Comments (7)
lianghongzhuo
commented on August 20, 2024
2
@philipp1234 @v4hn It would be great if you can create a kinetic branch. So people will understand more easily.
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michtesar
commented on August 20, 2024
I face the same problem
Errors << bio_ik:make /home/michael/pepper_ws/logs/bio_ik/build.make.000.log
In file included from /home/michael/pepper_ws/src/bio_ik/src/ik_base.h:39:0,
from /home/michael/pepper_ws/src/bio_ik/src/problem.cpp:35:
/home/michael/pepper_ws/src/bio_ik/src/forward_kinematics.h: In member function ‘void bio_ik::RobotJointEvaluator::getJointFrame(const moveit::core::JointModel*, const double*, bio_ik::Frame&)’:
/home/michael/pepper_ws/src/bio_ik/src/forward_kinematics.h:132:75: error: invalid initialization of non-const reference of type ‘Eigen::Affine3d& {aka Eigen::Transform<double, 3, 2>&}’ from an rvalue of type ‘Eigen::Affine3d {aka Eigen::Transform<double, 3, 2>}’
joint_model->computeTransform(joint_variables, joint_transform);
^
In file included from /usr/include/eigen3/Eigen/Geometry:44:0,
from /usr/include/eigen3/Eigen/Dense:6,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/frame.h:39,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/ik_base.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/problem.cpp:35:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:320:10: note: after user-defined conversion: Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 1; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 2; int _Options = 0]
inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
^
In file included from /opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:41:0,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:41,
from /home/michael/pepper_ws/src/bio_ik/src/ik_base.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/problem.cpp:35:
/opt/ros/kinetic/include/moveit/robot_model/joint_model.h:440:16: note: initializing argument 2 of ‘virtual void moveit::core::JointModel::computeTransform(const double*, Eigen::Affine3d&) const’
virtual void computeTransform(const double* joint_values, Eigen::Affine3d& transf) const = 0;
^
In file included from /home/michael/pepper_ws/src/bio_ik/src/kinematics_plugin.cpp:37:0:
/home/michael/pepper_ws/src/bio_ik/src/forward_kinematics.h: In member function ‘void bio_ik::RobotJointEvaluator::getJointFrame(const moveit::core::JointModel*, const double*, bio_ik::Frame&)’:
/home/michael/pepper_ws/src/bio_ik/src/forward_kinematics.h:132:75: error: invalid initialization of non-const reference of type ‘Eigen::Affine3d& {aka Eigen::Transform<double, 3, 2>&}’ from an rvalue of type ‘Eigen::Affine3d {aka Eigen::Transform<double, 3, 2>}’
joint_model->computeTransform(joint_variables, joint_transform);
^
In file included from /usr/include/eigen3/Eigen/Geometry:44:0,
from /usr/include/eigen3/Eigen/Dense:6,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/frame.h:39,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/kinematics_plugin.cpp:35:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:320:10: note: after user-defined conversion: Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 1; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 2; int _Options = 0]
inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
^
In file included from /opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:41:0,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:41,
from /home/michael/pepper_ws/src/bio_ik/src/kinematics_plugin.cpp:35:
/opt/ros/kinetic/include/moveit/robot_model/joint_model.h:440:16: note: initializing argument 2 of ‘virtual void moveit::core::JointModel::computeTransform(const double*, Eigen::Affine3d&) const’
virtual void computeTransform(const double* joint_values, Eigen::Affine3d& transf) const = 0;
^
In file included from /home/michael/pepper_ws/src/bio_ik/src/ik_base.h:39:0,
from /home/michael/pepper_ws/src/bio_ik/src/ik_test.cpp:35:
/home/michael/pepper_ws/src/bio_ik/src/forward_kinematics.h: In member function ‘void bio_ik::RobotJointEvaluator::getJointFrame(const moveit::core::JointModel*, const double*, bio_ik::Frame&)’:
/home/michael/pepper_ws/src/bio_ik/src/forward_kinematics.h:132:75: error: invalid initialization of non-const reference of type ‘Eigen::Affine3d& {aka Eigen::Transform<double, 3, 2>&}’ from an rvalue of type ‘Eigen::Affine3d {aka Eigen::Transform<double, 3, 2>}’
joint_model->computeTransform(joint_variables, joint_transform);
^
In file included from /usr/include/eigen3/Eigen/Geometry:44:0,
from /usr/include/eigen3/Eigen/Dense:6,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/frame.h:39,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/ik_base.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/ik_test.cpp:35:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:320:10: note: after user-defined conversion: Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 1; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 2; int _Options = 0]
inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
^
In file included from /opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:41:0,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:41,
from /home/michael/pepper_ws/src/bio_ik/src/ik_base.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/ik_test.cpp:35:
/opt/ros/kinetic/include/moveit/robot_model/joint_model.h:440:16: note: initializing argument 2 of ‘virtual void moveit::core::JointModel::computeTransform(const double*, Eigen::Affine3d&) const’
virtual void computeTransform(const double* joint_values, Eigen::Affine3d& transf) const = 0;
^
In file included from /usr/include/eigen3/Eigen/Core:297:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/frame.h:39,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:37,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal_types.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/goal_types.cpp:35:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’:
/home/michael/pepper_ws/src/bio_ik/src/goal_types.cpp:68:84: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:330:5: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
^
In file included from /usr/include/eigen3/Eigen/Core:297:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/frame.h:39,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/ik_base.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/ik_test.cpp:35:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’:
/home/michael/pepper_ws/src/bio_ik/src/forward_kinematics.h:203:78: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:330:5: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
^
In file included from /usr/include/eigen3/Eigen/Core:297:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/frame.h:39,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/ik_base.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/problem.cpp:35:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’:
/home/michael/pepper_ws/src/bio_ik/src/forward_kinematics.h:203:78: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:330:5: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
^
In file included from /usr/include/eigen3/Eigen/Core:297:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/frame.h:39,
from /home/michael/pepper_ws/src/bio_ik/include/bio_ik/goal.h:37,
from /home/michael/pepper_ws/src/bio_ik/src/kinematics_plugin.cpp:35:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’:
/home/michael/pepper_ws/src/bio_ik/src/forward_kinematics.h:203:78: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:330:5: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
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philipp1234
commented on August 20, 2024
We've switched master to ROS Melodic.
Here's a version for Kinetic: https://github.com/TAMS-Group/bio_ik/tree/kinetic-support
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michtesar
commented on August 20, 2024
Yeah I figured it out somehow. I download your latest release and it compiled sucessfully. Thank you for reply.
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v4hn
commented on August 20, 2024
There is a git *tag* called 'kinetic-support' to indicate that there
will be no further patches for the kinetic branch.
You can still check it out with `git checkout kinetic-support`.
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lianghongzhuo
commented on August 20, 2024
LGTM :)
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michtesar
commented on August 20, 2024
I think this issue can be closed...
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Related Issues (20)
- missing redundancy resolution? HOT 1
- Building tests fails
- Get error when use computeCartesianPath()
- Cant find Bio-IK in MoveIt Setup Assistant HOT 1
- Touch Goal: How to use it?
- BIO_IK2 HOT 2
- Reduce logging HOT 1
- bio_ik produces weird ik solutions HOT 8
- Licenses/Usage HOT 3
- error compile this package with moveit master branch HOT 4
- BioIK running slowly HOT 1
- URDF not parsable from python wrapper when bio_ik is find_package'd HOT 11
- Use angle between quaternions in OrientationGoal? HOT 2
- Samples are generated in two tight clusters HOT 1
- Clarification on the Jacobian computation HOT 2
- Migrate bio_ik to ros-planning
- Custom robot model loader does not respect joint_limits.yaml files HOT 4
- Issue about tutorial
- add_dependencies called with incorrect number of arguments HOT 1
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