Error Building Catkin-based Packages

[Donny3000]

All,

I'm trying to build the rtt_ros_integration package by following the instructions at https://github.com/orocos/rtt_ros_integration, but I get a compile error when executing the "catkin_make" step of the Catkin-based build procedure. The error I get is as follows:

[  8%] Building CXX object rtt_ros_integration/rtt_roscomm/CMakeFiles/rtt_rosservice.dir/src/rtt_rosservice_service.cpp.o
cd /home/ubuntu/catkin_ws/underlay/build/rtt_ros_integration/rtt_roscomm && /usr/bin/c++   -DOROCOS_TARGET=xenomai -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"rtt_roscomm\" -Drtt_rosservice_EXPORTS -fPIC -I/home/ubuntu/catkin_ws/underlay_isolated/install_isolated/include -I/home/ubuntu/catkin_ws/underlay_isolated/install_isolated/include/orocos -I/usr/xenomai/include/xenomai -I/usr/xenomai/include/xenomai/posix -I/home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_ros/include -I/home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/include -I/opt/ros/hydro/include      -o CMakeFiles/rtt_rosservice.dir/src/rtt_rosservice_service.cpp.o -c /home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp
/home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp: In member function 'RTT::base::OperationCallerBaseInvoker* ROSServiceService::get_owner_operation_caller(std::string)':
/home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp:54:84: error: conversion from 'RTT::ServiceRequester*' to non-scalar type 'boost::shared_ptr<RTT::ServiceRequester>' requested
/home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp:60:42: error: no match for 'operator=' in 'required = required.boost::shared_ptr<T>::operator-><RTT::ServiceRequester>()->RTT::ServiceRequester::requires((*(const string*)it.__gnu_cxx::__normal_iterator<_Iterator, _Container>::operator*<std::basic_string<char>*, std::vector<std::basic_string<char> > >()))'
/home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp:60:42: note: candidates are:
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
                 from /home/ubuntu/catkin_ws/underlay_isolated/install_isolated/include/rtt/rtt-fwd.hpp:48,
                 from /home/ubuntu/catkin_ws/underlay_isolated/install_isolated/include/rtt/RTT.hpp:52,
                 from /home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp:3:
/usr/include/boost/smart_ptr/shared_ptr.hpp:309:18: note: boost::shared_ptr<T>& boost::shared_ptr<T>::operator=(const boost::shared_ptr<T>&) [with T = RTT::ServiceRequester; boost::shared_ptr<T> = boost::shared_ptr<RTT::ServiceRequester>]
/usr/include/boost/smart_ptr/shared_ptr.hpp:309:18: note:   no known conversion for argument 1 from 'RTT::ServiceRequester*' to 'const boost::shared_ptr<RTT::ServiceRequester>&'
/usr/include/boost/smart_ptr/shared_ptr.hpp:318:18: note: template<class Y> boost::shared_ptr& boost::shared_ptr::operator=(const boost::shared_ptr<Y>&) [with Y = Y; T = RTT::ServiceRequester]
/usr/include/boost/smart_ptr/shared_ptr.hpp:318:18: note:   template argument deduction/substitution failed:
/home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp:60:42: note:   mismatched types 'const boost::shared_ptr<X>' and 'RTT::ServiceRequester*'
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
                 from /home/ubuntu/catkin_ws/underlay_isolated/install_isolated/include/rtt/rtt-fwd.hpp:48,
                 from /home/ubuntu/catkin_ws/underlay_isolated/install_isolated/include/rtt/RTT.hpp:52,
                 from /home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp:3:
/usr/include/boost/smart_ptr/shared_ptr.hpp:329:18: note: template<class Y> boost::shared_ptr& boost::shared_ptr::operator=(std::auto_ptr<_Tp1>&) [with Y = Y; T = RTT::ServiceRequester]
/usr/include/boost/smart_ptr/shared_ptr.hpp:329:18: note:   template argument deduction/substitution failed:
/home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp:60:42: note:   mismatched types 'std::auto_ptr<T>' and 'RTT::ServiceRequester*'
In file included from /usr/include/boost/shared_ptr.hpp:17:0,
                 from /home/ubuntu/catkin_ws/underlay_isolated/install_isolated/include/rtt/rtt-fwd.hpp:48,
                 from /home/ubuntu/catkin_ws/underlay_isolated/install_isolated/include/rtt/RTT.hpp:52,
                 from /home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp:3:
/usr/include/boost/smart_ptr/shared_ptr.hpp:338:77: note: template<class Ap> typename boost::detail::sp_enable_if_auto_ptr<Ap, boost::shared_ptr<T>&>::type boost::shared_ptr::operator=(Ap) [with Ap = Ap; T = RTT::ServiceRequester]
/usr/include/boost/smart_ptr/shared_ptr.hpp:338:77: note:   template argument deduction/substitution failed:
/usr/include/boost/smart_ptr/shared_ptr.hpp: In substitution of 'template<class Ap> typename boost::detail::sp_enable_if_auto_ptr<Ap, boost::shared_ptr<T>&>::type boost::shared_ptr::operator=(Ap) [with Ap = Ap; T = RTT::ServiceRequester] [with Ap = RTT::ServiceRequester*]':
/home/ubuntu/catkin_ws/underlay/src/rtt_ros_integration/rtt_roscomm/src/rtt_rosservice_service.cpp:60:42:   required from here
/usr/include/boost/smart_ptr/shared_ptr.hpp:338:77: error: no type named 'type' in 'struct boost::detail::sp_enable_if_auto_ptr<RTT::ServiceRequester*, boost::shared_ptr<RTT::ServiceRequester>&>'
make[2]: *** [rtt_ros_integration/rtt_roscomm/CMakeFiles/rtt_rosservice.dir/src/rtt_rosservice_service.cpp.o] Error 1
make[2]: Leaving directory `/home/ubuntu/catkin_ws/underlay/build'
make[1]: *** [rtt_ros_integration/rtt_roscomm/CMakeFiles/rtt_rosservice.dir/all] Error 2
make[1]: Leaving directory `/home/ubuntu/catkin_ws/underlay/build'
make: *** [all] Error 2
Invoking "make" failed

Does anyone know what I might be doing wrong? I've made sure that I've followed the directions closely. Also, I'm building on Ubuntu 13.04 and ROS Hydro.

[jbohren]

What version of orocos are you building against?

[Donny3000]

I'm building against the toolchain-2.7 branch of the gitorious orocos toolchain from the README.md. I'm also using the hydro-develop branch of the RTT ROS integration repo.

[Donny3000]

The more that I look at these errors, the more it seems that this appears to be an issue with the boost's smart pointers (specifically shared_ptr's) and the assignment operator. Looking at the documentation for the shared_ptr on Boost's website, creation of a shared_ptr should be done with the new operator or using the reset() method of the shared_ptr so that the shared_ptr can take ownership of a pointer of the templated type.

For instance the code line generating the error is currently:

// Iterate through the tokens except for the last one (the operation name)
boost::shared_ptr<RTT::ServiceRequester> required = this->getOwner()->requires();

which, I believe should be something like the following:

// Iterate through the tokens except for the last one (the operation name)
boost::shared_ptr<RTT::ServiceRequester> required( this->getOwner()->requires() );

or

// Iterate through the tokens except for the last one (the operation name)
boost::shared_ptr<RTT::ServiceRequester> required;
required.reset( this->getOwner()->requires() );

Is this a valid observation or am I completely in left field here? If valid, this is done in serval places throughout the code on the hydro-devel branch currently at commit cd18580

[jbohren]

There was an api change in the return value of the requires function at one point. It looks like some of the code may have been reverted in a merge. I'll look into it Monday morning.

[jbohren]

The latest version of requires() returns a shared pointer, not a bare one, so it should be copyable: https://github.com/orocos-toolchain/rtt/blob/cd916253dd223d46ed9aa833b8a9691cae4a3b3f/rtt/ServiceRequester.hpp#L128

Meanwhile, it looks like https://github.com/orocos-toolchain/orocos_toolchain is out of date and its submodules need to be updated (it was last updated to 91f7f03 / March 14th).

Your build should work if you go into your rtt directory and checkout toolchain-2.7.

@psoetens Is it ok if I bump the versions in the orocos_toolchain repo?

[Donny3000]

So, updating the RTT repo to toolchain-2.7 works and I can get past the RTT library. But, the build breaks on the OCL repo with a similar error:

/home/ubuntu/catkin_ws/underlay_isolated/src/orocos/orocos_toolchain/ocl/taskbrowser/TaskBrowser.cpp: In member function 'bool OCL::TaskBrowser::printService(std::string)':
/home/ubuntu/catkin_ws/underlay_isolated/src/orocos/orocos_toolchain/ocl/taskbrowser/TaskBrowser.cpp:1349:44: error: cannot convert 'RTT::ServiceRequester::shared_ptr {aka boost::shared_ptr<RTT::ServiceRequester>}' to 'RTT::ServiceRequester*' in assignment
make[2]: *** [taskbrowser/CMakeFiles/orocos-ocl-taskbrowser.dir/TaskBrowser.cpp.o] Error 1
make[1]: *** [taskbrowser/CMakeFiles/orocos-ocl-taskbrowser.dir/all] Error 2
make: *** [all] Error 2
<== Failed to process package 'ocl':

Should I make sure all of the folders under orocos_toolchain are at the toolchain-2.7 branch?

[jbohren]

Should I make sure all of the folders under orocos_toolchain are at the toolchain-2.7 branch?

Yeah, try that and it should work.

[Donny3000]

Just confirmed this evening that making sure all repos under orocos_toolchain are on the toolchain-2.7 branch works and evening thing compiles successfully.

Many thanks for your assistance!

[jbohren]

Many thanks for your assistance!

No problem. You can probably close this ticket now, I've created orocos-toolchain/orocos_toolchain/issues/9 to track the submodules over in orocos-toolchain.

[balasubramani3]

I have installed orocos toolchain 2.7 in indigo ros, After that i found out the version of orocos tool chain isoudated for indigo. so, I installed orocos toolchain 2.8. I have tried catkin_make_isolated --install. How to debug this error. how can i make sure all the files is in toolchain 2.8

`CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CURSES_CURSES_LIBRARY (ADVANCED)
linked by target "lua-repl" in directory /home/coe/ws/underlay_isolated/src/orocos/orocos_toolchain/ocl/lua
linked by target "lua-repl-tlsf" in directory /home/coe/ws/underlay_isolated/src/orocos/orocos_toolchain/ocl/lua

-- Configuring incomplete, errors occurred!
See also "/home/coe/ws/underlay_isolated/build_isolated/ocl/install/CMakeFiles/CMakeOutput.log".
See also "/home/coe/ws/underlay_isolated/build_isolated/ocl/install/CMakeFiles/CMakeError.log".
<== Failed to process package 'ocl':
Command '['/home/coe/ws/underlay_isolated/install_isolated/env.sh', 'cmake', '/home/coe/ws/underlay_isolated/src/orocos/orocos_toolchain/ocl', '-DCMAKE_INSTALL_PREFIX=/home/coe/ws/underlay_isolated/install_isolated', '-G', 'Unix Makefiles']' returned non-zero exit status 1

Reproduce this error by running:
==> cd /home/coe/ws/underlay_isolated/build_isolated/ocl && /home/coe/ws/underlay_isolated/install_isolated/env.sh cmake /home/coe/ws/underlay_isolated/src/orocos/orocos_toolchain/ocl -DCMAKE_INSTALL_PREFIX=/home/coe/ws/underlay_isolated/install_isolated -G 'Unix Makefiles'

Command failed, exiting.
`

[ahoarau]

I seems you don't have ncurses installed : sudo apt-get install ncurses-dev and try again.

To make sure all the files are 2.8, the best is to create a new clean workspace and git clone https://github.com/orocos-toolchain/orocos-toolchain --recursive -b toolchain-2.8.

[balasubramani3]

To clean a workspace, just we have to delete the workspace only right?

[ahoarau]

You can remove build/ and devel/, delete the current orocos-toolchain folder (in src/) and redownload it.
I'd create another ws :

mkdir -p ~/orocos_ws/src 
cd ~/orocos_ws/src
git clone https://github.com/orocos-toolchain/orocos-toolchain --recursive -b toolchain-2.8

But if you don't use Xenomai, then you can just use the debians :)

sudo apt-get install ros-indigo-rtt-* ros-indigo-orocos-toolchain et voilà !

[balasubramani3]

I am new to ros and orocos . what is xenomai?. It may be silly question to you. sorry for that.

How to remove buid and devel?

[ahoarau]

To remove build and devel, just delete them : rm -rf build/ devel/

Xenomai is a library+kernel patches to create hard realtime application. I doubt you'll need it now, so you can just install orocos via apt-get.

[balasubramani3]

Thank you. I will come back to you after I try this

[balasubramani3]

Thank you for support. It worked nicely.:)

When i want to install rtt_ros integration with this code
mkdir -p ~/ws/underlay/src cd ~/ws/underlay git clone https://github.com/orocos/rtt_ros_integration.git src/rtt_ros_integration catkin_make source devel/setup.sh

I am getting this error.
`CMake Error at rtt_ros_integration/rtt_ros/CMakeLists.txt:6 (find_package):
By not providing "FindOROCOS-RTT.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"OROCOS-RTT", but CMake did not find one.

Could not find a package configuration file provided by "OROCOS-RTT" with
any of the following names:

OROCOS-RTTConfig.cmake
orocos-rtt-config.cmake

Add the installation prefix of "OROCOS-RTT" to CMAKE_PREFIX_PATH or set
"OROCOS-RTT_DIR" to a directory containing one of the above files. If
"OROCOS-RTT" provides a separate development package or SDK, be sure it has
been installed.

-- Configuring incomplete, errors occurred!
See also "/home/coe/orocos_ws/underlay/src/build/CMakeFiles/CMakeOutput.log".
See also "/home/coe/orocos_ws/underlay/src/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed`

How can I solve it?

[balasubramani3]

I have installed rtt_soem seperatel in a different folder in same workspace. i build it by using catkin_make. It is working properly. but when run this code.

sudo setcap cap_net_raw+ep bin/slaveinfo

i got output like this,

Failed to set capabilities on filebin/64:00:6A:6B:2C:30' (Invalid argument)
The value of the capability argument is not permitted for a file. Or the file is not a regular (non-symlink) file`

Thank you for your support
Balasubramani

[wei1224hf]

Thank you for support. It worked nicely.:)

When i want to install rtt_ros integration with this code mkdir -p ~/ws/underlay/src cd ~/ws/underlay git clone https://github.com/orocos/rtt_ros_integration.git src/rtt_ros_integration catkin_make source devel/setup.sh

I am getting this error. `CMake Error at rtt_ros_integration/rtt_ros/CMakeLists.txt:6 (find_package): By not providing "FindOROCOS-RTT.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "OROCOS-RTT", but CMake did not find one.

Could not find a package configuration file provided by "OROCOS-RTT" with any of the following names:

OROCOS-RTTConfig.cmake
orocos-rtt-config.cmake

Add the installation prefix of "OROCOS-RTT" to CMAKE_PREFIX_PATH or set "OROCOS-RTT_DIR" to a directory containing one of the above files. If "OROCOS-RTT" provides a separate development package or SDK, be sure it has been installed.

-- Configuring incomplete, errors occurred! See also "/home/coe/orocos_ws/underlay/src/build/CMakeFiles/CMakeOutput.log". See also "/home/coe/orocos_ws/underlay/src/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed`

How can I solve it?

I have the same problem , how you solve it ?