rafaelxero / jrlutil Goto Github PK

Recently I updated mc_rtc from origin master and found out that now another repository is required, so we have to add it to jrlutil:

Clone github.com/humanoid-path-planner/hpp-spline in order to have the hpp-spline repository in
jrl/humanoid-path-planner/hpp-spline

When cloning it, be sure to update its submodules (using recursive)

Create the build directory and when doing ccmake change:

BUILD_PYTHON_INTERFACE = OFF
CMAKE_INSTALL_PREFIX = (usr or home directory specified by the script)

It is necessary to compile it before mc_rtc

In config.sh.sample, isn't it NUMBER?

export NUBMBER_OF_CORES=$MAKE_THREADS_NUMBER

I think that it is better to check if ROS is installed in the machine before installing it

If you do "rosversion -d" it should say "kinetic" if it is installed in Ubuntu 16.04

When updating JRL software I realized that mc_rtc_ros now requires QWT libraries to work, but I don't think that it is a good idea to install it in the robot, as anyway we don't use their visualization tools...

Because of that I created a topic/HRG branch from one of their past commits and pushed it

We need to update the scripts of jrlutil to change to the new branch

Right after installing ROS the installation fails due to the following messages:

./install.sh: line 65: catkin_init_workspace: command not found
./install.sh: line 67: catkin_make: command not found

It seems that it does not recognize immediately the command catkin_init_workspace, but after a while... maybe it is a good idea to use

updatedb

just before catkin_init_workspace

Related to the issue #16, we checked that ROS is actually not needed for the way that we are using the JRL software, so I propose to make the appropriate changes to make jrlutil ROS free:

• We don't need to install ROS anymore
• We don't need to create the catkin_ws directory
• We don't need to clone the repositories for hrp2_drc, hrp4 or mc_rtc_ros anymore

Instead:

• We just need to install hrp5_p_description and mc_rtc_ros_data directly at the jrl directory
  (they were previously under catkin_ws/src), installing them in the usual way
  (create build directory, do ccmake to configure them like the other packages, make, make install)

If the user is installing in home directory the compilation/installation should be with "make -j8" / "make -j8 install" but if it is being installed in /usr then the compilation should be with "make -j8" / "sudo make -j8 install"

If for some reason it is required to re-run the install.sh script it will give several fatal errors because some directories already exist. It is better not only to check if the directory exists or not, but if the corresponding git repository is there or not (maybe the user erased the contents of the directory, but not the directory itself)

Fixed

In the current installation procedure, mc_rtc_ros is cloned after installing everything else...

Let's assume that the installation fails at some point and it is necessary to re-run it again
In such a case mc_rtc_ros already exists when doing catkin_make for the "first time", leading to the interdependency error with mc_rtc

Maybe it is better to check for its existence during the first catkin_make, and maybe delete it if it exists

For mc_rtc to be able to compile, we need to add

sudo apt install libspdlog-dev

Because it now depends on spdlog

as $HOME already contains /home/<...>, it is not necessary to do /$SRC_DIR
It writes in .bashrc the following:
source //home/...

In build_hmc I think that it is necessary to turn ON the option:
BUILD_MULTI_CONTACT_MOTION_SOLVER

Also, to add the flag to compile in C++11 or it will fail

It is probably better to install nanomsg in $INSTALL_DIR also
(using sudo or not depending on where it is)

Right after installing Tasks got the following errors:

Base path: //home/rcisneros/src/jrl/catkin_ws
Source space: //home/rcisneros/src/jrl/catkin_ws/src
The specified base path "//home/rcisneros/src/jrl/catkin_ws" contains a CMakeLists.txt but "catkin_make" must be invoked in the root of workspace
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Performing Test R-pedantic
-- Performing Test R-pedantic - Success
-- Performing Test R-Wno-long-long
-- Performing Test R-Wno-long-long - Success
-- Performing Test R-Wall
-- Performing Test R-Wall - Success
-- Performing Test R-Wextra
-- Performing Test R-Wextra - Success
-- Performing Test R-Wcast-align
-- Performing Test R-Wcast-align - Success
-- Performing Test R-Wcast-qual
-- Performing Test R-Wcast-qual - Success
-- Performing Test R-Wformat
-- Performing Test R-Wformat - Success
-- Performing Test R-Wwrite-strings
-- Performing Test R-Wwrite-strings - Success
-- Performing Test R-Wconversion
-- Performing Test R-Wconversion - Success
-- Found Doxygen: /usr/bin/doxygen (found version "1.8.11")
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- filesystem
-- timer
-- system
-- chrono
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- Found LTDL: /usr/lib/x86_64-linux-gnu/libltdl.so
CMake Error at CMakeModules/Findmc_rtc_3rd_party_geos.cmake:37 (message):
Found GEOS install prefix (/usr) but no geos library
Call Stack (most recent call first):
CMakeLists.txt:67 (find_package)

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_rtc/build/CMakeFiles/CMakeOutput.log".
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- filesystem
-- timer
-- system
-- chrono
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
CMake Error at CMakeModules/Findmc_rtc_3rd_party_geos.cmake:37 (message):
Found GEOS install prefix (/usr) but no geos library
Call Stack (most recent call first):
CMakeLists.txt:67 (find_package)

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_rtc/build/CMakeFiles/CMakeOutput.log".
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- filesystem
-- timer
-- system
-- chrono
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
CMake Error at CMakeModules/Findmc_rtc_3rd_party_geos.cmake:37 (message):
Found GEOS install prefix (/usr) but no geos library
Call Stack (most recent call first):
CMakeLists.txt:67 (find_package)

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_rtc/build/CMakeFiles/CMakeOutput.log".
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- filesystem
-- timer
-- system
-- chrono
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
CMake Error at CMakeModules/Findmc_rtc_3rd_party_geos.cmake:37 (message):
Found GEOS install prefix (/usr) but no geos library
Call Stack (most recent call first):
CMakeLists.txt:67 (find_package)

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_rtc/build/CMakeFiles/CMakeOutput.log".
make: *** No targets specified and no makefile found. Stop.
make: *** No rule to make target 'install'. Stop.
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'eigen3 >= 3.0.0'
-- Found eigen3 , version 3.2.92
Warning: failed to compute the version number, 'git describe' failed:
fatal: No names found, cannot describe anything.

-- Performing Test R-pedantic
-- Performing Test R-pedantic - Success
-- Performing Test R-Wno-long-long
-- Performing Test R-Wno-long-long - Success
-- Performing Test R-Wall
-- Performing Test R-Wall - Success
-- Performing Test R-Wextra
-- Performing Test R-Wextra - Success
-- Performing Test R-Wcast-align
-- Performing Test R-Wcast-align - Success
-- Performing Test R-Wcast-qual
-- Performing Test R-Wcast-qual - Success
-- Performing Test R-Wformat
-- Performing Test R-Wformat - Success
-- Performing Test R-Wwrite-strings
-- Performing Test R-Wwrite-strings - Success
-- Performing Test R-Wconversion
-- Performing Test R-Wconversion - Success
-- Found Doxygen: /usr/bin/doxygen (found version "1.8.11")
-- mc_rtc is required.
-- Checking for module 'mc_rtc'
-- No package 'mc_rtc' found
CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:367 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
cmake/pkg-config.cmake:282 (PKG_CHECK_MODULES)
cmake/pkg-config.cmake:447 (ADD_DEPENDENCY)
CMakeLists.txt:23 (add_required_dependency)

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_hrp5_p/build/CMakeFiles/CMakeOutput.log".
-- Checking for module 'eigen3 >= 3.0.0'
-- Found eigen3 , version 3.2.92
Warning: failed to compute the version number, 'git describe' failed:
fatal: No names found, cannot describe anything.

-- mc_rtc is required.
-- Checking for module 'mc_rtc'
-- No package 'mc_rtc' found
CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:367 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
cmake/pkg-config.cmake:282 (PKG_CHECK_MODULES)
cmake/pkg-config.cmake:447 (ADD_DEPENDENCY)
CMakeLists.txt:23 (add_required_dependency)

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_hrp5_p/build/CMakeFiles/CMakeOutput.log".
-- Checking for module 'eigen3 >= 3.0.0'
-- Found eigen3 , version 3.2.92
Warning: failed to compute the version number, 'git describe' failed:
fatal: No names found, cannot describe anything.

-- mc_rtc is required.
-- Checking for module 'mc_rtc'
-- No package 'mc_rtc' found
CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:367 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
cmake/pkg-config.cmake:282 (PKG_CHECK_MODULES)
cmake/pkg-config.cmake:447 (ADD_DEPENDENCY)
CMakeLists.txt:23 (add_required_dependency)

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_hrp5_p/build/CMakeFiles/CMakeOutput.log".
-- Checking for module 'eigen3 >= 3.0.0'
-- Found eigen3 , version 3.2.92
Warning: failed to compute the version number, 'git describe' failed:
fatal: No names found, cannot describe anything.

-- mc_rtc is required.
-- Checking for module 'mc_rtc'
-- No package 'mc_rtc' found
CMake Error at /usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:367 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindPkgConfig.cmake:532 (_pkg_check_modules_internal)
cmake/pkg-config.cmake:282 (PKG_CHECK_MODULES)
cmake/pkg-config.cmake:447 (ADD_DEPENDENCY)
CMakeLists.txt:23 (add_required_dependency)

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_hrp5_p/build/CMakeFiles/CMakeOutput.log".
make: *** No targets specified and no makefile found. Stop.
make: *** No rule to make target 'install'. Stop.
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
CMake Warning (dev) at cmake/version.cmake:104 (MESSAGE):
Warning: failed to compute the version number, 'git describe' failed:

fatal: No names found, cannot describe anything.

Call Stack (most recent call first):
cmake/base.cmake:182 (VERSION_COMPUTE)
CMakeLists.txt:22 (setup_project)
This warning is for project developers. Use -Wno-dev to suppress it.

-- Performing Test R-pedantic
-- Performing Test R-pedantic - Success
-- Performing Test R-Wno-long-long
-- Performing Test R-Wno-long-long - Success
-- Performing Test R-Wall
-- Performing Test R-Wall - Success
-- Performing Test R-Wextra
-- Performing Test R-Wextra - Success
-- Performing Test R-Wcast-align
-- Performing Test R-Wcast-align - Success
-- Performing Test R-Wcast-qual
-- Performing Test R-Wcast-qual - Success
-- Performing Test R-Wformat
-- Performing Test R-Wformat - Success
-- Performing Test R-Wwrite-strings
-- Performing Test R-Wwrite-strings - Success
-- Performing Test R-Wconversion
-- Performing Test R-Wconversion - Success
-- Found Doxygen: /usr/bin/doxygen (found version "1.8.11")
CMake Error at CMakeLists.txt:29 (find_package):
By not providing "Findmc_rtc.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "mc_rtc", but
CMake did not find one.

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

mc_rtcConfig.cmake
mc_rtc-config.cmake

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

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_openrtm/build/CMakeFiles/CMakeOutput.log".
CMake Warning (dev) at cmake/version.cmake:104 (MESSAGE):
Warning: failed to compute the version number, 'git describe' failed:

fatal: No names found, cannot describe anything.

Call Stack (most recent call first):
cmake/base.cmake:182 (VERSION_COMPUTE)
CMakeLists.txt:22 (setup_project)
This warning is for project developers. Use -Wno-dev to suppress it.

CMake Error at CMakeLists.txt:29 (find_package):
By not providing "Findmc_rtc.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "mc_rtc", but
CMake did not find one.

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

mc_rtcConfig.cmake
mc_rtc-config.cmake

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

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_openrtm/build/CMakeFiles/CMakeOutput.log".
CMake Warning (dev) at cmake/version.cmake:104 (MESSAGE):
Warning: failed to compute the version number, 'git describe' failed:

fatal: No names found, cannot describe anything.

Call Stack (most recent call first):
cmake/base.cmake:182 (VERSION_COMPUTE)
CMakeLists.txt:22 (setup_project)
This warning is for project developers. Use -Wno-dev to suppress it.

CMake Error at CMakeLists.txt:29 (find_package):
By not providing "Findmc_rtc.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "mc_rtc", but
CMake did not find one.

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

mc_rtcConfig.cmake
mc_rtc-config.cmake

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

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_openrtm/build/CMakeFiles/CMakeOutput.log".
CMake Warning (dev) at cmake/version.cmake:104 (MESSAGE):
Warning: failed to compute the version number, 'git describe' failed:

fatal: No names found, cannot describe anything.

Call Stack (most recent call first):
cmake/base.cmake:182 (VERSION_COMPUTE)
CMakeLists.txt:22 (setup_project)
This warning is for project developers. Use -Wno-dev to suppress it.

CMake Error at CMakeLists.txt:29 (find_package):
By not providing "Findmc_rtc.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "mc_rtc", but
CMake did not find one.

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

mc_rtcConfig.cmake
mc_rtc-config.cmake

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

-- Configuring incomplete, errors occurred!
See also "//home/rcisneros/src/jrl/mc_openrtm/build/CMakeFiles/CMakeOutput.log".
make: *** No targets specified and no makefile found. Stop.
make: *** No rule to make target 'install'. Stop.
Cloning into 'mc_rtc_ros'...
remote: Enumerating objects: 1811, done.
remote: Counting objects: 100% (1811/1811), done.
remote: Compressing objects: 100% (508/508), done.
remote: Total 1811 (delta 1299), reused 1758 (delta 1253)
Receiving objects: 100% (1811/1811), 672.22 KiB | 311.00 KiB/s, done.
Resolving deltas: 100% (1299/1299), done.
Checking connectivity... done.
Submodule '.jrl-ci' (https://github.com/jrl-umi3218/jrl-travis) registered for path '.jrl-ci'
Cloning into '.jrl-ci'...
remote: Enumerating objects: 34, done.
remote: Counting objects: 100% (34/34), done.
remote: Compressing objects: 100% (22/22), done.
remote: Total 791 (delta 15), reused 24 (delta 12), pack-reused 757
Receiving objects: 100% (791/791), 158.26 KiB | 0 bytes/s, done.
Resolving deltas: 100% (490/490), done.
Checking connectivity... done.
Submodule path '.jrl-ci': checked out 'e3853d4514351a2f3e5e67f6ecd963fce5ae5ef5'
Base path: //home/rcisneros/src/jrl/catkin_ws
Source space: //home/rcisneros/src/jrl/catkin_ws/src
The specified base path "//home/rcisneros/src/jrl/catkin_ws" contains a CMakeLists.txt but "catkin_make" must be invoked in the root of workspace
./install.sh: line 238: ./build_hmc.sh: No such file or directory