iamrajee / ws_moveit Goto Github PK

After downloading the git-repo and executing the implementation, the following errors occurred

/home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/storage.h:56:1: error: expected initializer before ‘}’ token
   56 | }
      | ^
/home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/storage.h:60:1: error: expected initializer before ‘}’ token
   60 | }
      | ^
In file included from /home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/stage.h:43,
                 from /home/don/Desktop/ws_moveit/src/moveit_task_constructor/visualization/motion_planning_tasks/properties/property_factory.cpp:40:
/home/don/ws_moveit/src/moveit/moveit_core/macros/include/moveit/macros/class_forward.h:47:3: error: expected initializer before ‘class’
   47 |   class C;                                                                                                             \
      |   ^~~~~
/home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/storage.h:67:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
   67 | MOVEIT_CLASS_FORWARD(Interface)
      | ^~~~~~~~~~~~~~~~~~~~
In file included from /home/don/ws_moveit/src/moveit/moveit_core/macros/include/moveit/macros/class_forward.h:39,
                 from /home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/stage.h:43,
                 from /home/don/Desktop/ws_moveit/src/moveit_task_constructor/visualization/motion_planning_tasks/properties/property_factory.cpp:40:
/home/don/Desktop/ws_moveit/src/moveit_task_constructor/core/include/moveit/task_constructor/storage.h:67:22: error: ‘Interface’ was not declared in this scope
   67 | MOVEIT_CLASS_FORWARD(Interface)
      |                      ^~~~~~~~~

/home/don/Desktop/ws_moveit/src/moveit_task_constructor/demo/src/pick_place_task12.cpp:481:89:   required from here
/usr/include/c++/9/bits/unique_ptr.h:857:30: error: no matching function for call to ‘moveit::task_constructor::stages::MoveRelative::MoveRelative(const char [13], std::shared_ptr<moveit::task_constructor::solvers::CartesianPath>&)’
  857 |     { return unique_ptr<_Tp>(new _Tp(std::forward<_Args>(__args)...)); }
      |                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

[ 39%] Linking CXX executable /home/don/Desktop/ws_moveit/devel/lib/panda/detect_and_add_cylinder
[ 40%] Linking CXX shared library /home/don/Desktop/ws_moveit/devel/lib/libmoveit_task_constructor_capabilities.so
make[4]: Leaving directory '/home/don/Desktop/ws_moveit/build'
[ 40%] Built target moveit_task_constructor_capabilities
make[4]: Leaving directory '/home/don/Desktop/ws_moveit/build'
[ 40%] Built target detect_and_add_cylinder
make[3]: Leaving directory '/home/don/Desktop/ws_moveit/build'
make[2]: *** [Makefile:141: all] Error 2
make[2]: Leaving directory '/home/don/Desktop/ws_moveit/build'
Invoking "make -j12 -l12" failed
make[1]: *** [makefile:5: run] Error 1
make[1]: Leaving directory '/home/don/Desktop/ws_moveit'
make: *** [makefile:3: all] Error 2
don@don:~/Desktop/ws_moveit$ catkin build

I downloaded this task and setup it successfully
when I try to run code "Terminal 1: roslaunch moveit_task_constructor_demo demo.launch", it saied "resource not found panda_moveit_config" in /opt/ros/melodic/share/franka/description/robots
I got a package from https://github.com/justagist/franka_panda_description, put it in /ws_moveit/src , then I "catikin_make" again.
Now demo2 demo3 demo4 can work successfully.

But when I try to run code demo5, it saied:
couldn't open file /opt/ros/melodic/share/franka_description/meshes/collision/finger.stl
Later, I moved "finger.stl" into this path,
but "Terminal 2: roslaunch moveit_task_constructor_demo pickplace5.launch" couldn't work.
“[ERROR] [1656304921.605592330]: Planning failed”

#testing

I tested three demonstrations, but unfortunately, none of them worked out.

ERROR] [1616415208.504671754]: Planning failed

I don't know how to solve it. Can you give me some advice?