**Build Error** : ‘static bool planning_scene::PlanningScene::isEmpty(const PlanningScene&)’ is deprecated: Use moveit/utils/message_checks.h instead [-Werror=deprecated-declarations]
srujan-aris opened this issue · comments
Commit
At which commit was the issue/bug observed?
running ros-noetic on Ubuntu 20.04
building the melodic-devel
Steps to reproduce
How can the issue/bug be reproduced?
mkdir -p pilz_ws/src
cd pilz_ws/src
git clone https://github.com/PilzDE/pilz_common.git
git clone https://github.com/PilzDE/pilz_industrial_motion.git
catkin build
Expected behavior
build 100%
Observed behavior
Logfiles
srujan@srujan-aris1:~/pilz_ws$ catkin build
---------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/noetic
Workspace: /home/srujan/pilz_ws
---------------------------------------------------------
Build Space: [exists] /home/srujan/pilz_ws/build
Devel Space: [exists] /home/srujan/pilz_ws/devel
Install Space: [unused] /home/srujan/pilz_ws/install
Log Space: [missing] /home/srujan/pilz_ws/logs
Source Space: [exists] /home/srujan/pilz_ws/src
DESTDIR: [unused] None
---------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
---------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
---------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
---------------------------------------------------------
Workspace configuration appears valid.
NOTE: Forcing CMake to run for each package.
---------------------------------------------------------
[build] Found '9' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.3 seconds ]
Starting >>> pilz_extensions
Starting >>> pilz_msgs
Starting >>> pilz_store_positions
Starting >>> pilz_utils
Finished <<< pilz_utils [ 1.9 seconds ]
Starting >>> pilz_testutils
Finished <<< pilz_extensions [ 1.9 seconds ]
Finished <<< pilz_store_positions [ 2.4 seconds ]
Finished <<< pilz_msgs [ 4.5 seconds ]
Starting >>> pilz_industrial_motion_testutils
Finished <<< pilz_testutils [ 4.4 seconds ]
Finished <<< pilz_industrial_motion_testutils [ 10.2 seconds ]
Starting >>> pilz_trajectory_generation
_____________________________________________________________________________________________________________________________________________________________________
Errors << pilz_trajectory_generation:make /home/srujan/pilz_ws/logs/pilz_trajectory_generation/build.make.000.log
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp: In member function ‘void pilz_trajectory_generation::MoveGroupSequenceAction::executeSequenceCallbackPlanAndExecute(const MoveGroupSequenceGoalConstPtr&, pilz_msgs::MoveGroupSequenceResult&)’:
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:133:100: error: ‘static bool planning_scene::PlanningScene::isEmpty(const RobotState&)’ is deprecated: Use moveit/utils/message_checks.h instead [-Werror=deprecated-declarations]
planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff.robot_state) ?
^
In file included from /opt/ros/noetic/include/moveit/planning_scene_monitor/planning_scene_monitor.h:43,
from /opt/ros/noetic/include/moveit/move_group/move_group_capability.h:40,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/include/pilz_trajectory_generation/move_group_sequence_action.h:23,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:39:
/opt/ros/noetic/include/moveit/planning_scene/planning_scene.h:951:75: note: declared here
[[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::RobotState& msg);
^~~~~~~
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:133:100: error: ‘static bool planning_scene::PlanningScene::isEmpty(const RobotState&)’ is deprecated: Use moveit/utils/message_checks.h instead [-Werror=deprecated-declarations]
planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff.robot_state) ?
^
In file included from /opt/ros/noetic/include/moveit/planning_scene_monitor/planning_scene_monitor.h:43,
from /opt/ros/noetic/include/moveit/move_group/move_group_capability.h:40,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/include/pilz_trajectory_generation/move_group_sequence_action.h:23,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:39:
/opt/ros/noetic/include/moveit/planning_scene/planning_scene.h:951:75: note: declared here
[[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::RobotState& msg);
^~~~~~~
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp: In member function ‘void pilz_trajectory_generation::MoveGroupSequenceAction::executeMoveCallbackPlanOnly(const MoveGroupSequenceGoalConstPtr&, pilz_msgs::MoveGroupSequenceResult&)’:
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:179:89: error: ‘static bool planning_scene::PlanningScene::isEmpty(const PlanningScene&)’ is deprecated: Use moveit/utils/message_checks.h instead [-Werror=deprecated-declarations]
(planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff)) ?
^
In file included from /opt/ros/noetic/include/moveit/planning_scene_monitor/planning_scene_monitor.h:43,
from /opt/ros/noetic/include/moveit/move_group/move_group_capability.h:40,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/include/pilz_trajectory_generation/move_group_sequence_action.h:23,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:39:
/opt/ros/noetic/include/moveit/planning_scene/planning_scene.h:943:75: note: declared here
[[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::PlanningScene& msg);
^~~~~~~
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:179:89: error: ‘static bool planning_scene::PlanningScene::isEmpty(const PlanningScene&)’ is deprecated: Use moveit/utils/message_checks.h instead [-Werror=deprecated-declarations]
(planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff)) ?
^
In file included from /opt/ros/noetic/include/moveit/planning_scene_monitor/planning_scene_monitor.h:43,
from /opt/ros/noetic/include/moveit/move_group/move_group_capability.h:40,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/include/pilz_trajectory_generation/move_group_sequence_action.h:23,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:39:
/opt/ros/noetic/include/moveit/planning_scene/planning_scene.h:943:75: note: declared here
[[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::PlanningScene& msg);
^~~~~~~
cc1plus: all warnings being treated as errors
make[2]: *** [CMakeFiles/sequence_capability.dir/build.make:63: CMakeFiles/sequence_capability.dir/src/move_group_sequence_action.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:3754: CMakeFiles/sequence_capability.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
cd /home/srujan/pilz_ws/build/pilz_trajectory_generation; catkin build --get-env pilz_trajectory_generation | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
.....................................................................................................................................................................
Failed << pilz_trajectory_generation:make [ Exited with code 2 ]
Failed <<< pilz_trajectory_generation [ 52.6 seconds ]
Abandoned <<< pilz_industrial_motion [ Unrelated job failed ]
Abandoned <<< pilz_robot_programming [ Unrelated job failed ]
[build] Summary: 7 of 10 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 2 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 1 minute and 8.7 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
Upon this suggestion to use source installed moveit, I underlayed a source installed moveit and tried to build again, Here's is what I get
srujan@srujan-aris1:~/pilz_ws$ catkin build
-------------------------------------------------------------
Profile: default
Extending: [explicit] /home/srujan/source_moveit/devel
Workspace: /home/srujan/pilz_ws
-------------------------------------------------------------
Build Space: [exists] /home/srujan/pilz_ws/build
Devel Space: [exists] /home/srujan/pilz_ws/devel
Install Space: [unused] /home/srujan/pilz_ws/install
Log Space: [missing] /home/srujan/pilz_ws/logs
Source Space: [exists] /home/srujan/pilz_ws/src
DESTDIR: [unused] None
-------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
-------------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
-------------------------------------------------------------
Whitelisted Packages: None
Blacklisted Packages: None
-------------------------------------------------------------
Workspace configuration appears valid.
NOTE: Forcing CMake to run for each package.
-------------------------------------------------------------
[build] Found '9' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 2.3 seconds ]
Starting >>> pilz_extensions
Starting >>> pilz_msgs
Starting >>> pilz_store_positions
Starting >>> pilz_utils
Finished <<< pilz_utils [ 3.9 seconds ]
Starting >>> pilz_testutils
Finished <<< pilz_extensions [ 3.9 seconds ]
Finished <<< pilz_store_positions [ 4.6 seconds ]
Finished <<< pilz_msgs [ 9.0 seconds ]
Starting >>> pilz_industrial_motion_testutils
Finished <<< pilz_testutils [ 7.4 seconds ]
Finished <<< pilz_industrial_motion_testutils [ 17.7 seconds ]
Starting >>> pilz_trajectory_generation
_____________________________________________________________________________________________________________________________________________________________________
Errors << pilz_trajectory_generation:make /home/srujan/pilz_ws/logs/pilz_trajectory_generation/build.make.000.log
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp: In member function ‘void pilz_trajectory_generation::MoveGroupSequenceAction::executeSequenceCallbackPlanAndExecute(const MoveGroupSequenceGoalConstPtr&, pilz_msgs::MoveGroupSequenceResult&)’:
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:133:100: error: ‘static bool planning_scene::PlanningScene::isEmpty(const RobotState&)’ is deprecated: Use moveit/utils/message_checks.h instead [-Werror=deprecated-declarations]
planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff.robot_state) ?
^
In file included from /home/srujan/source_moveit/src/moveit/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h:43,
from /home/srujan/source_moveit/src/moveit/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h:40,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/include/pilz_trajectory_generation/move_group_sequence_action.h:23,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:39:
/home/srujan/source_moveit/src/moveit/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h:952:75: note: declared here
[[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::RobotState& msg);
^~~~~~~
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:133:100: error: ‘static bool planning_scene::PlanningScene::isEmpty(const RobotState&)’ is deprecated: Use moveit/utils/message_checks.h instead [-Werror=deprecated-declarations]
planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff.robot_state) ?
^
In file included from /home/srujan/source_moveit/src/moveit/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h:43,
from /home/srujan/source_moveit/src/moveit/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h:40,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/include/pilz_trajectory_generation/move_group_sequence_action.h:23,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:39:
/home/srujan/source_moveit/src/moveit/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h:952:75: note: declared here
[[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::RobotState& msg);
^~~~~~~
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp: In member function ‘void pilz_trajectory_generation::MoveGroupSequenceAction::executeMoveCallbackPlanOnly(const MoveGroupSequenceGoalConstPtr&, pilz_msgs::MoveGroupSequenceResult&)’:
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:179:89: error: ‘static bool planning_scene::PlanningScene::isEmpty(const PlanningScene&)’ is deprecated: Use moveit/utils/message_checks.h instead [-Werror=deprecated-declarations]
(planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff)) ?
^
In file included from /home/srujan/source_moveit/src/moveit/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h:43,
from /home/srujan/source_moveit/src/moveit/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h:40,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/include/pilz_trajectory_generation/move_group_sequence_action.h:23,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:39:
/home/srujan/source_moveit/src/moveit/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h:944:75: note: declared here
[[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::PlanningScene& msg);
^~~~~~~
/home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:179:89: error: ‘static bool planning_scene::PlanningScene::isEmpty(const PlanningScene&)’ is deprecated: Use moveit/utils/message_checks.h instead [-Werror=deprecated-declarations]
(planning_scene::PlanningScene::isEmpty(goal->planning_options.planning_scene_diff)) ?
^
In file included from /home/srujan/source_moveit/src/moveit/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h:43,
from /home/srujan/source_moveit/src/moveit/moveit_ros/move_group/include/moveit/move_group/move_group_capability.h:40,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/include/pilz_trajectory_generation/move_group_sequence_action.h:23,
from /home/srujan/pilz_ws/src/pilz_industrial_motion/pilz_trajectory_generation/src/move_group_sequence_action.cpp:39:
/home/srujan/source_moveit/src/moveit/moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h:944:75: note: declared here
[[deprecated("Use moveit/utils/message_checks.h instead")]] static bool isEmpty(const moveit_msgs::PlanningScene& msg);
^~~~~~~
cc1plus: all warnings being treated as errors
make[2]: *** [CMakeFiles/sequence_capability.dir/build.make:63: CMakeFiles/sequence_capability.dir/src/move_group_sequence_action.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/Makefile2:3754: CMakeFiles/sequence_capability.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:141: all] Error 2
cd /home/srujan/pilz_ws/build/pilz_trajectory_generation; catkin build --get-env pilz_trajectory_generation | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
.....................................................................................................................................................................
Failed << pilz_trajectory_generation:make [ Exited with code 2 ]
Failed <<< pilz_trajectory_generation [ 1 minute and 15.0 seconds ]
Abandoned <<< pilz_industrial_motion [ Unrelated job failed ]
Abandoned <<< pilz_robot_programming [ Unrelated job failed ]
[build] Summary: 7 of 10 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 2 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 1 minute and 44.5 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
srujan@srujan-aris1:~/pilz_ws$
I tried underlaying a workspace which has moveit (melodic-devel) installed from source, and the build was successful. Is there a way to do this for noetic? Please suggest
Thanks for reporting this issue. What is your intention? Would you like to use the industrial planner in noetic? Then I suggest that you simply remove pilz_industrial_motion
since the planner was merged into moveit
(branch: master
).
Feel free to re-open or pose another issue if your problem was not solved.
That's a good news @martiniil.
My intention is to generate Move_J (PTP) and Move_L (LIN) type of trajectories and perform collision checking for a UR10.
Previously I had no luck using this planner with moveit-noetic. I had to install moveit-melodic from source to use this planner.
I will try once again to use this planner with moveit-noetic and see if it works.
@srujan-aris Yep, our planner was integrated upstream as pilz_industrial_motion_planner.
@jschleicher , I see the pilz_industrial_motion_planner upstream. I have one quick question, does moveit_setup_assistant suppose to generate config files related to pilz_industrial_motion_planner in the config package? I couldn't see any of those generated.
Yes, the moveit_setup_assistant does generate the files - you have to just select pipeline:=pilz_industrial_motion_planner
to use them. The current moveit master isn't released as binary, so you still need to build moveit from source.