MoveIt 2 Source Build - Linux - colcon build errors

[TomGrimwood]

Description

Attempting to build MoveIt2 with ROS Galactic installed from either binary or source, installed in the directory ~/ros2_galactic/ros2-linux/setup.bash

Your Environment

ROS Distro: Galactic
OS Version: Ubuntu 20.04
Source or Binary build: Binary

Steps to reproduce

Follow instructions at https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Binary.html and https://moveit.ros.org/install-moveit2/source/

Expected behaviour

The build should succeed

Actual behaviour

The build does not succeed

Backtrace or Console output

tom@tom-H87M-D3H:~/ws_moveit2$ colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
Starting >>> srdfdom
Starting >>> geometric_shapes
Starting >>> moveit_common
Starting >>> moveit_resources_panda_description
Finished <<< moveit_common [0.43s]
Starting >>> moveit_resources_fanuc_description
Finished <<< moveit_resources_panda_description [0.99s]
Starting >>> moveit_resources_panda_moveit_config
Finished <<< moveit_resources_fanuc_description [0.87s]
Starting >>> moveit_resources_fanuc_moveit_config
Finished <<< moveit_resources_panda_moveit_config [0.83s]
Starting >>> moveit_resources_pr2_description
Finished <<< moveit_resources_fanuc_moveit_config [1.14s]
Starting >>> moveit_resources_prbt_support
Finished <<< moveit_resources_pr2_description [2.49s]
Starting >>> moveit_resources
Finished <<< moveit_resources_prbt_support [2.45s]
Finished <<< moveit_resources [2.90s]
Finished <<< srdfdom [19.2s]
Starting >>> moveit_configs_utils
Finished <<< moveit_configs_utils [2.46s]
[Processing: geometric_shapes]
[Processing: geometric_shapes]
--- stderr: geometric_shapes
CMake Warning (dev) at /usr/lib/x86_64-linux-gnu/cmake/assimp-5.0/assimpTargets.cmake:54 (if):
  if given arguments:

    "ON"

  An argument named "ON" appears in a conditional statement.  Policy CMP0012
  is not set: if() recognizes numbers and boolean constants.  Run "cmake
  --help-policy CMP0012" for policy details.  Use the cmake_policy command to
  set the policy and suppress this warning.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/assimp-5.0/assimp-config.cmake:1 (include)
  CMakeLists.txt:41 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

---
Finished <<< geometric_shapes [1min 22s]
Starting >>> moveit_core
[Processing: moveit_core]
[Processing: moveit_core]
[Processing: moveit_core]
[Processing: moveit_core]
[Processing: moveit_core]
--- stderr: moveit_core
/home/tom/ws_moveit2/src/moveit2/moveit_core/collision_detection/src/collision_matrix.cpp: In constructor ‘collision_detection::AllowedCollisionMatrix::AllowedCollisionMatrix(const srdf::Model&)’:
/home/tom/ws_moveit2/src/moveit2/moveit_core/collision_detection/src/collision_matrix.cpp:61:39: error: ‘const class srdf::Model’ has no member named ‘getNoDefaultCollisionLinks’
   61 |   for (const std::string& name : srdf.getNoDefaultCollisionLinks())
      |                                       ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/tom/ws_moveit2/src/moveit2/moveit_core/collision_detection/src/collision_matrix.cpp:64:37: error: ‘const class srdf::Model’ has no member named ‘getEnabledCollisionPairs’; did you mean ‘getDisabledCollisionPairs’?
   64 |   for (auto const& collision : srdf.getEnabledCollisionPairs())
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~
      |                                     getDisabledCollisionPairs
make[2]: *** [collision_detection/CMakeFiles/moveit_collision_detection.dir/build.make:89: collision_detection/CMakeFiles/moveit_collision_detection.dir/src/collision_matrix.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2305: collision_detection/CMakeFiles/moveit_collision_detection.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
---
Failed   <<< moveit_core [2min 40s, exited with code 2]

Summary: 11 packages finished [4min 3s]
  1 package failed: moveit_core
  2 packages had stderr output: geometric_shapes moveit_core
  29 packages not processed

[henningkayser]

@TomGrimwood It looks like you are trying to compile the main branch on Galactic, which is not really supported anymore. The galactic branch does not include the changes that would produce this build error, so better try that one. If you still want to compile main on Galactic, you would at least have to pull in srdfdom as listed in the repos file. Please be aware, that main currently only supports Rolling+Jammy though.

Edit: I just noticed that srdfdom even compiled. Please verify you are on the latest HEAD and maybe remove the srdfdom debian using apt remove ros-rolling-srdfdom so that colcon doesn't pick up the wrong version.

[TomGrimwood]

Could the instructions at https://moveit.ros.org/install-moveit2/source/ be changed for the galactic installation? it says to compile the main branch, which you say is incorrect for galactic.

[JafarAbdi]

Fixed with moveit/moveit.ros.org#702