Release for -Kinetic- (missed) -> Melodic #15

mikeferguson · 2016-08-23T07:53:01Z

mikeferguson · 2016-08-23T07:57:19Z

@davetcoleman -- i've now driven a fetch around in simulation on 16.04 -- I'll continue with actually moving the arm with moveit in the morning -- the repos listed above are what I've had to check out in source (and I have a pretty severe hack in moveit_python to handle the upstream mess that is pyassimp in 16.04)

mikeferguson · 2016-08-23T15:55:06Z

My current setup:

cd <catkin_workspace>
cd src
git clone https://github.com/fetchrobotics/robot_controllers.git
git clone https://github.com/fetchrobotics/fetch_gazebo.git -b gazebo7
git clone https://github.com/fetchrobotics/fetch_ros.git
touch fetch_ros/fetch_calibration/CATKIN_IGNORE
touch fetch_ros/freight_calibration/CATKIN_IGNORE
git clone https://github.com/mikeferguson/moveit_python.git
git clone https://github.com/mikeferguson/grasping_msgs.git 
git clone https://github.com/mikeferguson/simple_grasping.git 
git clone https://github.com/ros-perception/open_karto.git
git clone https://github.com/ros-perception/slam_karto.git
git clone https://github.com/ros-perception/sparse_bundle_adjustment.git
git clone https://github.com/ros-planning/moveit.git
git clone https://github.com/ros-planning/geometric_shapes.git
cd <catkin_workspace>
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
catkin build

~~Now blocking on broken build of moveit~~ source of geometric shapes fixes this

mikeferguson · 2016-08-23T17:35:03Z

I have now successfully run the demo under 16.04

mikeferguson · 2016-08-23T21:04:44Z

If you don't have desktop-full, you can end up with the laser not working, so we are probably missing a depend

mikeferguson · 2016-12-27T21:00:04Z

gazebo7 branch has been rebased on top of gazebo2/5 branches, so it can be released as 0.9.x

zenetio · 2017-07-15T17:44:45Z

I used the script suggested by @mikeferguson and after finish install, using roslaunch stockroom_bot stockroomlaunch, I got no launch error and could get the complete scenario with world, bins and the simple arm robot. Then after couple minutes, I got a "not enough memory" message and got an error in terminal window. So, I closed the session and started a new one. Then I started to get an error regarding to tf and the scenario does not show the robot any more. Then I tried other times and did continue getting the same error and no more robot model in the scenario. So, only in the first time I could get the complete scene. Any hints on this?

mikeferguson · 2018-02-13T03:33:04Z

FYI, robot_calibration is now in Kinetic. Also, unassigning myself from this (EDIT: I actually can't do that, don't have the requisite permissions...)

derkbreeze · 2018-10-12T05:08:49Z

Hello,

I'm using Kinetic in Ubuntu 16.04. I followed the aforementioend installation steps. That said, when I tried to catkin build the workspace, I got the follow tf error and I didn't find a solution. Please let me know if you have any suggestion. Thanks.

Errors << fetch_depth_layer:make /home/lishuai/logs/fetch_depth_layer/build.make.001.log
/home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp: In member function ‘virtual void costmap_2d::FetchDepthLayer::onInitialize()’:
/home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:148:106: error: no matching function for call to ‘tf2_ros::MessageFilter<sensor_msgs::Image_<std::allocator > >::MessageFilter(message_filters::Subscriber<sensor_msgs::Image_<std::allocator > >&, tf::TransformListener&, std::cxx11::string&, int, ros::NodeHandle&)’
new tf2_ros::MessageFilter<sensor_msgs::Image>(*depth_image_sub, *tf, global_frame_, 10, private_nh));
^
In file included from /home/lishuai/src/fetch_ros/fetch_depth_layer/include/fetch_depth_layer/depth_layer.h:40:0,
from /home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:32:
/opt/ros/kinetic/include/tf2_ros/message_filter.h:190:3: note: candidate: template tf2_ros::MessageFilter::MessageFilter(F&, tf2::BufferCore&, const string&, uint32_t, ros::CallbackQueueInterface*)
MessageFilter(F& f, tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, ros::CallbackQueueInterface* cbqueue)
^
/opt/ros/kinetic/include/tf2_ros/message_filter.h:190:3: note: template argument deduction/substitution failed:
/home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:148:106: note: cannot convert ‘((costmap_2d::FetchDepthLayer)this)->costmap_2d::FetchDepthLayer::.costmap_2d::VoxelLayer::.costmap_2d::ObstacleLayer::.costmap_2d::CostmapLayer::.costmap_2d::Layer::tf_’ (type ‘tf::TransformListener’) to type ‘tf2::BufferCore&’
new tf2_ros::MessageFilter<sensor_msgs::Image>(depth_image_sub_, tf_, global_frame_, 10, private_nh));
^
In file included from /home/lishuai/src/fetch_ros/fetch_depth_layer/include/fetch_depth_layer/depth_layer.h:40:0,
from /home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:32:
/opt/ros/kinetic/include/tf2_ros/message_filter.h:168:3: note: candidate: tf2_ros::MessageFilter::MessageFilter(tf2::BufferCore&, const string&, uint32_t, ros::CallbackQueueInterface) [with M = sensor_msgs::Image_<std::allocator >; std::__cxx11::string = std::__cxx11::basic_string; uint32_t = unsigned int]
MessageFilter(tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, ros::CallbackQueueInterface cbqueue)
^
/opt/ros/kinetic/include/tf2_ros/message_filter.h:168:3: note: candidate expects 4 arguments, 5 provided
/opt/ros/kinetic/include/tf2_ros/message_filter.h:146:3: note: candidate: template tf2_ros::MessageFilter::MessageFilter(F&, tf2::BufferCore&, const string&, uint32_t, const ros::NodeHandle&)
MessageFilter(F& f, tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, const ros::NodeHandle& nh)
^
/opt/ros/kinetic/include/tf2_ros/message_filter.h:146:3: note: template argument deduction/substitution failed:
/home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:148:106: note: cannot convert ‘((costmap_2d::FetchDepthLayer)this)->costmap_2d::FetchDepthLayer::.costmap_2d::VoxelLayer::.costmap_2d::ObstacleLayer::.costmap_2d::CostmapLayer::.costmap_2d::Layer::tf_’ (type ‘tf::TransformListener’) to type ‘tf2::BufferCore&’
new tf2_ros::MessageFilter<sensor_msgs::Image>(*depth_image_sub_, *tf_, global_frame_, 10, private_nh));
^
In file included from /home/lishuai/src/fetch_ros/fetch_depth_layer/include/fetch_depth_layer/depth_layer.h:40:0,
from /home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:32:
/opt/ros/kinetic/include/tf2_ros/message_filter.h:126:3: note: candidate: tf2_ros::MessageFilter::MessageFilter(tf2::BufferCore&, const string&, uint32_t, const ros::NodeHandle&) [with M = sensor_msgs::Image_<std::allocator >; std::cxx11::string = std::cxx11::basic_string; uint32_t = unsigned int]
MessageFilter(tf2::BufferCore& bc, const std::string& target_frame, uint32_t queue_size, const ros::NodeHandle& nh)
^
/opt/ros/kinetic/include/tf2_ros/message_filter.h:126:3: note: candidate expects 4 arguments, 5 provided
/opt/ros/kinetic/include/tf2_ros/message_filter.h:104:7: note: candidate: tf2_ros::MessageFilter<sensor_msgs::Image<std::allocator > >::MessageFilter(tf2_ros::MessageFilter<sensor_msgs::Image<std::allocator > >&)
class MessageFilter : public MessageFilterBase, public message_filters::SimpleFilter
^
/opt/ros/kinetic/include/tf2_ros/message_filter.h:104:7: note: candidate expects 1 argument, 5 provided
/home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:151:55: error: no matching function for call to ‘std::vector<boost::shared_ptrtf::MessageFilterBase >::push_back(boost::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::Image<std::allocator > > >&)’
observation_notifiers.push_back(depth_image_filter_);
^
In file included from /usr/include/c++/5/vector:64:0,
from /opt/ros/kinetic/include/class_loader/./class_loader.hpp:39,
from /opt/ros/kinetic/include/class_loader/class_loader.h:35,
from /opt/ros/kinetic/include/pluginlib/./class_list_macros.hpp:40,
from /opt/ros/kinetic/include/pluginlib/class_list_macros.h:35,
from /home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:31:
/usr/include/c++/5/bits/stl_vector.h:913:7: note: candidate: void std::vector<_Tp, _Alloc>::push_back(const value_type&) [with _Tp = boost::shared_ptrtf::MessageFilterBase; _Alloc = std::allocator<boost::shared_ptrtf::MessageFilterBase >; std::vector<_Tp, _Alloc>::value_type = boost::shared_ptrtf::MessageFilterBase]
push_back(const value_type& x)
^
/usr/include/c++/5/bits/stl_vector.h:913:7: note: no known conversion for argument 1 from ‘boost::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::Image<std::allocator > > >’ to ‘const value_type& {aka const boost::shared_ptrtf::MessageFilterBase&}’
/home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp: In member function ‘void costmap_2d::FetchDepthLayer::depthImageCallback(const ConstPtr&)’:
/home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:285:10: error: ‘class tf::TransformListener’ has no member named ‘transform’
tf->transform(vector, vector, msg->header.frame_id);
^
/home/lishuai/src/fetch_ros/fetch_depth_layer/src/depth_layer.cpp:293:92: error: no matching function for call to ‘tf::TransformListener::lookupTransform(const char [10], const _frame_id_type&, const stamp_type&)’
transform = tf->lookupTransform("base_link", msg->header.frame_id, msg->header.stamp);
^

varunagrawal · 2019-01-25T03:46:18Z

@mikeferguson any updates on this? ZebraDevs/fetch_ros#52 is already merged and it would be nice to have the gazebo simulation working with Kinetic.

FYI, I tried following the procedure outline by you on this issue to get things working and when I run rosdep install --from-paths src --ignore-src --rosdistro kinetic -y I get the error
fetch_gazebo: No definition of [libgazebo9-dev] for OS version [xenial]

Any idea why this might be the case?

moriarty · 2019-01-25T07:14:05Z

Because libgazebo9-dev is for 18.04 and Melodic. If you want to try on Kinect you’ll need to checkout the gazebo7 branch.

We’re currently preparing to release Melodic ASAP with the simulation environment for “FetchIt!” https://discourse.ros.org/t/announcement-win-a-robot-fetchit-the-fetch-mobile-manipulation-challenge-icra-2019-competition/7569

Currently if you’re on 18.04 and Melodic, from GitHub most of the packages should work.

Not all are available as debians, and it is our firmware/drivers which have been holding us back (they’re not public- just distributed as binaries) as a lot has changed and we want to have a smooth process for customers who have physical robots. Our target is the end of this month.

But if you’re on 18.04 with Melodic, or checkout the gazebo7 branch most things should work.

varunagrawal · 2019-01-25T18:07:15Z

gazebo7 won't work because gazebo doesn't provide the ROS wrapper packages for Kinetic. gazebo8 won't work because to get moveit to compile, we need the melodic branch as detailed on moveit/moveit_tutorials#262.

At this point, your only two releases are either out of LTS or not yet ready to be released. 😕

moriarty · 2019-01-26T08:14:21Z

Are you only trying to build the simulation? Or also run on a real robot?

14.04 & Indigo is still LTS. Until April 2019.

We aren’t targeting Kinetic.

Melodic will be released soon, but will work from source already.

For the physical robots, you’ll need to wait a little longer for the drivers/firmware and instructions.

That MoveIt! Tutorial you’ve linked to, seems to mention that building it from source will work. If you’re not working on a real robot, then building from source should work. If you’re trying to get this on a real robot, then reach out via our support.

moriarty · 2019-01-27T02:23:06Z

Please check out:
ZebraDevs/fetch_ros#63

moriarty · 2019-01-27T02:57:10Z

@varunagrawal I'm going to close this issue and open new one for Melodic to avoid confusion.

sudo apt install ros-melodic-ros-base
mkdir -p ~/ros/melodic/fetch-gazebo/src
cd ~/ros/melodic/fetch-gazebo
catkin init
catkin config --extend /opt/ros/melodic
cd src
git clone [email protected]:fetchrobotics/fetch_gazebo
git clone [email protected]:fetchrobotics/fetch_ros
cd ..
rosdep install --from-paths src --ignore-src --rosdistro melodic -y
catkin build

test_18_04@test-18:~/ros/melodic/fetch-gazebo/src$ wstool info 
workspace: /home/test_18_04/ros/melodic/fetch-gazebo/src

 Localname    S SCM Version (Spec)     UID  (Spec)  URI  (Spec) [http(s)://...]
 ---------    - --- --------------     -----------  ---------------------------
 fetch_ros      git melodic-devel  (-) 4c1a5186f477 [email protected]:fetchrobotics/fetch_ros
 fetch_gazebo   git gazebo9  (-)       fce68bf44ce2 [email protected]:fetchrobotics/fetch_gazebo

Finished  <<< fetch_gazebo_demo                  [ 1.5 seconds ]                                                                                                                                               
[build] Summary: All 10 packages succeeded!                                                                                                                                                                    
[build]   Ignored:   None.                                                                                                                                                                                     
[build]   Warnings:  2 packages succeeded with warnings.                                                                                                                                                       
[build]   Abandoned: None.                                                                                                                                                                                     
[build]   Failed:    None.                                                                                                                                                                                     
[build] Runtime: 12.2 seconds total.                                                                                                                                                                           
[build] Note: Workspace packages have changed, please re-source setup files to use them.
test_18_04@test-18:~/ros/melodic/fetch-gazebo/src$

There are a few warnings which we'll clean up but this should work on gazebo.
But we will fix https://github.com/fetchrobotics/fetch_ros/issues/102 asap.

We plan to release to Melodic next week, it will take a little until the next melodic sync and the debians are available.

varunagrawal · 2019-01-27T18:39:06Z

@moriarty thanks for being on top of this! I may have been a bit harsh with my words before but I have high expectations of you guys and really appreciate the great work you are doing.

mikeferguson · 2019-01-27T20:48:43Z

@mikeferguson any updates on this?

Just FYI -- I'm not with Fetch since end of 2017, so I'm not the guy to ping on these in the future.

moriarty · 2019-04-05T20:38:40Z

After having some issues with releasing for Melodic, I ended up doing a bunch of extra testing in Kinetic, and then decided that I should just release to Kinetic too.

But, we're only supporting Fetch in Gazebo for Kinetic. The drivers, firmware and actual robot haven't been tested in Kinetic.

moriarty · 2019-04-05T20:39:30Z

Kinetic: http://repositories.ros.org/status_page/ros_kinetic_default.html?q=fetch_gazebo

Melodic: http://repositories.ros.org/status_page/ros_melodic_default.html?q=fetch_gazebo

mikeferguson added the enhancement label Aug 23, 2016

mikeferguson self-assigned this Aug 23, 2016

moriarty changed the title ~~Release for Kinetic~~ Release for -Kinetic- (missed) -> Melodic Jan 27, 2019

moriarty closed this as completed Jan 27, 2019

moriarty mentioned this issue Jan 27, 2019

Release for Melodic #28

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Release for -Kinetic- (missed) -> Melodic #15

Release for -Kinetic- (missed) -> Melodic #15

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Release for -Kinetic- (missed) -> Melodic #15

Release for -Kinetic- (missed) -> Melodic #15

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