main branch build error while compiling on ROS-HUMBLE

[wei1224hf]

Description

Overview of your issue here.

Your environment

• ROS Distro: [|Humble|]
• OS Version: Ubuntu 22.04
• Source build, main branch
• Which RMW (Fast DDS or Cyclone DDS): rmw_cyclonedds_cpp

Steps to reproduce

1 install the humble branch already , from source .
2 find it do not contain moveit_py , so I install the main branch source and compile it , with command:
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release --allow-overriding moveit_common moveit_core moveit_ros_planning

Expected behaviour

The compile process should be done

Actual behaviour

error comes out then compile process stopped

Backtrace or Console output

`--- stderr: moveit_core
In file included from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:84:10: fatal error: types.h: No such file or directory
84 | #include <types.h>
| ^~~~~~~~~
compilation terminated.
gmake[2]: *** [online_signal_smoothing/CMakeFiles/moveit_acceleration_filter.dir/build.make:76: online_signal_smoothing/CMakeFiles/moveit_acceleration_filter.dir/src/acceleration_filter.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:1824: online_signal_smoothing/CMakeFiles/moveit_acceleration_filter.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2

Failed <<< moveit_core [15.8s, exited with code 2]

Summary: 11 packages finished [26.7s]
1 package failed: moveit_core
2 packages had stderr output: moveit_configs_utils moveit_core
35 packages not processed

[wei1224hf]

may fixed this bug by modify this code:

/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h

line 84:

#include <types.h>
to
#include <sys/types.h>

but when I continue compile, another error comes out in this package:

`[Processing: moveit_core]
--- stderr: moveit_core
In file included from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h: In destructor ‘virtual online_signal_smoothing::AccelerationLimitedPlugin::~AccelerationLimitedPlugin()’:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:132:20: error: cannot convert ‘OSQPWorkspace*’ {aka ‘OSQPWorkspace_’} to ‘OSQPSolver’
132 | osqp_cleanup(osqp_workspace_);
| ^~~~~~~~~~~~~~~
| |
| OSQPWorkspace* {aka OSQPWorkspace_}
In file included from /usr/local/include/osqp/osqp.h:9,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:83,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/usr/local/include/osqp/osqp_api_functions.h:123:43: note: initializing argument 1 of ‘OSQPInt osqp_cleanup(OSQPSolver)’
123 | OSQP_API OSQPInt osqp_cleanup(OSQPSolver* solver);
| ~~~~~~~~~~~~^~~~~~
In file included from /usr/local/include/osqp/osqp.h:8,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:83,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/usr/local/include/osqp/osqp_api_types.h:130:16: note: class type ‘OSQPWorkspace’ {aka ‘OSQPWorkspace_’} is incomplete
130 | typedef struct OSQPWorkspace_ OSQPWorkspace;
| ^~~~~~~~~~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp: At global scope:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:60:15: error: ‘c_int’ was not declared in this scope; did you mean ‘u_int’?
60 | std::vector<c_int> row_indices;
| ^~~~~
| u_int
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:60:20: error: template argument 1 is invalid
60 | std::vector<c_int> row_indices;
| ^
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:60:20: error: template argument 2 is invalid
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:62:15: error: ‘c_int’ was not declared in this scope; did you mean ‘u_int’?
62 | std::vector<c_int> column_pointers;
| ^~~~~
| u_int
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:62:20: error: template argument 1 is invalid
62 | std::vector<c_int> column_pointers;
| ^
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:62:20: error: template argument 2 is invalid
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:66:3: error: ‘csc’ does not name a type
66 | csc csc_sparse_matrix;
| ^~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp: In constructor ‘online_signal_smoothing::CSCWrapper::CSCWrapper(Eigen::SparseMatrix&)’:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:72:5: error: ‘csc_sparse_matrix’ was not declared in this scope
72 | csc_sparse_matrix.n = M.cols();
| ^~~~~~~~~~~~~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:74:17: error: request for member ‘assign’ in ‘((online_signal_smoothing::CSCWrapper*)this)->online_signal_smoothing::CSCWrapper::row_indices’, which is of non-class type ‘int’
74 | row_indices.assign(M.innerSize(), 0);
| ^~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:75:39: error: request for member ‘data’ in ‘((online_signal_smoothing::CSCWrapper*)this)->online_signal_smoothing::CSCWrapper::row_indices’, which is of non-class type ‘int’
75 | csc_sparse_matrix.i = row_indices.data();
| ^~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:76:21: error: request for member ‘assign’ in ‘((online_signal_smoothing::CSCWrapper*)this)->online_signal_smoothing::CSCWrapper::column_pointers’, which is of non-class type ‘int’
76 | column_pointers.assign(M.outerSize() + 1, 0);
| ^~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:77:43: error: request for member ‘data’ in ‘((online_signal_smoothing::CSCWrapper*)this)->online_signal_smoothing::CSCWrapper::column_pointers’, which is of non-class type ‘int’
77 | csc_sparse_matrix.p = column_pointers.data();
| ^~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp: In member function ‘void online_signal_smoothing::CSCWrapper::update(Eigen::SparseMatrix&)’:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:89:44: error: request for member ‘size’ in ‘((online_signal_smoothing::CSCWrapper*)this)->online_signal_smoothing::CSCWrapper::row_indices’, which is of non-class type ‘int’
89 | for (size_t ind = 0; ind < row_indices.size(); ++ind)
| ^~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:91:18: error: invalid types ‘int[size_t {aka long unsigned int}]’ for array subscript
91 | row_indices[ind] = M.innerIndexPtr()[ind];
| ^
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:94:48: error: request for member ‘size’ in ‘((online_signal_smoothing::CSCWrapper*)this)->online_signal_smoothing::CSCWrapper::column_pointers’, which is of non-class type ‘int’
94 | for (size_t ind = 0; ind < column_pointers.size(); ++ind)
| ^~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:96:22: error: invalid types ‘int[size_t {aka long unsigned int}]’ for array subscript
96 | column_pointers[ind] = M.outerIndexPtr()[ind];
| ^
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp: At global scope:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:138:3: error: ‘OSQPData’ does not name a type
138 | OSQPData data{};
| ^~~~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp: In constructor ‘online_signal_smoothing::OSQPDataWrapper::OSQPDataWrapper(Eigen::SparseMatrix&, Eigen::SparseMatrix&)’:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:113:5: error: ‘data’ was not declared in this scope
113 | data.n = objective_sparse.rows();
| ^~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:113:5: note: suggested alternatives:
In file included from /usr/include/c++/11/array:41,
from /usr/include/c++/11/tuple:39,
from /usr/include/c++/11/bits/unique_ptr.h:37,
from /usr/include/c++/11/memory:76,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:153,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/smoothing_base_class.h:41,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:77,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/usr/include/c++/11/bits/range_access.h:319:5: note: ‘std::data’
319 | data(initializer_list<Tp> il) noexcept
| ^~~~
/usr/include/c++/11/bits/range_access.h:290:5: note: ‘std::data’
290 | data(Container& cont) noexcept(noexcept(cont.data()))
| ^~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:115:17: error: ‘struct online_signal_smoothing::CSCWrapper’ has no member named ‘csc_sparse_matrix’
115 | data.P = &P.csc_sparse_matrix;
| ^~~~~~~~~~~~~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:118:17: error: ‘struct online_signal_smoothing::CSCWrapper’ has no member named ‘csc_sparse_matrix’
118 | data.A = &A.csc_sparse_matrix;
| ^~~~~~~~~~~~~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp: In member function ‘void online_signal_smoothing::OSQPDataWrapper::updateA(OSQPWorkspace*, Eigen::SparseMatrix&)’:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:130:5: error: ‘osqp_update_A’ was not declared in this scope; did you mean ‘osqp_update_rho’?
130 | osqp_update_A(work, A.elements.data(), OSQP_NULL, A.elements.size());
| ^~~~~~~~~~~~~
| osqp_update_rho
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp: In member function ‘virtual bool online_signal_smoothing::AccelerationLimitedPlugin::initialize(rclcpp::Node::SharedPtr, moveit::core::RobotModelConstPtr, size_t)’:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:190:18: error: ‘struct OSQPSettings’ has no member named ‘warm_start’; did you mean ‘warm_starting’?
190 | osqp_settings.warm_start = 0;
| ^~~~~~~~~~
| warm_starting
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:195:49: error: ‘using element_type = struct online_signal_smoothing::OSQPDataWrapper’ {aka ‘struct online_signal_smoothing::OSQPDataWrapper’} has no member named ‘data’
195 | if (osqp_setup(&osqp_workspace, &osqp_data->data, &osqp_settings) != 0)
| ^~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:199:47: error: ‘using element_type = struct online_signal_smoothing::OSQPDataWrapper’ {aka ‘struct online_signal_smoothing::OSQPDataWrapper’} has no member named ‘data’
199 | osqp_setup(&osqp_workspace, &osqp_data->data, &osqp_settings);
| ^~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp: In function ‘bool online_signal_smoothing::updateData(const OSQPDataWrapperPtr&, OSQPWorkspace*, Eigen::SparseMatrix&, const VectorXd&, const VectorXd&)’:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:244:15: error: ‘osqp_update_bounds’ was not declared in this scope; did you mean ‘osqp_update_settings’?
244 | return 0 == osqp_update_bounds(work, data->l.data(), data->u.data());
| ^~~~~~~~~~~~~~~~~~
| osqp_update_settings
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp: In member function ‘virtual bool online_signal_smoothing::AccelerationLimitedPlugin::doSmoothing(Eigen::VectorXd&, Eigen::VectorXd&, Eigen::VectorXd&)’:
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:311:23: error: cannot convert ‘OSQPWorkspace*’ {aka ‘OSQPWorkspace’} to ‘OSQPSolver’
311 | else if (osqp_solve(osqp_workspace_) == 0 &&
| ^~~~~~~~~~~~~~~
| |
| OSQPWorkspace* {aka OSQPWorkspace_}
In file included from /usr/local/include/osqp/osqp.h:9,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:83,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/usr/local/include/osqp/osqp_api_functions.h:111:41: note: initializing argument 1 of ‘OSQPInt osqp_solve(OSQPSolver)’
111 | OSQP_API OSQPInt osqp_solve(OSQPSolver* solver);
| ~~~~~~~~~~~~^~~~~~
In file included from /usr/local/include/osqp/osqp.h:8,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:83,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/usr/local/include/osqp/osqp_api_types.h:130:16: note: class type ‘OSQPWorkspace’ {aka ‘OSQPWorkspace_’} is incomplete
130 | typedef struct OSQPWorkspace_ OSQPWorkspace;
| ^~~~~~~~~~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:312:27: error: invalid use of incomplete type ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
312 | osqp_workspace_->solution->x[0] >= ALPHA_LOWER_BOUND - osqp_settings_.eps_abs &&
| ^~
In file included from /usr/local/include/osqp/osqp.h:8,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:83,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/usr/local/include/osqp/osqp_api_types.h:130:16: note: forward declaration of ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
130 | typedef struct OSQPWorkspace_ OSQPWorkspace;
| ^~~~~~~~~~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:313:27: error: invalid use of incomplete type ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
313 | osqp_workspace_->solution->x[0] <= ALPHA_UPPER_BOUND + osqp_settings_.eps_abs)
| ^~
In file included from /usr/local/include/osqp/osqp.h:8,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:83,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/usr/local/include/osqp/osqp_api_types.h:130:16: note: forward declaration of ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
130 | typedef struct OSQPWorkspace_ OSQPWorkspace;
| ^~~~~~~~~~~~~~
/home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:315:35: error: invalid use of incomplete type ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
315 | double alpha = osqp_workspace_->solution->x[0];
| ^~
In file included from /usr/local/include/osqp/osqp.h:8,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/acceleration_filter.h:83,
from /home/gene/ws_moveit2_main/src/moveit2/moveit_core/online_signal_smoothing/src/acceleration_filter.cpp:35:
/usr/local/include/osqp/osqp_api_types.h:130:16: note: forward declaration of ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
130 | typedef struct OSQPWorkspace_ OSQPWorkspace;
| ^~~~~~~~~~~~~~
gmake[2]: *** [online_signal_smoothing/CMakeFiles/moveit_acceleration_filter.dir/build.make:76: online_signal_smoothing/CMakeFiles/moveit_acceleration_filter.dir/src/acceleration_filter.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:1824: online_signal_smoothing/CMakeFiles/moveit_acceleration_filter.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2

Failed <<< moveit_core [30.6s, exited with code 2]

Summary: 11 packages finished [46.2s]
1 package failed: moveit_core
2 packages had stderr output: moveit_configs_utils moveit_core
35 packages not processed
`

[wei1224hf]

what version of osqp is moveit2 using?
I download and compile and using the newest osqp

[wei1224hf]

I switch to ROS-IRON because humble dose not support moveit-py right now.
With ROS-IRON , I failed with souce install moveit-py , successed with binary install moveit-py.

[evelyn-fu]

Hi, did you ever figure out which version of OSQP is needed to build moveit2 on ros-iron? Thanks!

[adamanov]

same here, are you guys could build main branch on humble?

[Rainerino]

It doesn't work with humble out of the box for me neither. I fixed it related errors by using OSQP release 0.6.3 https://github.com/osqp/osqp/releases/tag/v0.6.3

[adamanov]

I could compile the Moveit main branch on humble with the following

colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 2 

i.e. by setting --parallel-workers 2

[followthwhiterabbit]

I could compile the Moveit main branch on humble with the following

colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 2 

i.e. by setting --parallel-workers 2

it didn't work for me, still struggling to run moveit for a week now

[lnss1-ua]

It doesn't work with humble out of the box for me neither. I fixed it related errors by using OSQP release 0.6.3 https://github.com/osqp/osqp/releases/tag/v0.6.3

Could you tell me how to use it? i downloaded the linux tar but I don't if i have to install something or what.