Dependencies problem --- any support?

[mbforbes]

Hello,

First of all, thanks for writing this great library!

I'm hoping to

1. catkin-ize this
2. hydro-ize this

But the first step is just to get it to build (with rosbuild and groovy), and I'm seeing:

$ rosdep check pr2_object_manipulation
All system dependencies have been satisified
ERROR[pr2_tabletop_manipulation_launch]: resource not found [mongodb]
ERROR[pr2_interactive_manipulation]: resource not found [common_msgs]

mongodb for ROS doesn't seem to be available anywhere (can't find with apt-get and the repository that the wiki points to is unreachable.

As far as common_msgs go, apt-get says it's already there:

$ sudo apt-get install ros-groovy-common-msgs 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
ros-groovy-common-msgs is already the newest version.
0 upgraded, 0 newly installed, 0 to remove and 181 not upgraded.

I know that this hasn't been worked on in almost a year, but is anyone willing to answer quick questions or update a readme? I'll give a pull request if/when I get a catkin and then hydro branch working.

[mbforbes]

Update: fixed mongodb problem with

$ sudo apt-get install ros-groovy-warehousewg

common_msgs question still stands!

[mateiciocarlie]

Thanks for the interest!

I am however seeing the same problem... It's interesting - after doing apt-get install pr2_object_manipulation I had to apt-get a bunch more packages by hand. I wonder how the build farm succeeds in building this...

Anyways, at some point I also get stuck with common_msgs. When trying to rosbuild pr2_interactive_object_detection, I get the following:

[  7%] Generating ../src/pr2_interactive_object_detection/msg/_UserCommandFeedback.py
Traceback (most recent call last):
  File "/opt/ros/groovy/share/rospy/rosbuild/scripts/genutil.py", line 131, in genmain
    retcode = generate_messages(rospack, package, msg_file, subdir)
  File "/opt/ros/groovy/share/rospy/rosbuild/scripts/genutil.py", line 90, in generate_messages
    for d in rospack.get_depends(package):
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 227, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 227, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 227, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 227, in get_depends
    s.update(self.get_depends(p, implicit))
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 221, in get_depends
    names = [p.name for p in self.get_manifest(name).depends]
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 159, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 198, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 190, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: common_msgs
ROS path [0]=/opt/ros/groovy/share/ros
ROS path [1]=/home/matei/sandbox/pr2_manipulation
ROS path [2]=/opt/ros/groovy/share
ROS path [3]=/opt/ros/groovy/stacks
ERROR: common_msgs
ROS path [0]=/opt/ros/groovy/share/ros
ROS path [1]=/home/matei/sandbox/pr2_manipulation
ROS path [2]=/opt/ros/groovy/share
ROS path [3]=/opt/ros/groovy/stacks
make[3]: *** [../src/pr2_interactive_object_detection/msg/_UserCommandFeedback.py] Error 3

It is fairly strange, as I do have common-msgs installed. If I put an explicit dependency on it manifest.xml, I get the good old:

[rospack] Error: package/stack 'pr2_interactive_object_detection' depends on non-existent package 'common_msgs' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'

What am I missing? Haven't done rosbuild in a while, maybe it's something obvious :)

@wjwwood, @dirk-thomas - any thoughts?

[wjwwood]

Did you source the /opt/ros/groovy/setup.bash? Do you have common_msgs from groovy installed, i.e. ros-groovy-common-msgs and not ros-hydro-common-msgs?

Have you done sudo rosdep init and rosdep update?

[mbforbes]

Thanks so much for the reply! (I also asked this a few minutes before you posted on ROS answers, so we'll see if there are any takers...) I'm not sure if it's comforting or not that you have the same problem :-)

@wjwwood regrettably my answer is yes to all questions; roscd common_msgs takes me to /opt/ros/groovy/share/common_msgs, which contains just a lonely package.xml file.

[mateiciocarlie]

@wjwwood - thanks for pitching in!

My answer is also yes to all your questions...

[wjwwood]

Oh, common_msgs is actually a metapackage (formerly a stack), and a package cannot depend on a stack nor a metapackage. Therefore, I think pr2_interactive_object_detection should not depend on common_msgs, but instead on one or more of the packages in common_msgs:

http://wiki.ros.org/common_msgs

[mateiciocarlie]

Oh - it does not explicitly depend on it (I just tried adding that to see if it fixes the problem). In fact, the only mention of common_msgs in the entire stack is actually in stack.xml:

matei@lga:~/sandbox/pr2_manipulation$ grep -r common_msgs .
./pr2_object_manipulation/stack.xml:  <depend stack="common_msgs" /> <!-- nav_msgs, stereo_msgs, actionlib_msgs, trajectory_msgs, sensor_msgs, geometry_msgs, visualization_msgs, diagnostic_msgs -->

[wjwwood]

I dunno the problem seems to be during compile time which is weird, I think we need the value of package from line in the tracebacks:

File "/opt/ros/groovy/share/rospy/rosbuild/scripts/genutil.py", line 90, in generate_messages
    for d in rospack.get_depends(package):

What ever package was set to when the exception occurred is the probably the issue. I think this may be bubbling up from dynamic reconfigure generation, but I don't know.

[dirk-thomas]

I checkout this repo (1ab5d0f) and installed all dependencies (rosdep check ouputting only All system dependencies have been satisified).

The following rosmake pr2_object_manipulation failed with the following plain compile errors:

/opt/ros/groovy/include/geometric_shapes/bodies.h:159:16: note:   no known conversion for argument 1 from ‘tf::Vector3’ to ‘const Vector3d& {aka const Eigen::Matrix<double, 3, 1>&}’
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp: In member function ‘int robot_self_filter_color::SelfMask::getMaskContainment(const tf::Vector3&) const’:
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:441:42: error: no matching function for call to ‘bodies::Body::containsPoint(const tf::Vector3&)’
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:441:42: note: candidates are:
In file included from /tmp/pr2_object_manipulation/perception/robot_self_filter_color/include/robot_self_filter_color/self_mask_color.h:34:0,
                 from /tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:30:
/opt/ros/groovy/include/geometric_shapes/bodies.h:152:8: note: bool bodies::Body::containsPoint(double, double, double, bool) const
/opt/ros/groovy/include/geometric_shapes/bodies.h:152:8: note:   candidate expects 4 arguments, 1 provided
/opt/ros/groovy/include/geometric_shapes/bodies.h:159:16: note: virtual bool bodies::Body::containsPoint(const Vector3d&, bool) const
/opt/ros/groovy/include/geometric_shapes/bodies.h:159:16: note:   no known conversion for argument 1 from ‘const tf::Vector3’ to ‘const Vector3d& {aka const Eigen::Matrix<double, 3, 1>&}’
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp: In member function ‘int robot_self_filter_color::SelfMask::getMaskIntersection(const tf::Vector3&, const boost::function<void(const tf::Vector3&)>&) const’:
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:459:50: error: no matching function for call to ‘bodies::Body::containsPoint(const tf::Vector3&)’
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:459:50: note: candidates are:
In file included from /tmp/pr2_object_manipulation/perception/robot_self_filter_color/include/robot_self_filter_color/self_mask_color.h:34:0,
                 from /tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:30:
/opt/ros/groovy/include/geometric_shapes/bodies.h:152:8: note: bool bodies::Body::containsPoint(double, double, double, bool) const
/opt/ros/groovy/include/geometric_shapes/bodies.h:152:8: note:   candidate expects 4 arguments, 1 provided
/opt/ros/groovy/include/geometric_shapes/bodies.h:159:16: note: virtual bool bodies::Body::containsPoint(const Vector3d&, bool) const
/opt/ros/groovy/include/geometric_shapes/bodies.h:159:16: note:   no known conversion for argument 1 from ‘const tf::Vector3’ to ‘const Vector3d& {aka const Eigen::Matrix<double, 3, 1>&}’
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:475:70: error: no matching function for call to ‘bodies::Body::intersectsRay(const tf::Vector3&, tf::Vector3&, std::vector<tf::Vector3>*, int)’
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:475:70: note: candidate is:
In file included from /tmp/pr2_object_manipulation/perception/robot_self_filter_color/include/robot_self_filter_color/self_mask_color.h:34:0,
                 from /tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:30:
/opt/ros/groovy/include/geometric_shapes/bodies.h:165:16: note: virtual bool bodies::Body::intersectsRay(const Vector3d&, const Vector3d&, EigenSTL::vector_Vector3d*, unsigned int) const
/opt/ros/groovy/include/geometric_shapes/bodies.h:165:16: note:   no known conversion for argument 1 from ‘const tf::Vector3’ to ‘const Vector3d& {aka const Eigen::Matrix<double, 3, 1>&}’
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:487:48: error: no matching function for call to ‘bodies::Body::containsPoint(const tf::Vector3&)’
/tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:487:48: note: candidates are:
In file included from /tmp/pr2_object_manipulation/perception/robot_self_filter_color/include/robot_self_filter_color/self_mask_color.h:34:0,
                 from /tmp/pr2_object_manipulation/perception/robot_self_filter_color/src/self_mask_color.cpp:30:
/opt/ros/groovy/include/geometric_shapes/bodies.h:152:8: note: bool bodies::Body::containsPoint(double, double, double, bool) const
/opt/ros/groovy/include/geometric_shapes/bodies.h:152:8: note:   candidate expects 4 arguments, 1 provided
/opt/ros/groovy/include/geometric_shapes/bodies.h:159:16: note: virtual bool bodies::Body::containsPoint(const Vector3d&, bool) const
/opt/ros/groovy/include/geometric_shapes/bodies.h:159:16: note:   no known conversion for argument 1 from ‘const tf::Vector3’ to ‘const Vector3d& {aka const Eigen::Matrix<double, 3, 1>&}’

[mbforbes]

Thanks @wjwwood and @dirk-thomas for checking this out.

@dirk-thomas did you also run into the common_msgs problem, and if so, were you able to overcome it merely via apt-get?

I've had two others in my lab try this out as well; one person got as far as I did (common_msgs), while the other didn't have the problem but wound up with the compile errors that @dirk-thomas did.

My thought now is to try to overlay a catkin workspace with a common_msgs groovy-devel build and get pr2_object_manipulation to use that, then tackle the compile errors, but no dice so far (too many versions of build tools, something's wrong). Any additional tips would be greatly appreciated!

[KaijenHsiao]

robot_self_filter_color is just a copy of robot_self_filter with xyz points changed to xyzrgb points, so whatever has changed about robot_self_filter that allows it to compile needs to be done to robot_self_filter_color also. (Check if robot_self_filter compiles first.)

[dirk-thomas]

I did not run into any problem with common_msgs. I had everything installed from Debian packages and only this repo checked out.

[mateiciocarlie]

Is it maybe a problem of what else is installed on the machine?

I have hydro installed as well (although I do start with a clean bash environment every time with). @mbforbes : maybe the folks who managed to compile do not have hydro at all?

The robot_self_filter problem I think is caused by having MoveIt! installed instead of / along with the old arm_navigation.

[mbforbes]

Ah, thank you @mateiciocarlie, after a bit of checking the hydro installation seems likely to be the problem. I also have MoveIt!, so I'd likely get that error as well. I appreciate the help. I'll try these out when I get to a fresh machine.

[jstnhuang]

(I'm Max's labmate). I'm having the same compiler errors as Dirk. If I just try to compile the package I want to modify (pr2_marker_control), there's actually a different error, which is that pr2_marker_control uses the arm_navigation stack, which tries to use shapes::StaticShape, which appears to be in fuerte but not groovy.

Not a big deal, just trying things out :)

[pxlong]

Hi @dirk-thomas, have you already compiled this stack successfully?

If you still got the [error: no matching function for call to ‘bodies::Body::containsPoint(const tf::Vector3&)’], you can try to run "sudo apt-get remove ros-groovy-geometric-shapes", it will fix this problem. I have tried this : )

Hope that can help.

[pxlong]

Hi @mbforbes, @mateiciocarlie and @KaijenHsiao, I would like to help you catkin-ize and hydro-ize this stack.

I have already successfully built (rosmake) it today (Ubuntu 12.04, ROS Groovy, and git-cloned it this morning).

But I don't what to do next if I want to hydro-ize it, so if you can give me some guidance, I will try my best.

Thank you :)

[dirk-thomas]

I only tried the build mentioned above and are not looking into this any further since it boiled down to simple compiler errors and not any dependency related problems.