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Tutorial: Ros Demo
Sean Trott edited this page Jun 14, 2016
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The ROS workspace to run ECG demos. This is basically a wrapper GIT repository to collect all required repositories as submodules for running the ECG workbench demos. All code is supposed to run under ROS indigo and tested with Ubuntu 14.04. Everything is tested with Python 2.7.X only, Python 3.X will probably not work.
The system requirements to run the NLU/ECG system include everything from the framework-code, found here.
The installation notes are based on the following tutorial for DARwin-OP: http://www.generationrobots.com/en/content/83-carry-out-simulations-and-make-your-darwin-op-walk-with-gazebo-and-ros
Install ROS indigo, as well as the prerequisites for the gazebo_darwin packages and do:
sudo apt-get install git ros-indigo-desktop-full ros-indigo-gazebo-plugins ros-indigo-gazebo-ros ros-indigo-gazebo-ros-control ros-indigo-hector-gazebo ros-indigo-hector-gazebo-plugins ros-indigo-effort-controllers ros-indigo-joint-state-controller ros-indigo-joint-state-publisher ros-indigo-turtlebot-teleop ros-indigo-catkin
To get ROS running, you need to source the setup.bash. We recommend to have that done automatically in .bashrc. Do the following:
echo "source /opt/ros/indigo/setup.bash" >> .bashrc
source ~/.bashrc
Then clone this git repository. Its root folder is a new catkin workspace, which we assume to be ~/ros_catkin_ecg_ws. You'll execute most other commands in these instructions from there.
git clone https://github.com/icsi-berkeley/ros_catkin_ecg_ws.git ~/ros_catkin_ecg_wc
Next, you need to initialize and update the submodules within this repository. The submodules contain the ROS code for the darwin robot and the ECG workbench. Cd into ~/ros_catkin_ecg_ws and do the following:
cd ~/ros_catkin_ecg_ws
git submodule update --init --recursive
Make sure that you have checked out the py2 branch of ecg workbench:
cd ~/ros_catkin_ecg_ws/src/ros_ecgworkbench
git checkout py2
Now you need to build the workspace. Do this by
cd ~/ros_catkin_ecg_ws
catkin_make
catkin_make install
Next you need to source come setup file. We recommend to do this automatically by doing that in your .bashrc.
echo "source ~/ros_catkin_ecg_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
Next we setup the ECG NLU system. Make sure you've installed all the packages listed here.
You also have to install a python module called ipaddress using pip:
sudo pip install ipaddress
Next, you have to set the PYTHON for the ECG framework code. Add the following to your .bashrc:
export PYTHONPATH=~/ros_catkin_ecg_ws/src/ros_ecgworkbench/src/ecg/ecg_interface/ecg_robot_code/src/main:~/ros_catkin_ecg_ws/src/ros_ecgworkbench/src/ecg/ecg_interface/ecg_framework_code/src/main:$PYTHONPATH
Source it again:
source ~/.bashrc
You can test if the transport installation worked by opening two terminals, and in each of them do:
python ~/ros_catkin_ecg_ws/src/ros_ecgworkbench/src/ecg/ecg_interface/ecg_framework_code/ecg-package/bin/pyre-chat-example.py
Now, if you enter text in one terminal, it should show up in the other terminal, too.
Before starting gazebo the first time, I recommend downloading all 3d models for gazebo, since this speeds up the starting processes. To do so, execute the script (takes ~5 minutes, depending on your internet connection):
./download_gazebo_models.sh
You can now start gazebo, which should bring up an indoor environment that we use for our experiments:
roslaunch ros_cqi run_gazebo_darwin_kitchen.launch
roslaunch ros_cqi spawn_darwin.launch
Now press the "play" button at the lower left of the simulator window.
To have the robot walking, execute the test walking script that comes with darwin. I recommend to have a look at that script to see how the walking behaviour is executed. You can find it uner src/darwin_gazebo/src/.
rosrun darwin_gazebo walker_demo.py
Alternatively run the pickup pen scenario from the paper:
rosrun ros_cqi run_interface.py
To get started with our system, you'll want to start the CQI. Do so by entering:
rosrun ros_cqi run_interface.py
Take a look at all files under the folder src/ros_cqi to understand how it works.
To run the NLU system, do the following (unfortunately, you have to start the script from the scripts-folder, due to some path problems that we have not resolved so far...):
cd ros_catkin_ecg_ws/src/ros_ecgworkbench/scripts/
rosrun ros_ecgworkbench run_nlu.py
Now, enter the following in the text input console which should have come up, to move the robot to coordinates 1 1:
Robot1, move to location 1 1!
An error may show up in the window, but the robot will move. This is to be fixed in the future...
If there are problems with gazebo, especially the downloading of the world models, try the following before starting it:
export LC_NUMERIC=C
Gazebo comes with its own sdf model database. However, we'll probably want to also have our own 3d models. Therefore we need to provide an additional model database. Details on how this can be done can be found here:
http://gazebosim.org/tutorials?tut=model_structure&cat=
Unsuccessful Partial Installation Protocol for ROS indigo under MacOS (Yosemite El Capitan) To be solved...
Followed the instructions at http://wiki.ros.org/indigo/Installation/OSX/Homebrew/Source
Everything went well until
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
Got the following error:
Error:
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
executing command [brew install gazebo]
==> Installing gazebo1 from osrf/homebrew-simulation
ogre: XQuartz is required to install this formula.
You can install with Homebrew Cask:
brew install Caskroom/cask/xquartz
You can download from:
https://xquartz.macosforge.org
Error: An unsatisfied requirement failed this build.
ERROR: the following rosdeps failed to install
homebrew: command [brew install gazebo] failed
Try to fix: by installing xquartz using
brew install Caskroom/cask/xquartz
Then the next error was:
ERROR: the following rosdeps failed to install
homebrew: Failed to detect successful installation of [gazebo]
homebrew: Failed to detect successful installation of [graphviz]
homebrew: Failed to detect successful installation of [theora]
Try to fix by installing gazebo2
brew install gazebo2
which resulted in the following output (symlink conflicts with gazebo1):
==> Installing gazebo2 from osrf/homebrew-simulation
==> Downloading http://gazebosim.org/distributions/gazebo/releases/gazebo-2.2.6.t
==> Downloading from https://osrf-distributions.s3.amazonaws.com/gazebo/releases/
######################################################################## 100.0%
==> Downloading https://gist.githubusercontent.com/scpeters/9199370/raw/afe595587
######################################################################## 100.0%
==> Downloading https://bitbucket.org/osrf/gazebo/commits/91f6f3c59f40af34855548c
######################################################################## 100.0%
==> Patching
patching file deps/opende/CMakeLists.txt
patching file gazebo/gui/TimePanel.cc
Hunk #1 succeeded at 118 (offset -60 lines).
patching file gazebo/gui/TimePanel.hh
Hunk #1 succeeded at 62 (offset -4 lines).
==> cmake .. -DCMAKE_C_FLAGS_RELEASE= -DCMAKE_CXX_FLAGS_RELEASE= -DCMAKE_INSTALL_
==> make install
Error: The `brew link` step did not complete successfully
The formula built, but is not symlinked into /usr/local
Could not symlink bin/gazebo
Target /usr/local/bin/gazebo
is a symlink belonging to gazebo1. You can unlink it:
brew unlink gazebo1
To force the link and overwrite all conflicting files:
brew link --overwrite gazebo2
To list all files that would be deleted:
brew link --overwrite --dry-run gazebo2
Possible conflicting files are:
/usr/local/bin/gazebo -> /usr/local/Cellar/gazebo1/1.9.7/bin/gazebo
/usr/local/bin/gzclient -> /usr/local/Cellar/gazebo1/1.9.7/bin/gzclient
/usr/local/bin/gzfactory -> /usr/local/Cellar/gazebo1/1.9.7/bin/gzfactory
/usr/local/bin/gzlog -> /usr/local/Cellar/gazebo1/1.9.7/bin/gzlog
/usr/local/bin/gzmodel_create -> /usr/local/Cellar/gazebo1/1.9.7/bin/gzmodel_create
/usr/local/bin/gzsdf -> /usr/local/Cellar/gazebo1/1.9.7/bin/gzsdf
/usr/local/bin/gzserver -> /usr/local/Cellar/gazebo1/1.9.7/bin/gzserver
/usr/local/bin/gzstats -> /usr/local/Cellar/gazebo1/1.9.7/bin/gzstats
/usr/local/bin/gztopic -> /usr/local/Cellar/gazebo1/1.9.7/bin/gztopic
/usr/local/share/gazebo/cmake/gazebo-config.cmake
/usr/local/share/gazebo/setup.sh
/usr/local/share/gazebo/cmake/gazebo-config.cmake
/usr/local/share/gazebo/setup.sh
/usr/local/lib/libgazebo.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo.dylib
/usr/local/lib/libgazebo_ccd.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_ccd.dylib
/usr/local/lib/libgazebo_common.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_common.dylib
/usr/local/lib/libgazebo_gimpact.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_gimpact.dylib
/usr/local/lib/libgazebo_gui.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_gui.dylib
/usr/local/lib/libgazebo_gui_building.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_gui_building.dylib
/usr/local/lib/libgazebo_gui_viewers.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_gui_viewers.dylib
/usr/local/lib/libgazebo_math.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_math.dylib
/usr/local/lib/libgazebo_msgs.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_msgs.dylib
/usr/local/lib/libgazebo_ode.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_ode.dylib
/usr/local/lib/libgazebo_opcode.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_opcode.dylib
/usr/local/lib/libgazebo_opende_ou.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_opende_ou.dylib
/usr/local/lib/libgazebo_physics.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_physics.dylib
/usr/local/lib/libgazebo_physics_ode.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_physics_ode.dylib
/usr/local/lib/libgazebo_rendering.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_rendering.dylib
/usr/local/lib/libgazebo_selection_buffer.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_selection_buffer.dylib
/usr/local/lib/libgazebo_sensors.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_sensors.dylib
/usr/local/lib/libgazebo_skyx.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_skyx.dylib
/usr/local/lib/libgazebo_transport.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_transport.dylib
/usr/local/lib/libgazebo_util.dylib -> /usr/local/Cellar/gazebo1/1.9.7/lib/libgazebo_util.dylib
/usr/local/lib/pkgconfig/gazebo.pc -> /usr/local/Cellar/gazebo1/1.9.7/lib/pkgconfig/gazebo.pc
/usr/local/lib/pkgconfig/gazebo_ode.pc -> /usr/local/Cellar/gazebo1/1.9.7/lib/pkgconfig/gazebo_ode.pc
/usr/local/lib/pkgconfig/gazebo_transport.pc -> /usr/local/Cellar/gazebo1/1.9.7/lib/pkgconfig/gazebo_transport.pc
==> Summary
🍺 /usr/local/Cellar/gazebo2/2.2.6: 769 files, 63M, built in 13.3 minutes
----------
Postponed this problem and tried to install graphviz:
brew install graphviz
That worked fine. Then did the rosdep install again:
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
The graphviz issue is resolved, now the error is:
ERROR: the following rosdeps failed to install
homebrew: Failed to detect successful installation of [theora]
homebrew: Failed to detect successful installation of [gazebo]
Next, installed theora:
brew install theora
Then did the rosdep install again:
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
It went fine, now the error is:
ERROR: the following rosdeps failed to install
homebrew: Failed to detect successful installation of [gazebo]
Getting back to the gazebo issue, I did
brew unlink gazebo1
brew link --overwrite gazebo2
So that the system now uses gazebo2. Then I tried again:
rosdep install --from-paths src --ignore-src --rosdistro indigo -y
With the same error:
ERROR: the following rosdeps failed to install
homebrew: Failed to detect successful installation of [gazebo]
I assume that the error is not a big deal since gazebo2 and gazebo1 both installed successfully. So let's skip the gazebo test using the --skip-keys option and resolve the rest of the dependencies:
rosdep install --from-paths src --ignore-src --rosdistro indigo -y --skip-keys gazebo
This resulted in:
ERROR: the following rosdeps failed to install
homebrew: command [brew install pyqwt] failed
I did
brew install pyqwt
With the result:
Warning: pyqwt-5.2.0 already installed
Since already installed I skip this key too, and try to resolve dependencies again.
rosdep install --from-paths src --ignore-src --rosdistro indigo -y --skip-keys gazebo pyqwt
Result:
All required rosdeps installed successfully
Then I installed the catkin workspace with :
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
Then the following error occurred involving gazebo:
==> Processing catkin package: 'gazebo_ros'
==> Creating build directory: 'build_isolated/gazebo_ros'
==> Building with env: '/Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh'
==> cmake /Users/meppe/ROS/homebrew_catkin_ws/src/gazebo_ros_pkgs/gazebo_ros -DCATKIN_DEVEL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/gazebo_ros -DCMAKE_INSTALL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release -G Unix Makefiles in '/Users/meppe/ROS/homebrew_catkin_ws/build_isolated/gazebo_ros'
-- The C compiler identification is AppleClang 7.0.0.7000176
-- The CXX compiler identification is AppleClang 7.0.0.7000176
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
-- Check for working C compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/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: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++
-- Check for working CXX compiler: /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/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: /Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/gazebo_ros
-- Using CMAKE_PREFIX_PATH: /Users/meppe/ROS/homebrew_catkin_ws/install_isolated
-- This workspace overlays: /Users/meppe/ROS/homebrew_catkin_ws/install_isolated
-- Found PythonInterp: /usr/local/bin/python (found version "2.7.10")
-- Using PYTHON_EXECUTABLE: /usr/local/bin/python
-- Using default Python package layout
-- Found PY_em: /Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/em.pyc
-- Using empy: /Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/em.pyc
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /Users/meppe/ROS/homebrew_catkin_ws/build_isolated/gazebo_ros/test_results
-- Found gtest: gtests will be built
-- Using Python nosetests: /Library/Frameworks/Python.framework/Versions/2.7/bin/nosetests-2.7
-- catkin 0.6.16
-- Using these message generators: gencpp;genlisp;genpy
-- Found PkgConfig: /usr/local/bin/pkg-config (found version "0.29")
-- Checking for module 'libxml-2.0'
-- Found libxml-2.0, version 2.9.0
CMake Error at CMakeLists.txt:26 (find_package):
By not providing "Findgazebo.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "gazebo", but
CMake did not find one.
Could not find a package configuration file provided by "gazebo" with any
of the following names:
gazeboConfig.cmake
gazebo-config.cmake
Add the installation prefix of "gazebo" to CMAKE_PREFIX_PATH or set
"gazebo_DIR" to a directory containing one of the above files. If "gazebo"
provides a separate development package or SDK, be sure it has been
installed.
-- Configuring incomplete, errors occurred!
See also "/Users/meppe/ROS/homebrew_catkin_ws/build_isolated/gazebo_ros/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'gazebo_ros':
Command '['/Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh', 'cmake', '/Users/meppe/ROS/homebrew_catkin_ws/src/gazebo_ros_pkgs/gazebo_ros', '-DCATKIN_DEVEL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/gazebo_ros', '-DCMAKE_INSTALL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/install_isolated', '-DCMAKE_BUILD_TYPE=Release', '-G', 'Unix Makefiles']' returned non-zero exit status 1
Reproduce this error by running:
==> cd /Users/meppe/ROS/homebrew_catkin_ws/build_isolated/gazebo_ros && /Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh cmake /Users/meppe/ROS/homebrew_catkin_ws/src/gazebo_ros_pkgs/gazebo_ros -DCATKIN_DEVEL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/gazebo_ros -DCMAKE_INSTALL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release -G 'Unix Makefiles'
Then I linked gazebo1 again instead of gazebo2
brew unlink gazebo2
brew link --overwrite gazebo1
I installed the catkin workspace again with :
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
Again an error occurred:
Checking for module 'libopenni'
-- Package 'libopenni' not found
-- Could NOT find openni (missing: OPENNI_LIBRARY OPENNI_INCLUDE_DIRS)
** WARNING ** apps features related to openni will be disabled
-- Found OpenGL: /System/Library/Frameworks/OpenGL.framework
CMake Error at /usr/local/share/pcl-1.8/PCLConfig.cmake:46 (message):
simulation is required but glew was not found
Call Stack (most recent call first):
/usr/local/share/pcl-1.8/PCLConfig.cmake:645 (pcl_report_not_found)
/usr/local/share/pcl-1.8/PCLConfig.cmake:808 (find_external_library)
CMakeLists.txt:8 (find_package)
-- Configuring incomplete, errors occurred!
See also "/Users/meppe/ROS/homebrew_catkin_ws/build_isolated/pcl_ros/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'pcl_ros':
Command '['/Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh', 'cmake', '/Users/meppe/ROS/homebrew_catkin_ws/src/perception_pcl/pcl_ros', '-DCATKIN_DEVEL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros', '-DCMAKE_INSTALL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/install_isolated', '-DCMAKE_BUILD_TYPE=Release', '-G', 'Unix Makefiles']' returned non-zero exit status 1
Reproduce this error by running:
==> cd /Users/meppe/ROS/homebrew_catkin_ws/build_isolated/pcl_ros && /Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh cmake /Users/meppe/ROS/homebrew_catkin_ws/src/perception_pcl/pcl_ros -DCATKIN_DEVEL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros -DCMAKE_INSTALL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release -G 'Unix Makefiles'
Command failed, exiting.
Then I did :
brew install openni
Then I did again:
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
The next error was
Checking for module 'libopenni2'
-- Package 'libopenni2' not found
-- Could NOT find OpenNI2 (missing: OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
** WARNING ** visualization features related to openni2 will be disabled
-- Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR)
** WARNING ** visualization features related to ensenso will be disabled
-- Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR)
** WARNING ** visualization features related to davidSDK will be disabled
-- Could NOT find DSSDK (missing: _DSSDK_LIBRARIES)
** WARNING ** visualization features related to dssdk will be disabled
-- Could NOT find RSSDK (missing: _RSSDK_LIBRARIES)
** WARNING ** visualization features related to rssdk will be disabled
CMake Error at /usr/local/share/pcl-1.8/PCLConfig.cmake:46 (message):
simulation is required but glew was not found
Call Stack (most recent call first):
/usr/local/share/pcl-1.8/PCLConfig.cmake:645 (pcl_report_not_found)
/usr/local/share/pcl-1.8/PCLConfig.cmake:808 (find_external_library)
CMakeLists.txt:8 (find_package)
-- Configuring incomplete, errors occurred!
See also "/Users/meppe/ROS/homebrew_catkin_ws/build_isolated/pcl_ros/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'pcl_ros':
Command '['/Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh', 'cmake', '/Users/meppe/ROS/homebrew_catkin_ws/src/perception_pcl/pcl_ros', '-DCATKIN_DEVEL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros', '-DCMAKE_INSTALL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/install_isolated', '-DCMAKE_BUILD_TYPE=Release', '-G', 'Unix Makefiles']' returned non-zero exit status 1
Reproduce this error by running:
==> cd /Users/meppe/ROS/homebrew_catkin_ws/build_isolated/pcl_ros && /Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh cmake /Users/meppe/ROS/homebrew_catkin_ws/src/perception_pcl/pcl_ros -DCATKIN_DEVEL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros -DCMAKE_INSTALL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release -G 'Unix Makefiles'
Command failed, exiting.
I did
brew install openni2
Then I did again:
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
The same error occurred:
-- Checking for module 'libopenni2'
-- Package 'libopenni2' not found
-- Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR)
** WARNING ** visualization features related to ensenso will be disabled
-- Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR)
** WARNING ** visualization features related to davidSDK will be disabled
-- Could NOT find DSSDK (missing: _DSSDK_LIBRARIES)
** WARNING ** visualization features related to dssdk will be disabled
-- Could NOT find RSSDK (missing: _RSSDK_LIBRARIES)
** WARNING ** visualization features related to rssdk will be disabled
CMake Error at /usr/local/share/pcl-1.8/PCLConfig.cmake:46 (message):
simulation is required but glew was not found
Call Stack (most recent call first):
/usr/local/share/pcl-1.8/PCLConfig.cmake:645 (pcl_report_not_found)
/usr/local/share/pcl-1.8/PCLConfig.cmake:808 (find_external_library)
CMakeLists.txt:8 (find_package)
-- Configuring incomplete, errors occurred!
See also "/Users/meppe/ROS/homebrew_catkin_ws/build_isolated/pcl_ros/CMakeFiles/CMakeOutput.log".
<== Failed to process package 'pcl_ros':
Command '['/Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh', 'cmake', '/Users/meppe/ROS/homebrew_catkin_ws/src/perception_pcl/pcl_ros', '-DCATKIN_DEVEL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros', '-DCMAKE_INSTALL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/install_isolated', '-DCMAKE_BUILD_TYPE=Release', '-G', 'Unix Makefiles']' returned non-zero exit status 1
Reproduce this error by running:
==> cd /Users/meppe/ROS/homebrew_catkin_ws/build_isolated/pcl_ros && /Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh cmake /Users/meppe/ROS/homebrew_catkin_ws/src/perception_pcl/pcl_ros -DCATKIN_DEVEL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros -DCMAKE_INSTALL_PREFIX=/Users/meppe/ROS/homebrew_catkin_ws/install_isolated -DCMAKE_BUILD_TYPE=Release -G 'Unix Makefiles'
Command failed, exiting.
Followed the hint at http://stackoverflow.com/questions/26311715/solving-a-difficult-compilation-issue That is, glew seems to be not present anymore in MacOS since 10.9 (Mavericks), so that the file /usr/local/share/pcl-1.8/PCLConfig.cmake is deprecated. To fix the issue, change the following line (around line number 500) in that file:
/System/Library/Frameworks/GLEW.framework/Versions/A/Headers
to line:
/usr/local/Cellar/glew/1.13.0/include/GL
Then, running catkin_make_isolated again caused other errors:
[ 20%] Built target pcl_ros_gencfg
[ 22%] Linking CXX executable /Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros/lib/pcl_ros/convert_pcd_to_image
[ 23%] Linking CXX executable /Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros/lib/pcl_ros/convert_pointcloud_to_image
[ 25%] Linking CXX executable /Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros/lib/pcl_ros/pcd_to_pointcloud
ld: framework not found GLEW
clang: error: linker command failed with exit code 1 (use -v to see invocation)
ld: framework not found GLEW
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros/lib/pcl_ros/convert_pcd_to_image] Error 1
make[2]: *** [/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros/lib/pcl_ros/convert_pointcloud_to_image] Error 1
make[1]: *** [CMakeFiles/convert_pcd_to_image.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/convert_pointcloud_to_image.dir/all] Error 2
ld: framework not found GLEW
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros/lib/pcl_ros/pcd_to_pointcloud] Error 1
make[1]: *** [CMakeFiles/pcd_to_pointcloud.dir/all] Error 2
[ 26%] Linking CXX executable /Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros/lib/pcl_ros/pointcloud_to_pcd
ld: framework not found GLEW
clang: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [/Users/meppe/ROS/homebrew_catkin_ws/devel_isolated/pcl_ros/lib/pcl_ros/pointcloud_to_pcd] Error 1
make[1]: *** [CMakeFiles/pointcloud_to_pcd.dir/all] Error 2
make: *** [all] Error 2
<== Failed to process package 'pcl_ros':
Command '['/Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh', 'make', '-j4', '-l4']' returned non-zero exit status 2
Reproduce this error by running:
==> cd /Users/meppe/ROS/homebrew_catkin_ws/build_isolated/pcl_ros && /Users/meppe/ROS/homebrew_catkin_ws/install_isolated/env.sh make -j4 -l4
Command failed, exiting.