Support for Ubuntu 18.04 and 20.04

Question

Support for Ubuntu 18.04 and 20.04

robberthofmanfm opened this issue 4 years ago · 23 comments

In https://github.com/kth-ros-pkg/yumi/blob/egm_modifications/yumi_hw/src/yumi_hw.cpp there are a few functions that my compiler is complaining about.
I've tried running on Ubuntu 20.04 + Noetic and in a virtualbox with Ubuntu 18.04 + Melodic. Both result in the output attached at the bottom.
I did also make a virtualbox with Ubuntu 16.04 + Kinetic and that compiled without errors, but for multiple reasons we'd like not to develop in that environment.

Does anyone have a clue on how to make this work on 18.04 + Melodic or 20.04 + Noetic?

Errors     << yumi_hw:make /home/robbert/ws_moveit/logs/yumi_hw/build.make.005.log                                                         
/home/robbert/ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp: In member function ‘void YumiHW::registerJointLimits(const string&, const hardware_interface::JointHandle&, const hardware_interface::JointHandle&, const urdf::Model*, double*, double*)’:
/home/robbert/ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp:185:79: error: conversion from ‘urdf::JointConstSharedPtr’ {aka ‘std::shared_ptr<const urdf::Joint>’} to non-scalar type ‘const boost::shared_ptr<const urdf::Joint>’ requested
  185 |   const boost::shared_ptr<const urdf::Joint> urdf_joint = urdf_model->getJoint(joint_name);
      |                                                           ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/home/robbert/ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp:186:89: error: conversion from ‘urdf::JointConstSharedPtr’ {aka ‘std::shared_ptr<const urdf::Joint>’} to non-scalar type ‘const boost::shared_ptr<const urdf::Joint>’ requested
  186 |   const boost::shared_ptr<const urdf::Joint> urdf_joint_sitffness = urdf_model->getJoint(joint_name + std::string("_stiffness"));
      |                                                                     ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/robbert/ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp:190:65: error: no matching function for call to ‘getJointLimits(const boost::shared_ptr<const urdf::Joint>&, joint_limits_interface::JointLimits&)’
  190 |    if (joint_limits_interface::getJointLimits(urdf_joint, limits))
      |                                                                 ^
In file included from /home/robbert/ws_moveit/src/yumi/yumi_hw/include/yumi_hw/yumi_hw.h:19,
                 from /home/robbert/ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp:1:
/opt/ros/noetic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate: ‘bool joint_limits_interface::getJointLimits(const string&, const ros::NodeHandle&, joint_limits_interface::JointLimits&)’
   75 | inline bool getJointLimits(const std::string& joint_name, const ros::NodeHandle& nh, JointLimits& limits)
      |             ^~~~~~~~~~~~~~
/opt/ros/noetic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note:   candidate expects 3 arguments, 2 provided
In file included from /home/robbert/ws_moveit/src/yumi/yumi_hw/include/yumi_hw/yumi_hw.h:20,
                 from /home/robbert/ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp:1:
/opt/ros/noetic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: candidate: ‘bool joint_limits_interface::getJointLimits(urdf::JointConstSharedPtr, joint_limits_interface::JointLimits&)’
   48 | inline bool getJointLimits(urdf::JointConstSharedPtr urdf_joint, JointLimits& limits)
      |             ^~~~~~~~~~~~~~
/opt/ros/noetic/include/joint_limits_interface/joint_limits_urdf.h:48:54: note:   no known conversion for argument 1 from ‘const boost::shared_ptr<const urdf::Joint>’ to ‘urdf::JointConstSharedPtr’ {aka ‘std::shared_ptr<const urdf::Joint>’}
   48 | inline bool getJointLimits(urdf::JointConstSharedPtr urdf_joint, JointLimits& limits)
      |                            ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
/home/robbert/ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp:192:74: error: no matching function for call to ‘getSoftJointLimits(const boost::shared_ptr<const urdf::Joint>&, joint_limits_interface::SoftJointLimits&)’
  192 |    if (joint_limits_interface::getSoftJointLimits(urdf_joint, soft_limits))
      |                                                                          ^
In file included from /home/robbert/ws_moveit/src/yumi/yumi_hw/include/yumi_hw/yumi_hw.h:19,
                 from /home/robbert/ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp:1:
/opt/ros/noetic/include/joint_limits_interface/joint_limits_rosparam.h:194:13: note: candidate: ‘bool joint_limits_interface::getSoftJointLimits(const string&, const ros::NodeHandle&, joint_limits_interface::SoftJointLimits&)’
  194 | inline bool getSoftJointLimits(const std::string& joint_name, const ros::NodeHandle& nh, SoftJointLimits& soft_limits)
      |             ^~~~~~~~~~~~~~~~~~
/opt/ros/noetic/include/joint_limits_interface/joint_limits_rosparam.h:194:13: note:   candidate expects 3 arguments, 2 provided
In file included from /home/robbert/ws_moveit/src/yumi/yumi_hw/include/yumi_hw/yumi_hw.h:20,
                 from /home/robbert/ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp:1:
/opt/ros/noetic/include/joint_limits_interface/joint_limits_urdf.h:84:13: note: candidate: ‘bool joint_limits_interface::getSoftJointLimits(urdf::JointConstSharedPtr, joint_limits_interface::SoftJointLimits&)’
   84 | inline bool getSoftJointLimits(urdf::JointConstSharedPtr urdf_joint, SoftJointLimits& soft_limits)
      |             ^~~~~~~~~~~~~~~~~~
/opt/ros/noetic/include/joint_limits_interface/joint_limits_urdf.h:84:58: note:   no known conversion for argument 1 from ‘const boost::shared_ptr<const urdf::Joint>’ to ‘urdf::JointConstSharedPtr’ {aka ‘std::shared_ptr<const urdf::Joint>’}
   84 | inline bool getSoftJointLimits(urdf::JointConstSharedPtr urdf_joint, SoftJointLimits& soft_limits)
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~
make[2]: *** [CMakeFiles/yumi_hw.dir/build.make:63: CMakeFiles/yumi_hw.dir/src/yumi_hw.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:262: CMakeFiles/yumi_hw.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

Answer 1 · 2021-02-05T23:25:10.000Z

Hi all,

I have successfully compiled all packages in this repository on a Ubuntu 20.04 + ROS Noetic setup.
Below, I'll outline the steps to reproduce this in hope to save someone in a similar situation some time.
I have not tested this thoroughly, so your success may still vary.
Here we go:

git clone https://github.com/kth-ros-pkg/yumi.git
in your favorite catkin_ws/src/

Try building already using catkin build or catkin_make_isolated but brace yourself for error messages.
Try to sudo apt install ros-noetic-PACKAGE for every PACKAGE you encounter in the errors that catkin produces.

You'll also need abb_librws, so go ahead and clone that into your catkin_ws/src/:
git clone https://github.com/ros-industrial/abb_librws.git

After a while, you'll probably reach the moment catkin tells you it cannot find simple_message. This is where the fun starts, since that requires an installation of ros industrial, which is does not have a binary install for Ubuntu 20.04 (i.e. you can't just apt install it). Building from source is a nice try, but does not work either, catkin will complain about some trajectory_filters that are missing. It's in hard times you get to know your heroes, in my case simonschmeisser, who wrote a patch on ROS industrial core that makes it compatible with ROS noetic. You can find it here:
https://github.com/simonschmeisser/industrial_core/tree/noetic-compat
So instead of cloning rosindustrial's source to your favorite catkin_ws/src, clone Simon's repo in catkin_ws/src and checkout in the right branch:
git clone https://github.com/simonschmeisser/industrial_core.git
git checkout noetic-compat
git pull origin noetic-compat

Now at least a different class of errors comes up, and they refer to actual code, of which the errors look something like the excerpt in the comment above. My favorite one is the following:
yumi_hw.cpp:186:89: error: conversion from ‘urdf::JointConstSharedPtr’ {aka ‘std::shared_ptr<const urdf::Joint>’} to non-scalar type ‘const boost::shared_ptr<const urdf::Joint>’ requested 186 | const boost::shared_ptr<const urdf::Joint> urdf_joint_sitffness = urdf_model->getJoint(joint_name + std::string("_stiffness"));

First thing I noticed is urdf_joint_sitffness. That must be a typo, right? However, if you search for use of variables that start with urdf_joint_s, this is the only occurence in the entirety of the kth-ros-pkg/yumi repo. So I don't know if it matters, but I changed the variable name to urdf_joint_stiffness. Same errors.

Then I came across this ros answers post, which suggested swapping out the boost:: types for std:: types. I'm not sure what boost exactly is, but this guy recommends just using std::. This was the last fix I had to do, so replace boost with std on line 185 and 186 in ws_moveit/src/yumi/yumi_hw/src/yumi_hw.cpp.

Answer 2 · 2021-02-08T07:51:49.000Z

Thanks for the update! I will close this issue and add a link to the wiki.

Answer 3 · 2021-02-08T09:03:44.000Z

Hey @imitsioni , what about the urdf_joint_sitffness ? Is that a typo? Should I open a pull request to correct it? Where is this variable used?

Answer 4 · 2021-02-08T09:47:34.000Z

As far as I can tell, it is not used somewhere on our side of the code. However, this seems to be related to the files used for the physical robot, not the simulated one. Are you connecting to a real yumi?

Answer 5 · 2021-02-08T10:01:33.000Z

Yes, but I haven't tested this code on the real yumi yet. If I find anything interesting related to joint stiffness I'll comment again here.

Answer 6 · 2021-02-08T10:10:32.000Z

Thank you! I am suspecting that this is not used anywhere and commenting it/removing it will not affect anything but I do not have access to the robot right now and cannot test it. If you see something breaking please let me know.

Answer 7 · 2021-02-11T17:40:48.000Z

Hi @robberthofmanfm, I'd like to know if your method works for ROS melodic + Ubuntu18.04? I tried combinations:

git clone https://github.com/kth-ros-pkg/yumi.git, git clone https://github.com/simonschmeisser/industrial_core.git, catkin build. It gives the error:
/home/yanjun/yumi_depends_ws/src/yumi/gazebo_mimic/src/gazebo_mimic_plugin/mimic_plugin.cpp: In destructor ‘virtual gazebo::MimicPlugin::~MimicPlugin()’: /home/yanjun/yumi_depends_ws/src/yumi/gazebo_mimic/src/gazebo_mimic_plugin/mimic_plugin.cpp:48:18: error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’ event::Events::DisconnectWorldUpdateBegin(this->updateConnection); ^~~~~~~~~~~~~~~~~~~~~~~~~~ /home/yanjun/yumi_depends_ws/src/yumi/gazebo_mimic/src/gazebo_mimic_plugin/mimic_plugin.cpp: In member function ‘virtual void gazebo::MimicPlugin::UpdateChild()’: /home/yanjun/yumi_depends_ws/src/yumi/gazebo_mimic/src/gazebo_mimic_plugin/mimic_plugin.cpp:88:42: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’; did you mean ‘GetForce’? mimic_joint_->SetPosition(0, joint_->GetAngle(0).Radian()*multiplier_); ^~~~~~~~ GetForce make[2]: *** [CMakeFiles/gazebo_mimic_plugin.dir/src/gazebo_mimic_plugin/mimic_plugin.cpp.o] Error 1 make[1]: *** [CMakeFiles/gazebo_mimic_plugin.dir/all] Error 2 make: *** [all] Error 2
git clone -b melodic https://github.com/kth-ros-pkg/yumi.git, git clone https://github.com/ros-industrial/abb_librws.git, git clone https://github.com/ros-industrial/industrial_core.git, catkin build. The compiler shows couldn't ABB RWS library not found.

Would you mind provide some help?

Answer 8 · 2021-02-11T17:44:20.000Z

Oh yes, forgot to mention. I removed the gazebo_mimic package. I haven't gotten that to compile.

Answer 9 · 2021-02-12T17:05:03.000Z

It appears that I was too early to celebrate. Compilation did indeed succeed, but at runtime there are still some problems.
A first step in resolving these, is to - before deleting the gazebo_mimic package - install its dependencies:
rosdep install --from-paths src/yumi/gazebo_mimic --ignore-src --rosdistro noetic

For me, that resulted in the equivalent of:

sudo apt install ros-noetic-ros-control
sudo apt install ros-noetic-ros-controllers

Answer 10 · 2021-02-14T15:41:22.000Z

It appears that I was too early to celebrate. Compilation did indeed succeed, but at runtime there are still some problems.
A first step in resolving these, is to - before deleting the gazebo_mimic package - install its dependencies:
rosdep install --from-paths src/yumi/gazebo_mimic --ignore-src --rosdistro noetic

For me, that resulted in the equivalent of:
sudo apt install ros-noetic-ros-control
sudo apt install ros-noetic-ros-controllers

Hi, thanks for your reply. I already removed that folder but still got warnings like this. Will this warning cause any problem?

Answer 11 · 2021-02-14T16:37:14.000Z

Yes, I suspect this will result into trouble later on.
I am not an expert myself, but I would try to catkin build abb_librws first and if that succeeds catkin build the whole workspace.

Answer 12 · 2021-02-15T07:46:54.000Z

Yes, I suspect this will result into trouble later on.
I am not an expert myself, but I would try to catkin build abb_librws first and if that succeeds catkin build the whole workspace.

I tried to follow your instruction but it still shows the error message. The reason for Yumi_cameras giving this error is because it looks for abb_rws_interface instead of abb_librws, which we cloned before. I replaced abb_rws_interface with abb_librws in both Cmakelist and package.xml, but couldn't compile the package and it seems I have to modify rws_continuous_trigger.cpp under yumi_cameras/src. Do I miss anything?

Answer 13 · 2021-02-15T09:42:33.000Z

Ah yes, now that I rebuild the packages after deleting my build directory, I too have these warnings. I have only gotten these packages to compile, not to work at runtime, maybe that's why.

It indeed seems that to make this work, one needs to convert the abb_rws_interface to abb_librws. I have no idea what changed between those two and no idea how to migrate from one to the other.

However, in this issue, we were pointed to a new ABB robot driver. We're also trying to figure out how that works, but depending on what you're trying to do, it might be better to switch to that repository.

Answer 14 · 2021-02-15T09:48:29.000Z

@imitsioni Maybe it's better to remove this issue from the wiki. It does compile with warnings, but I doubt we'll make it work with a physical yumi any time soon.

Answer 15 · 2021-02-15T09:52:49.000Z

You might be right, I will keep an eye out and try to test these changes after February.

Answer 16 · 2021-02-21T21:00:53.000Z

Hi @robberthofmanfm

Thank you very much for your feedback and interest in the package.

I'm not working with YuMi anymore, but as developer of the package I would be happy to review any Pull Requests you can submit.

Btw, Kinetic is at end-of-life, http://wiki.ros.org/Distributions and Melodic will only have two more years. Does it make sense to rather implement support for Noetic and Ubuntu 20.04?

Best,
Yoshua

Answer 17 · 2021-02-22T11:13:18.000Z

Hi @YoshuaNava,

I am always a fan of supporting latest versions and I am running 20.04 + Noetic myself. However, I don't see a way to ensure compatibility for all Ubuntu/ROS versions. PRs that make Noetic compatible will probably break compatibility with 16.04 + Kinetic (and maybe 18.04 + Melodic).

At this moment, we are using ros-industrial/abb_robot_driver to control YuMi over EGM, and using this repository mostly for the moveit configurations, yumi descriptions and launch files.
We will probably always use those two packages together, so we are not going to invest time in making this package work in a stand alone way (without a dependency to abb_robot_driver).

Kind regards,
Robbert

Answer 18 · 2021-10-28T09:59:22.000Z

@robberthofmanfm I have solved the problem with yumi_hw like this #74 (comment)
and it works with me on ROS Noetic.

Answer 19 · 2022-06-28T08:08:37.000Z

@robberthofmanfm I have solved the problem with yumi_hw like this #74 (comment), and it works with me on ROS Noetic.

@YoshuaNava @robberthofmanfm @jontje @diogoalmeida I have tested this, and it worked fine on Noetic. The only thing that remained was about EGM. I have an EGM license. When I set up the robot in robot studio, the related EGM ".mod" and ".sys" files were downloaded under T_ROB_L and T_ROB_R tasks. While "yumi_traj_pos_control.launch" works fine with RWS, for the EGM, I got this error "YuMi EGM interface not available. RobotHW node will be stopped now." It cannot find "TRobEGM.sys." It seems in the new update, and the TRobEGM.sys file had become TRobEGM.mod.
Also, I tried "TRobEGM.sys" with no success. I am so confused about the EGM settings and what files and signals I should set up to be able to use EGM.
Could you please provide some instructions/ clarification for setting up the EGM?

Answer 20 · 2022-06-28T08:57:05.000Z

Could you please provide some instructions/ clarification for setting up the EGM?

Hey @Mahdiford, unfortunately, I am unable to help you with this. Are you able to get support from ABB?

Answer 21 · 2022-06-28T10:19:20.000Z

We're not using yumi_hw but abb_robot_driver. On that repo, you can find a lot of guidance on how to set up EGM. Some of them will probably also be needed to get yumi_hw working. I'm thinking about e.g. setting up these UDPUC devices on the YuMi side: https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_egm_hardware_interface#troubleshooting

On the YuMi side, abb_robot_driver expects https://robotapps.robotstudio.com/#/viewApp/c163de01-792e-4892-a290-37dbe050b6e1 to be installed.

Answer 22 · 2022-06-28T16:03:12.000Z

Could you please provide some instructions/ clarification for setting up the EGM?

Hey @Mahdiford, unfortunately, I am unable to help you with this. Are you able to get support from ABB?

Hi Thanks, @diogoalmeida, ABB stated that they are not supporting the driver and they released it as is. I will try my chance.

We're not using yumi_hw but abb_robot_driver. On that repo, you can find a lot of guidance on how to set up EGM. Some of them will probably also be needed to get yumi_hw working. I'm thinking about e.g. setting up these UDPUC devices on the YuMi side: https://github.com/ros-industrial/abb_robot_driver/tree/master/abb_egm_hardware_interface#troubleshooting

On the YuMi side, abb_robot_driver expects https://robotapps.robotstudio.com/#/viewApp/c163de01-792e-4892-a290-37dbe050b6e1 to be installed.

@robberthofmanfm Thanks. I have no issue installing EGM and getting it to work with this. Also, I could connect to the robot with KTH's repo, but because of the difference, I mentioned it is impossible to get it to work as I described. Do you have any Moveit samples with the abb_robot_driver, please?

Answer 23 · 2022-06-28T16:07:02.000Z

@robberthofmanfm Thanks. I have no issue installing EGM and getting it to work with this. Also, I could connect to the robot with KTH's repo, but because of the difference, I mentioned it is impossible to get it to work as I described. Do you have any Moveit samples with the abb_robot_driver, please?

I'm afraid I'm not allowed to share that.