Use Client Library of the Universal Robots Github about universal_robots_ros2_driver HOT 13 CLOSED

This is additional information on #93. Unfortunately, I don't have the log file anymore. But, I can provide more details. The official UR client library did build (despite catkin warnings) and I was able to link against it. However, at runtime, using a real ur3e, the controller-manager (?) crashed when I used the sample launch instructions from the documentation. I remember it was a malloc error which is what led me to think that you might have had your own version of the client library as you did. When I set the fake hardware option to true, it worked.Sorry I didn't save the log file.

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Ok thats weird, I have kind of the exact same setup with an ur3e here. I will try to reproduce the error later on a freshly checked out workspace

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from universal_robots_ros2_driver.

As it seems there is currently an issue in the ur_client_library which sound rather similar. There seems to be a problem if the ros-noetic-ur-client-library is installed while simultaneously having the client library in a workspace. Do you have the package installed from a privious use of the ROS1 driver? The current workaround is to remove the apt package but the client library driver team is already working on this.

from universal_robots_ros2_driver.

from universal_robots_ros2_driver.

Ok maybe it is the std build process which is failing at some level. Normally i clone the client repo into the colcon workspace and just use colcon build to build the client library and the ros2 driver simultaneously, without installing it into the system.

from universal_robots_ros2_driver.

from universal_robots_ros2_driver.

I played around with things a bit. Maybe I was making things more complicated for myself. The client library is part of the driver package, but when I did a colcon build of the driver, I get the error below and I am not enough of a CMake person to easily know how to respond. Any help would be appreciated. Thanks.

bb

CMake Error at CMakeLists.txt:19 (find_package):
By not providing "Findur_client_library.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"ur_client_library", but CMake did not find one.

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

ur_client_libraryConfig.cmake
ur_client_library-config.cmake

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

from universal_robots_ros2_driver.

I'm a little confused about the 'the client library is part of the driver package' part? It should not be inside of the driver package itself but within the colcon src folder. So basically your colcon folder should look somehow similar to this:

├── colcon_ws
│   ├── build
│   ├── install
│   ├── log
│   └── src
│       ├── control_msgs
│       ├── realtime_tools
│       ├── ros2_control
│       ├── ros2_control_demos
│       ├── ros2_controllers
│       ├── Universal_Robots_ROS2_Driver
│       ├── ur_client_library
│       ├── ur_msgs

from universal_robots_ros2_driver.

from universal_robots_ros2_driver.

Could you post the entire log of the build process. Maybe there breaks something while building the client library. I just tried it on a clean workspace and the following packages inside

src
├── control_msgs
├── ros2_control
├── ros2_controllers
├── Universal_Robots_Client_Library
├── Universal_Robots_ROS2_Driver
└── ur_msgs

and it build (although with some warnings but no errors).
Just for reference the following git remotes were checked out

> $ forgit remote -v                                                                                                                                                                                                              [±colcon ✓]
========= control_msgs =========
branch:    foxy-devel
origin	https://github.com/ros-controls/control_msgs.git (fetch)
origin	https://github.com/ros-controls/control_msgs.git (push)
========= ros2_control =========
branch:    master
origin	https://github.com/ros-controls/ros2_control.git (fetch)
origin	https://github.com/ros-controls/ros2_control.git (push)
========= ros2_controllers =========
branch:    master
origin	https://github.com/ros-controls/ros2_controllers.git (fetch)
origin	https://github.com/ros-controls/ros2_controllers.git (push)
========= Universal_Robots_Client_Library =========
branch:    master
origin	https://github.com/UniversalRobots/Universal_Robots_Client_Library.git (fetch)
origin	https://github.com/UniversalRobots/Universal_Robots_Client_Library.git (push)
========= Universal_Robots_ROS2_Driver =========
branch:    main
origin	https://github.com/PickNikRobotics/Universal_Robots_ROS2_Driver.git (fetch)
origin	https://github.com/PickNikRobotics/Universal_Robots_ROS2_Driver.git (push)
========= ur_msgs =========
branch:    ros2
origin	https://github.com/destogl/ur_msgs.git (fetch)
origin	https://github.com/destogl/ur_msgs.git (push)

from universal_robots_ros2_driver.

from universal_robots_ros2_driver.

Fixed in #101

from universal_robots_ros2_driver.