start-jsk / hrpsys Goto Github PK
View Code? Open in Web Editor NEWAn OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.
An OpenRTM-aist-based robot controller. This package is the most tailored for humanoid (dual-arm and/or biped) robots for historical reason.
I personally (for my job) want some latest commits. Although 315.2.2
isn't released yet as ROS pkg, are we ready for the next version?
list up the PRs waiting for hrpsys trunk release.
hrpsys/samplesのreadmeのチュートリアルのように
rosrun hrpsys samplerobot-stabilizer.py
と実行しようとして「samplerobot-stabilizer.py」がないとおこられ,
rosrun hrpsys samplerobot_stabilizer.py
とハイフンからアンダースコアにしたら実行できたのであまり気にかけなかったのですが,
このgitレポジトリには確かに「samplerobot-stabilizer.py」があるように見えます.
なんとなく(http://github.com/fkanehiro/hrpsys-base)
のパッチ(?)かラッパー(?)のような気がしているのですが,このパッケージはどう扱うのが正しいのでしょうか?
すでに(http://github.com/fkanehiro/hrpsys-base)
から落とした~/ros/indigo_parent/src/hrpsysが存在する場合,このパッケージをどのように導入するのでしょうか?
On Groovy, it failed. http://jenkins.ros.org/job/devel-groovy-hrpsys/ARCH_PARAM=amd64,UBUNTU_PARAM=precise,label=devel/2/console
-- catkin 0.5.86
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - hrpsys
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'hrpsys'
-- ==> add_subdirectory(hrpsys)
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package openrtm_aist.
Set openrtm_aist_DIR to the directory containing a CMake configuration file
for openrtm_aist. The file will have one of the following names:
openrtm_aistConfig.cmake
openrtm_aist-config.cmake
Call Stack (most recent call first):
hrpsys/catkin.cmake:6 (find_package)
hrpsys/CMakeLists.txt:2 (include)
CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package openhrp3.
Set openhrp3_DIR to the directory containing a CMake configuration file for
openhrp3. The file will have one of the following names:
openhrp3Config.cmake
openhrp3-config.cmake
Maybe because openrtm_aist
has been failing to build.
http://jenkins.ros.org/view/GbinP64/job/ros-groovy-openrtm-aist_binarydeb_precise_amd64/
For now we can ignore Hydro
because:
openrtm_aist
hasn't failed, maybe just because build job hasn't been kicked for the last 3 days. http://jenkins.ros.org/view/HbinP64/job/ros-hydro-openrtm-aist_binarydeb_precise_amd64/To be precise, hrpsys assumes
pkg_check_modules(OpenCV opencv)
if (NOT OpenCV_FOUND)
pkg_check_modules(OpenCV opencv-2.3.1)
if (NOT OpenCV_FOUND)
message(WARNING "opencv not found")
endif()
endif()
but opencv2 install ros-hydro-opencv2 that provies opencv2.pc, we have to install libopencv-dev for hrpsys, wait for ros/rosdistro#4763
OpenHRP3 is 3.1.7 since Oct 2014. And the major version of hrpsys is tied to that of OpenHRP3.
I'm just wondering. If it's not that strict I personally have no problem without syncing the versions.
Latest build ver is 315.1.8-1
while 315.1.8-0
with Groovy. This is causing build failure in hrpsys-ros-bridge
on G.
according to the log of travis https://travis-ci.org/start-jsk/hrpsys/jobs/20740349,
compilation of hrpsys ends in 4 secs.
I think there is some problem.
On my laptop, rosbuild says cannot find openhrp3.1
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found OpenRTM-aist 1.1.0 in /home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/openrtm_aist_core/openrtm_aist
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
Package openhrp3.1 was not found in the pkg-config search path.
Perhaps you should add the directory containing `openhrp3.1.pc'
to the PKG_CONFIG_PATH environment variable
No package 'openhrp3.1' found
CMake Error at cmake_modules/FindOpenHRP.cmake:86 (message):
OpenHRP required, please specify it's location.
Call Stack (most recent call first):
CMakeLists.txt:38 (find_package)
-- Configuring incomplete, errors occurred!
#
touch installed
make[1]: Leaving directory `/home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys'
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/build
cd build && make
make[1]: Entering directory `/home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/build'
make[1]: Leaving directory `/home/jskuser/ros/groovy/rtm-ros-robotics/openrtm_common/hrpsys/build'
bash /tmp/jsk.rosbuild -s --rtm --from-source hydro -y
をするとコンパイルがhrpsysで止まってしまいます。
cd ros/hydro_parent
catkin clean -a
# 新しいターミナル
source /opt/ros/hydro/setup.bash
cd ros/hydro_parent/src
bash jsk-ros-pkg-jsk_roseus-setup.sh
bash rtm-ros-robotics-rtmros_common-setup_upstream.sh
catkin b hrpsys -i -v
をしてもhrpsysでfailします。
ビルド時のログを以下に貼ります。何が原因でしょうか。
https://gist.github.com/6ecae2fc7684702a9dcc
ubuntu 12.04 hydro環境
Related to start-jsk/rtmros_common#355, from the source of only hrpsys
, I get installation error (using cdcbdb5):
$ catkin_make
:
sed -i s@/home/n130s/ROS/cws/devel/share@/home/n130s/ROS/cws/src/hrpsys/share@s /home/n130s/ROS/cws/src/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.xml
fix /home/n130s/ROS/cws/devel/lib/pkgconfig/hrpsys-base.pc
-- Configuring done
-- Generating done
-- Build files have been written to: /home/n130s/ROS/cws/build
####
#### Running command: "make -j8 -l8" in "/home/n130s/ROS/cws/build"
####
$ catkin_make install
Base path: /home/n130s/ROS/cws
:
-- Installing: /home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/idl/NullService.idl
fix /home/n130s/ROS/cws/src/hrpsys -> /home/n130s/ROS/cws/install
-> /home/n130s/ROS/cws/install/share/openhrp3
/home/n130s/ROS/cws/devel -> /home/n130s/ROS/cws/install
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//PA10simulation.xml
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//PA10monitor.xml
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//hrpsys.sh
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//PA10.conf
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//rtc.conf
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//RobotHardware.conf
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/PA10//PA10.py
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.sh
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.xml
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.conf
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//HRP4C.py
fix //home/n130s/ROS/cws/install/share/hrpsys/share/hrpsys/samples/HRP4C//rtc.conf
fix //home/n130s/ROS/cws/install/lib/pkgconfig/hrpsys-base.pc /home/n130s/ROS/cws/devel -> /home/n130s/ROS/cws/install
sed: can't read //home/n130s/ROS/cws/install/lib/pkgconfig/hrpsys-base.pc: No such file or directory
sed: can't read //home/n130s/ROS/cws/install/lib/pkgconfig/hrpsys-base.pc: No such file or directory
sed: can't read //home/n130s/ROS/cws/install/lib/pkgconfig/hrpsys-base.pc: No such file or directory
$
$ find . -iname "hrpsys*.pc"
./install/lib/pkgconfig/hrpsys.pc
./build/hrpsys/build/hrpsys-base/hrpsys-base.pc
./build/hrpsys/catkin_generated/installspace/hrpsys.pc
./devel/lib/pkgconfig/hrpsys.pc
./devel/lib/pkgconfig/hrpsys-base.pc
When this repository (start-jsk/hrpsys) worked as the devel repository of hrpsys
, I can simply build it by using catkin_make as a normal catkin package.
Now looks like hrpsys isn't a simple catkin package. Where is the right repository to download the compilable source, and what is the right way to build it locally?
Even a rough description is appreciated. Once I'll get to compile it, I'll document it and fire a PR.
I'm in need of building the latest source ASAP before waiting for the DEB release (related fkanehiro/hrpsys-base#522).
$ cd %TOP_CATKIN_WORKSPACE%
$ rm -fr build devel
$ catkin_make
$ rosrun hrpsys create_changelog.sh
$ more /tmp/create_changelog.rst
(empty)
$ cd %TOP_CATKIN_WORKSPACE%/build//start-jsk/openrtm_common/hrpsys/build/hrpsys-base-source
$ git log
(shows the log older than it's supposed to be)
Now I'm testing deb hrpsys package for UnstableRTC.
315.2.6 seems not to include the following PR:
fkanehiro/hrpsys-base#347
I'd like to include this PR.
Could you update version?
(Just few days ago, version was upgraded to 315.2.6, sorry...)
update to 315.1.10
roslaunch hrpsys pa10.launch
rosrun hrpsys pa10-jointangle.py
roslaunch hrpsys samplerobot.launch
rosrun hrpsys samplerobot-walk.py
roslaunch hrpsys hrp4c.launch
rosrun hrpsys hrp4c-motion.py
use rosrun hrpsys hrp4c_model_downlaod.sh to get information to download HRP4C model file
I confirmed this happens on 2 different Hydro machines, only on simulators.
$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch
:
respawning...
[hrpsys-3] restarting process
process[hrpsys-3]: started with pid [5346]
loading file:///opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
Retrying to load the file as a standard VRML file
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
loading failed.
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
/opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/model/longfloor.wrl cannot be found.
omniORB: ERROR -- A servant has been deleted that is still activated.
id: root<7> (active)
respawning...
[hrpsys-3] restarting process
:
Versions.
$ dpkg -p ros-hydro-openhrp3 ros-hydro-hrpsys ros-hydro-rtmros-common ros-hydro-rtmros-hironx ros-hydro-rtmros-nextage|grep Vers
Version: 3.1.7-3precise-20150213-1403-+0000
Version: 315.3.0-1precise-20150311-1614-+0000
Version: 1.2.4-1precise-20140921-1446-+0000
Version: 1.0.24-0precise-20140921-1938-+0000
Version: 0.6.1-0precise-20150311-1850-+0000
$ find /opt/ros -iname longfloor.wrl
/opt/ros/hydro/share/OpenHRP-3.1/sample/model/longfloor.wrl
Doesn't happen with Trusty-Indigo.
$ dpkg -p ros-indigo-openhrp3 ros-indigo-hrpsys ros-indigo-rtmros-common ros-indigo-rtmros-hironx ros-indigo-rtmros-nextage|grep Vers
Version: 3.1.7-15trusty-20150213-1223-+0000
Version: 315.3.0-1trusty-20150311-1141-+0000
Version: 1.2.8-0trusty-20150311-1229-+0000
Version: 1.0.28-0trusty-20150311-1244-+0000
Version: 0.6.0-0trusty-20150311-1247-+0000
$ find /opt/ros/ -iname longfloor.wrl
/opt/ros/indigo/share/OpenHRP-3.1/sample/model/longfloor.wrl
I found build error
Check if /home/jsk/ueda/dave_catkin_ws/src/rtm-ros-robotics/openrtm_common/hrpsys/build/hrpsys-base-source/idl/TimeKeeperService.idl exists
Check if /home/jsk/ueda/dave_catkin_ws/src/rtm-ros-robotics/openrtm_common/hrpsys/build/hrpsys-base-source/idl/VirtualForceSensorService.idl exists
is not present
#
# copy idl
# mkdir -p /home/jsk/ueda/dave_catkin_ws/src/rtm-ros-robotics/openrtm_common/hrpsys/idl && cp -u /home/jsk/ueda/dave_catkin_ws/src/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl/* ./idl/
touch installed
copy binary files
mv: cannot stat `/home/jsk/ueda/dave_catkin_ws/devel/share/hrpsys/idl': No such file or directory
mv: cannot stat `/home/jsk/ueda/dave_catkin_ws/devel/share/hrpsys/samples': No such file or directory
copy shared files
CMake Error at rtm-ros-robotics/openrtm_common/hrpsys/catkin.cmake:45 (message):
Copy hrpsys/share failed: 1
Call Stack (most recent call first):
rtm-ros-robotics/openrtm_common/hrpsys/CMakeLists.txt:2 (include)
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
I modified some codes in hrpsys-base-source directory and I'd like to build and use it in hydro/catkin environment.
I tried
cd ros/hydro/build/rtm-ros-robotics/openrtm_common/hrpsys
rm installed
make
However, no build process seemed to be executed and devel/lib/hrpsys was not updated.
How can I run build of hrpsys?
I also switch to hrpsys-base trunk source repository by modifying Makefile.hrpsys-base.
How can I re-build hrpsys to use hrpsys-base trunk by this modification?
例えば rtmlaunch hrpsys_tutorials/launch pa10.launch
でおこります.@orikuma
RobotHardware(に相当する部分)でtauが出ていなかったらtaque系を使わない,というふうにhrpsys_config.pyを直すでしょうか?
また表示が速すぎるので対応したパッチを作りました確認して下さい.
https://gist.github.com/k-okada/9302492
@130s ,
Could you update hrpsys-base revision again from 315.2.3
to 315.2.4
?
I'd like to use the latest hrpsys-base merged at:
fkanehiro/hrpsys-base@bbb1c64
fkanehiro/hrpsys-base@5067576
...etc
(I created this request according to discussion in #99.)
If there's a (even rough) document, I'll be happy to put together a tutorial somewhere.
Recently, some ros-relevant files are moved to hrpsys-base[1].
What do you think about to move sample's README.md[2], which was located in the same directory as moved sample codes?
[1] https://github.com/fkanehiro/hrpsys-base/tree/master/launch
[2] https://github.com/start-jsk/hrpsys/tree/master/samples
When packaging hrpsys
on Arch Linux, I found 2 errors:
boost_*-mt
. However, the -mt
suffix has been removed for years in several Linux distributions now (it was just a symlink AFAIK). I currently use this patch: bchretien@ce795aeqhull
include structure evolved a few years ago. qhull/qhull.h
became libqhull/libqhull.h
. I guess you could use a different FindQhull.cmake
(e.g. this one found in geometric_shapes
). I currently use this patch: bchretien@cf31247dist-packages
, however this is Debian-specific and should be site-packages
for all non-Debian-based distributions.This may also concern Fedora (cc @cottsay). Now the build completes, and I will try to make some run-time tests before making a PR.
One motive is to include #117 that's required in downstream start-jsk/rtmros_gazebo#111
start-jsk/rtmros_hironx#215 needs this release
I could not run hrpsys example from start-jsk/hrpsys
system.
For source environment, this example can be executed.
$ rtmlaunch hrpsys samplerobot.launch
$ rosrun hrpsys samplerobot-data-logger.py
For deb-installed environment, this example cannot be executed because of these errors:
rosrun hrpsys samplerobot-data-logger.py
configuration ORB with nozawa-HP-Z620-Workstation2 : 15005
[hrpsys.py] waiting ModelLoader
[hrpsys.py] start hrpsys
[hrpsys.py] finding RTCManager and RobotHardware
[hrpsys.py] wait for RTCmanager : None
[hrpsys.py] wait for SampleRobot(Robot)0 : <hrpsys.rtm.RTcomponent instance at 0x31dfcb0> (timeout 0 < 10)
[hrpsys.py] findComps -> RobotHardware : <hrpsys.rtm.RTcomponent instance at 0x31dfcb0> isActive? = True
[hrpsys.py] simulation_mode : True
[hrpsys.py] bodyinfo URL = file:///opt/ros/hydro/share/OpenHRP-3.1/sample/model/sample1.wrl
Traceback (most recent call last):
File "/opt/ros/hydro/share/hrpsys/samples/samplerobot-data-logger.py", line 25, in <module>
samplerobot_data_logger.demo()
File "/opt/ros/hydro/share/hrpsys/samples/../share/hrpsys/samples/SampleRobot/samplerobot_data_logger.py", line 23, in demo
init()
File "/opt/ros/hydro/share/hrpsys/samples/../share/hrpsys/samples/SampleRobot/samplerobot_data_logger.py", line 20, in init
hcf.init ("SampleRobot(Robot)0", "/opt/ros/hydro/share/OpenHRP-3.1/sample/model/sample1.wrl")
File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 1505, in init
self.sensors = self.getSensors(url)
File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 536, in getSensors
self.getBodyInfo(url)._get_links())), []) # sum is for list flatten
File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/hrpsys_config.py", line 527, in getBodyInfo
return mdlldr.getBodyInfo("file://" + url)
File "/opt/ros/hydro/lib/python2.7/dist-packages/hrpsys/ModelLoader_idl.py", line 700, in getBodyInfo
return _omnipy.invoke(self, "getBodyInfo", _0_OpenHRP.ModelLoader._d_getBodyInfo, args)
OpenHRP.ModelLoaderException: OpenHRP.ModelLoader.ModelLoaderException(description='/opt/ros/hydro/share/OpenHRP-3.1/sample/model/sample1.wrl cannot be found.')
Maybe, OPENHRP_DIR
should be /opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1
.
moved from start-jsk/rtmros_common#310
Comment:
hrpsys_ros_bridge's compile_robot_model.cmake uses hrpsys/ProjectGenerator in compile time. this patch breaks it.
Moved from start-jsk/openhrp3#43
By the way, how do we cope with start-jsk/hrpsys#75, they want to start using trunk version of hrpsys.
One idea is to create groovy branch on rtmros_common and stop developing/releasing and using hrpsys 315.1.x and hydro branch is continue developing on trunk (315.2.x), but this means hironx users must use groovy, so it may not acceptable.
Another idea is to create stable(315.1.x) branch on rtmros_common and only stable branch is released and deb build. This means main/core users never uses deb package. Also I afraid I mostly working on developing release so it just make you much more busy.
Another approach is to release rtmros_common and rtmros_comon_devel ?
Ideal approach is to update QNX software to 315.2.x but it may most difficult among above idea.
For instance, run the following 2 commands on ipython terminal back to back without intervals (in particular, notice wait
is False
). But even though In [59]
was returned already on the terminal but arms still moving, looks like In [60]
waits for 59 to be done. Once the arm finished moving with 59, 60 finally starts.
Is it an intended behavior? If so, is there a way to interrupt the previous command and get the new one in action?
$ ipython -i `rospack find hironx_ros_bridge`/scripts/hironx.py
:
In [59]: robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=-0.09, tm=30, wait=False)
[ 0.32550744 0.18235837 1.0746411 ] [-3.00137594 -1.56900497 3.00122438]
larm None [0.32550744094851297, 0.18235836592382365, 1.0746410958495576] [-3.0013759431884734, -1.5690049671364696, 3.0012243844015924] 30
Out[59]: True
In [60]: robot.setTargetPoseRelative('larm', 'LARM_JOINT5', dz=0.05, tm=2, wait=False)
[ 0.32548581 0.18235465 1.1246795 ] [-2.99326423 -1.56900659 2.99311658]
larm None [0.32548580932689786, 0.18235465271583126, 1.1246795017865097] [-2.9932642260633484, -1.5690065854538964, 2.9931165765312784] 2
Out[60]: True
due to ros/rosdistro#4763 (comment), current shadow-fixed release of hrpsys (315.2.1) is invalid, that is not include hrpsys-simulator.
dpkg -S ros-hydro-hrpsys | grep hrpsys-simu
This is fixed in https://github.com/start-jsk/hrpsys/pull/91/files and added test code to check if hrpsys-simulator and other rtc is actually compiled #92
There's an issue in hironx_ros_bridge
that is kind of urgent and can get solved by this commit in hrpsys-base. I'm just waiting for "GO".
groovy/rosbuildの環境でhrpsysをmakeしたら
コンパイルされずにすぐ抜けてしまいます。
@garaemon に見てもい
export PKG_CONFIG_PATH=`rospack find openhrp3`/lib/pkgconfig:${PKG_CONFIG_PATH}
これをやったらできました。
pkg-configのパスにopenhrpが入っていないのが問題です。
Using 9e9818f, catkin
fails on both Groovy and Hydro. Is now not a good time to build?
$ catkin_make
:
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.85
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - hrpsys
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'hrpsys'
-- ==> add_subdirectory(hrpsys)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package openrtm_aist.
Set openrtm_aist_DIR to the directory containing a CMake configuration file
for openrtm_aist. The file will have one of the following names:
openrtm_aistConfig.cmake
openrtm_aist-config.cmake
Call Stack (most recent call first):
hrpsys/catkin.cmake:6 (find_package)
hrpsys/CMakeLists.txt:2 (include)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:72 (find_package):
Could not find a configuration file for package openhrp3.
Set openhrp3_DIR to the directory containing a CMake configuration file for
openhrp3. The file will have one of the following names:
openhrp3Config.cmake
openhrp3-config.cmake
Call Stack (most recent call first):
hrpsys/catkin.cmake:6 (find_package)
hrpsys/CMakeLists.txt:2 (include)
$ dpkg -p ros-hydro-openrtm-aist|grep Ver
Version: 1.1.0-0precise-20140228-2212-+0000
$ dpkg -p ros-hydro-openhrp3|grep Ver
Version: 3.1.5-1precise-20140228-2219-+0000
This is a question I got from a new user.
Is there a way to do so? Or does it even make sense?
Question from a new user who's defining coordinate in a custom class in his program, and says it's convenient if methods in hrpsys
, maybe setTargetPose
and/or similar, can accept an object (not necessarily the exact class this user defines).
start-jsk/openrtm_aist_core#46 に書いた hrpsys の make が通らない件の解決方法が分かったので報告しておきます.
Ubuntu 12.04 64bit hydro/catkin で Nvidiaのドライバを有効にしたあとに
catkin_make --only-pkg-with-deps hrpsys
すると
make[3]: *** No rule to make target `/usr/lib/x86_64-linux-gnu/libGL.so', needed by `lib/libhrpsysUtil.so'. Stop.
make[3]: *** Waiting for unfinished jobs....
と言われて make が通らなかったのですが, http://techtidings.blogspot.jp/2012/01/problem-with-libglso-on-64-bit-ubuntu.html にあるように,libGL.soのシンボリックリンクが壊れているのが原因で,
cd /usr/lib/x86_64-linux-gnu
ls -l libGL.so ;; mesa/libGL.so を指している
ls -l mesa/libGL.so ;; libGL.so.1 を指している
ls -l libGL.so.1 ;; 実体がない
すると libGL.so.1の実体がないことがわかるので,
sudo ln -sf /usr/lib/libGL.so.1 /usr/lib/x86_64-linux-gnu/libGL.so
としてから,
cd ~/ros/hydro
rm -rf build/rtm-ros-robotics/openrtm_common/hrpsys/
catkin_make --only-pkg-with-deps hrpsys
したら無事に通りました.
For example, catkin_make
-ing using this commit doesn't download this commit r990 from hrpsys upstream. Clean installation doesn't make any difference.
Is there now any limitation to download the commits only up to certain commits, like a released version? The last release, 315.1.7, was made way earlier than the commit above.
extending #64, it would be nice if we can add more example on
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google ❤️ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.