Comments (5)
marcbone
commented on August 17, 2024
2
I can assure you that you still have 0.8.0 somewhere on your system. Otherwise the error would not show that you have library version 4. You can verify this by putting
message("libfranka version: ${Franka_VERSION}")into your CMakeLists.txt.
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marcbone
commented on August 17, 2024
1
libfranka 0.9.x will work for your robot. So installing 0.9.0 will work. I guess you still have a libfranka 0.8 somewhere on your system which shadows your 0.9 installation.
My random guess is that if you run:
sudo apt remove ros-foxy-libfranka
your problem will be solved. Feel free to reopen if this does not fix your issue.
In general all current libfranka versions should work with franka_ros2
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peterdavidfagan
commented on August 17, 2024
Hi @marcbone,
I retested today with 0.9.0 again and I am still facing the above error. I am building libfranka from source and have run sudo apt remove ros-foxy-libfranka as suggested above.
Here is a Dockerfile to recreate the issue:
ARG ROS_DISTRO=foxy
FROM ros:${ROS_DISTRO}-ros-base
MAINTAINER Peter David Fagan "[email protected]"
# set default DDS to Cyclone
ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
# install libfranka
RUN apt update && \
apt install -y libpoco-dev libeigen3-dev && \
git clone --branch 0.9.0 https://github.com/frankaemika/libfranka.git --recursive && \
cd libfranka && \
mkdir build && cd build && \
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
cmake --build . -j$(nproc) && \
cpack -G DEB && \
sudo dpkg -i libfranka-*.deb
# set up workspace
ENV ROS_UNDERLAY /root/panda_ws/install
WORKDIR $ROS_UNDERLAY/..
COPY . .
# import dependent libraries
RUN vcs import --skip-existing src < src/moveit2_tutorials/moveit2_tutorials.repos
# install ros dependencies
RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
apt-get -q update && \
apt-get install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
apt-get install -y \
ros-foxy-control-msgs \
ros-foxy-xacro \
ros-foxy-angles \
ros-foxy-ros2-control \
ros-foxy-realtime-tools \
ros-foxy-control-toolbox \
ros-foxy-moveit \
ros-foxy-ros2-controllers \
ros-foxy-joint-state-publisher \
ros-foxy-joint-state-publisher-gui \
ros-foxy-ament-cmake-clang-format && \
rosdep update && \
DEBIAN_FRONTEND=noninteractive \
rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
colcon build --mixin debug && \
# Clear apt-cache to reduce image size
rm -rf /var/lib/apt/lists/* && \
# Update /ros_entrypoint.sh to source our new workspace
sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g" /ros_entrypoint.sh
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peterdavidfagan
commented on August 17, 2024
Thanks for getting back to me on this @marcbone.
From the above Dockerfile it seems surprising that this version of libfranka is getting installed within the container.
I think the issue may be due to how ros dependencies are being installed. I'll fix this and report back here. At the very least hopefully this issue thread will help someone else who made the same mistake I did.
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peterdavidfagan
commented on August 17, 2024
The following builds and runs as expected. As @marcbone outlined I was still installing 0.8.0 via rosdep.
ARG ROS_DISTRO=foxy
FROM ros:${ROS_DISTRO}-ros-base
MAINTAINER Peter David Fagan "[email protected]"
# set default DDS to Cyclone
ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
# install libfranka
RUN apt update && apt upgrade -y && \
apt install -y build-essential cmake git libpoco-dev libeigen3-dev && \
git clone --recursive https://github.com/frankaemika/libfranka.git --branch 0.9.0 && \
cd libfranka && \
mkdir build && cd build && \
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF .. && \
cmake --build . -j$(nproc) && \
cpack -G DEB && \
sudo dpkg -i libfranka-*.deb
# set up workspace
ENV ROS_UNDERLAY /root/panda_ws/install
WORKDIR $ROS_UNDERLAY/..
COPY . .
# import dependent libraries
RUN vcs import --skip-existing src < src/moveit2_tutorials/moveit2_tutorials.repos
# install ros dependencies
RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
apt-get -q update && \
apt-get install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
apt-get install -y \
ros-foxy-control-msgs \
ros-foxy-xacro \
ros-foxy-angles \
ros-foxy-ros2-control \
ros-foxy-realtime-tools \
ros-foxy-control-toolbox \
ros-foxy-moveit \
ros-foxy-ros2-controllers \
ros-foxy-joint-state-publisher \
ros-foxy-joint-state-publisher-gui \
ros-foxy-ament-cmake-clang-format && \
rosdep update && \
DEBIAN_FRONTEND=noninteractive \
rosdep install --from-paths src --ignore-src -r -y --skip-keys "libfranka" --rosdistro ${ROS_DISTRO} && \
colcon build --mixin debug && \
# Clear apt-cache to reduce image size
rm -rf /var/lib/apt/lists/* && \
# Update /ros_entrypoint.sh to source our new workspace
sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g" /ros_entrypoint.sh
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