ros / angles Goto Github PK

Starting >>> nav2_costmap_2d
--- stderr: nav2_costmap_2d                               
/usr/bin/ld: cannot find -linstall/angles
collect2: error: ld returned 1 exit status

It seems to relate to #28

Having issue using the python angles in a node of mine. After digging around I can't find the python source in the deb.

$ dpkg-deb -c ros-kinetic-angles_1.9.10-0xenial-20160318-145244-0700_amd64.deb 
drwxr-xr-x root/root         0 2016-03-18 16:53 ./
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/ros/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/ros/kinetic/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/ros/kinetic/include/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/ros/kinetic/include/angles/
-rw-r--r-- root/root      9868 2016-03-18 16:00 ./opt/ros/kinetic/include/angles/angles.h
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/ros/kinetic/lib/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/ros/kinetic/lib/pkgconfig/
-rw-r--r-- root/root       165 2016-03-18 16:53 ./opt/ros/kinetic/lib/pkgconfig/angles.pc
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/ros/kinetic/share/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/ros/kinetic/share/angles/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./opt/ros/kinetic/share/angles/cmake/
-rw-r--r-- root/root      7274 2016-03-18 16:53 ./opt/ros/kinetic/share/angles/cmake/anglesConfig.cmake
-rw-r--r-- root/root       427 2016-03-18 16:53 ./opt/ros/kinetic/share/angles/cmake/anglesConfig-version.cmake
-rw-r--r-- root/root       983 2016-03-18 16:00 ./opt/ros/kinetic/share/angles/package.xml
drwxr-xr-x root/root         0 2016-03-18 16:53 ./usr/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./usr/share/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./usr/share/doc/
drwxr-xr-x root/root         0 2016-03-18 16:53 ./usr/share/doc/ros-kinetic-angles/
-rw-r--r-- root/root       778 2016-03-18 16:52 ./usr/share/doc/ros-kinetic-angles/changelog.Debian.gz

After downloading it from GH and running a local pip install I was able to import. Any reason why the ros-kinetic-angles doesn't include the python bindings?

ROS2 Distro: Humble
OS: Ubuntu 20.04
This is about branch: humble-devel

I built angles from source, and then tried to build nebula, a package that depends on angles, but got the following error:

fatal error: angles/angles/angles.h: No such file or directory

I confirmed that nebula builds when angles is installed through a binary for ROS2 Humble on Ubuntu 22.04 (installed through rosdep), so the issue is specifically about building angles from source.

The following fix in angles' CMakeLists.txt solved my problem:

target_include_directories(angles INTERFACE
  "$<INSTALL_INTERFACE:include/angles>")

->

target_include_directories(angles INTERFACE
  "$<INSTALL_INTERFACE:include>")

Is it possible to make this change permanent on the humble-devel branch?

On a related note, I wonder why we have:

ament_export_include_directories("include/angles")

Instead of:

ament_export_include_directories("include")

I am currently debugging issues for a robot with very large joint limits (>2pi for both left and right limits). In particular, when the current implementation of shortest_angular_distance_with_large_limits returns false.

I traced some of these cases down to:
(a) user input: when from is outside of left_limit --> This is already highlighted in the doxygen as a requirement for the function to work as expected.
(b) machine precision when comparing the clockwise/counter-clockwise options with <=.

I'd like to get your insights into how to best address:

For (a), would it be an option to clamp from to left/right limits as a first step inside the function if outside, or should this be on the user to enforce? This would resolve the current stated limitation for the function to work as expected as highlighted in the function documentation, but would change current existing behaviour. Some users, e.g. the ROS-Control boilerplate controllers, do not currently take this restriction into account and may be unaware of the incorrect function if from is outside the limits. (I will prepare a fix for the JointGroupPositionController).

For (b), this case happens e.g. when we are exactly on the boundary of the limits (clamped outside as a solution to (a)), and with the additional floating point operations i.e. adding the delta/delta_2pi, the conditions are now no longer met with <= (cf.

Alternatively, and perhaps the "wontfix" solution could be to advise to clamp the from and to arguments to something smaller by eps than the limits. This would of course resolve (b) entirely in user-code.

Here are a few example cases:

from __future__ import print_function
import angles

examples = [
    #[5.95171, 0.331613, 0.331613, 5.95157, 0.66309],  # issue: from value is outside right_limit --> (a), expected behaviour
    #[6.80644, 2, 0.523599, 5.75959, -4.80644],             # issue: from value is outside right_limit --> (a), expected behaviour
    #[9.09866, 0.523599, 0.523599, 5.75959, -2.29187], # issue: from value is outside right_limit --> (a), expected behaviour
    [5.75959, 0.523599, 0.523599, 5.75959, -2.29187], # issue: from is _at_ right_limit, to is _at_ left_limit --> (b), machine precision issue
]
for example in examples:
    print(example[:-1], "=", angles.shortest_angular_distance_with_large_limits(example[0], example[1], example[2], example[3]))

Link to windows ci log
We're using ROS2.

11:48:04 C:\ci\ws\install\include\angles/angles.h(70,43): error C2065: 'M_PI': undeclared identifier (compiling source file C:\ci\ws\src\ros-controls\ros2_controllers\joint_trajectory_controller\src\joint_trajectory_controller.cpp) [C:\ci\ws\build\joint_trajectory_controller\joint_trajectory_controller.vcxproj]

11:48:04 C:\ci\ws\install\include\angles/angles.h(70,47): error C2661: 'fmod': no overloaded function takes 1 arguments (compiling source file C:\ci\ws\src\ros-controls\ros2_controllers\joint_trajectory_controller\src\joint_trajectory_controller.cpp) [C:\ci\ws\build\joint_trajectory_controller\joint_trajectory_controller.vcxproj]

There seem to be several topics about this on stackoverflow

how should we go about fixing this?

Mind releasing this repo into Noetic? It looks like all dependencies have been released, and 273 other repos need this one.

http://repositories.ros.org/status_page/blocked_releases_noetic.html?q=id%3D%22angles%22&s=6&r=1

Can we get a new release please for Melodic which includes #16?

I would propose to bum the major version for ROS 2 to make it easy to differentiate between both. cf. https://github.com/ros/class_loader/tags for an example.

Would actually be great to remove the 1.12.0 tag then (not sure how much harm it would make, though).

Holding for now as it's in a rebuild and this is a minor patch.

This is the same as issue #10 except it affects Ubuntu 14.04 (Trusty). I checked to be certain that I've got the latest packages installed.

$ dpkg -l ros-indigo-angles 
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name                      Version           Architecture      Description
+++-=========================-=================-=================-========================================================
ii  ros-indigo-angles         1.9.10-0trusty-20 amd64             This package provides a set of simple math utilities to 

Thanks for your help.

installing ros2-foxy-angles does not expose a Python angles module (perhaps because setup.py refers to catkin?)

ros2 foxy API Doc is 404. When Python is supported suggest the API Doc include:

• place <exec_depends>angles</exec_depends> in package.xml
• run rosdep install -i --from-path src in your ros2 workspace root
• code example:
  import angles
  field_of_view_radians = angles.from_degrees(25.0)

In ros2/ros2#520, @mikaelarguedas removed the angles repo from the ROS2 repos list. Has this been replaced by something else?

No definition of [angles] for OS [arch], (on galactic)

Is this on the roadmap?

There is an issue with the CMakeLists.txt on branch ros2 since PR #28. Line 23 should be

install(DIRECTORY include/ DESTINATION include)

instead of

install(DIRECTORY include/ DESTINATION include/angles)

because the latter results in the angles.h header being under include/angles/angles/angles.h instead of include/angles/angles.h, which breaks the build of a few packages on galactic (joint_trajectory_controller for instance).

Possibly also related to #30 .

I believe I've found a bug in angles... if I call:

from = 1.04700021
to = 1.04700027
left_limit = 1.047
right_limit = -2.147

result = shortest_angular_distance_with_limits(from, to, left_limit, right_limit, shortest_angle)

I get

shortest_angle = -6.28318525
result = 0

Where the shortest_angle should be a small decimal number. So I guess its calculating the angle all the way around the unit circle, instead of the small sliver of distance between the two positions (my application is the effort-based position controller in ros_control).