Compilation error industrial_collision_detection about industrial_moveit

[raghavendersahdev]

Hi @trent-weiss @ipa-mjp @Souphis . I had the exact same issue but I was able to build and run STOMP successfully after doing the following. I had to remove 3 packages. You need to remove the following folders / packages from industrial_move_it:

• industrial_collision_detection: Recently everything that was in industrial_collision_detection package was merged into moveit (reason for multiple definitions) adding the ability to get detailed distance information. You will need to remove this package from the repository and try and build again. It may specifically check for the collision detection library name "IndustrialFCL" somewhere in the code which can now be removed because moveit supports the necessary capability. credits to @Levi-Armstrong for pointing me to this duplication. Also remove industrial_collision_detection, constraint_ik, industrial_moveit_benchmarking packages from any CMakeLists.txt where it explicityly finds these packages.
• constraint_ik: package / folder as it had includes from the industrial_collision_detection package like this, this, this, etc
• industrial_moveit_benchmarking: since this package has dependencies on the header files/classes obtained from the constraint_ik package, I removed this too.

After doing the above steps, a catkin build or catkin_make should be able to fix and compile it.

[mjpatell]

Hello @raghavendersahdev ,

Thank you so much for your help. Now after removing all 3 packages, I am able to compile and build.

[mjpatell]

Hello,
I am getting same problem. Did you solved your error?

[gbartyzel]

Not yet. However I've tried compile it on ROS-I Industrial Training VM and to my surprise, everything works well there. Maybe some dependencies are missing or sth.

[mjpatell]

Hello,
Thank you so much. After installing all required dependency I am getting below of errors along with same error you mentioned.

[gbartyzel]

I got same errors on my PC. I compared ros packages installed on ROS-I VM and my Ubuntu, and there is not difference besides some additionals.

[mjpatell]

Hello,
I don't have any idea what am doing wrong. Do you have any idea to resolve this error?
Thank you

[trent-weiss]

I am getting an identical error.

It appears the issue is related to redeclaring a struct collision_detection::DistanceRequest that already exists in MoveIt.

Not sure how to fix it.

[mjpatell]

Hello @raghavendersahdev ,

Thank you for your information. I try to follow step as you mention. But I have other errors that's obvious. The reason is

• constraint_ik: include/constrained_ik/constraints /avoid_obstacles.h where they access function of industrial_collision_detection class while that functions/structs are not part of MoveIt! at this moment. I don't think so I can remove whole industrial_collision_detection repo. https://github.com/ros-industrial/industrial_moveit/blob/kinetic-devel/constrained_ik/include/constrained_ik/constraints/avoid_obstacles.h#L135 (I just mentioned one error might be possible form other packages and/or files)

• If you already did this and compile and/or build fine. Than can you give me info/access of your repo? So that I can try in my pc. Did you create PR after solving this error?

• If any one solve this problem please suggest me.
  Thank you.

[raghavendersahdev]

Hi @ipa-mjp as per my previous comment, you need to remove 3 all packages not just the industrial_collision_detection package. The 3 packages/folder you need to remove are:

• industrial_collision_detection
• constraint_ik
• industrial_moveit_benchmarking

After removing these 3 packages completely, your code should successfully build....If there is a dependency of any of these packages listed in any CMakeLists.txt file, please remove that too.
Hope this helps.

[jrgnicho]

@ipa-mjp by removing you mean deleting from the package.xml list or deleting the actual packages themselves?

[raghavendersahdev]

Hi @jrgnicho , both worked for me:

• completely removing / deleteing the 3 packages also works, or Alternatively
• simply removing from package.xml and using CATKIN_IGNORE for the three packages also worked

I removed / deleted industrial moveit and did catkin_ignore for the 2 packages (constriaint_ik and industrial_moveit_benchmarking). I did this as in my commit

[mjpatell]

Hi @jrgnicho,

Even both worked for me.

[Ridhwanluthra]

@raghavendersahdev if those packages are removed it will not be able to use those functionalities.
@ipa-hsd mentioned that this commit in moveit leads to the error.
Is it that the functionality from here was shifted to moveit? coz they seem similar.