared objects with a target_link_libraries to the
eigenpy::eigenpy imported CMake target.
davetcoleman pushed a commit to davetcoleman/moveit that referenced this issue Jun 2, 2020
@nim65s @davetcoleman
[CMake] fix link to eigenpy (moveit#2118)
6d9541c 
fix stack-of-tasks/eigenpy#195

Since moveit#1737, eigenpy is found
using find_package, so we can get all required informations to find
headers and link to shared objects with a target_link_libraries to the
eigenpy::eigenpy imported CMake target.
davetcoleman pushed a commit to davetcoleman/moveit that referenced this issue Jun 2, 2020
@nim65s @davetcoleman
[CMake] fix link to eigenpy (moveit#2118)
df94e28 
fix stack-of-tasks/eigenpy#195

Since moveit#1737, eigenpy is found
using find_package, so we can get all required informations to find
headers and link to shared objects with a target_link_libraries to the
eigenpy::eigenpy imported CMake target.
pradeepr-roboticist pushed a commit to pradeepr-roboticist/moveit that referenced this issue Jun 3, 2020
@nim65s
[CMake] fix link to eigenpy (moveit#2118)
2ec7059 
fix stack-of-tasks/eigenpy#195

Since moveit#1737, eigenpy is found
using find_package, so we can get all required informations to find
headers and link to shared objects with a target_link_libraries to the
eigenpy::eigenpy imported CMake target.
v4hn pushed a commit to v4hn/moveit that referenced this issue Jul 3, 2020
@nim65s @v4hn
[CMake] fix link to eigenpy (moveit#2118)
f558574 
fix stack-of-tasks/eigenpy#195

Since moveit#1737, eigenpy is found
using find_package, so we can get all required informations to find
headers and link to shared objects with a target_link_libraries to the
eigenpy::eigenpy imported CMake target.

(cherry picked from commit 81e64b9)
v4hn pushed a commit to v4hn/moveit that referenced this issue Jul 3, 2020
@nim65s @v4hn
[CMake] fix link to eigenpy (moveit#2118)
55991e3 
fix stack-of-tasks/eigenpy#195

Since moveit#1737, eigenpy is found
using find_package, so we can get all required informations to find
headers and link to shared objects with a target_link_libraries to the
eigenpy::eigenpy imported CMake target.
rhaschke pushed a commit to moveit/moveit that referenced this issue Jul 3, 2020
@nim65s @rhaschke
[CMake] fix link to eigenpy (#2118)
843b096 
fix stack-of-tasks/eigenpy#195

Since #1737, eigenpy is found
using find_package, so we can get all required informations to find
headers and link to shared objects with a target_link_libraries to the
eigenpy::eigenpy imported CMake target.
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[CMake] fix link to eigenpy nim65s/moveit
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@nim65s @jcarpent @wxmerkt @acxz