I am trying to have CoppeliaSim ROS1 and ROS 2 enabled.
First I copied files in CoppeliaSim/compiledROSPlugins to CoppeliaSim/, however it won't be loaded.
(In the case of ROS1, I have confirmed that roscore is running.)
I tried recompile packages following CoppeliaSim ROS tutorial page.
http://www.coppeliarobotics.com/helpFil ... torial.htm
However, build was failed both ROS1 and ROS2.
I haven't changed any of the files in simExtROSInterface/ (in case ROS1) and simExtROS2Interface/ (in case ROS2) directories.
How can I make recompile successful on ROS1/ROS2?
<Environment>
Ubuntu 18.04
(In the Ubuntu 16.04 environment - another PC - , I was able to load the supplied ROS1 Plugin file.)
CoppeliaSim Pro V4.0.0 rev1
ROS1 distro : melodic
Error Massage:
Code: Select all
$ catkin build --jobs 1 --cmake-args -DCMAKE_BUILD_TYPE=Release -DLIBPLUGIN_DIR=$COPPELIASIM_ROOT_DIR/programming/libPlugin -- --make-args -j1 --
-----------------------------------------------------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/melodic
Workspace: /home/user/coppelia_ws
-----------------------------------------------------------------------------------------------------
Build Space: [exists] /home/user/coppelia_ws/build
Devel Space: [exists] /home/user/coppelia_ws/devel
Install Space: [unused] /home/user/coppelia_ws/install
Log Space: [missing] /home/user/coppelia_ws/logs
Source Space: [exists] /home/user/coppelia_ws/src
DESTDIR: [unused] None
-----------------------------------------------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
-----------------------------------------------------------------------------------------------------
Additional CMake Args: -DCMAKE_BUILD_TYPE=Release -DLIBPLUGIN_DIR=/home/user/Downloads/coppeliaSimProV400/programming/libPlugin
Additional Make Args: -j1 --jobs 1
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 '1' packages in 0.0 seconds.
[build] Updating package table.
Warning: generated devel space setup files have been deleted.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 2.6 seconds ]
Starting >>> sim_ros_interface
____________________________________________________________________________________________________
Errors << sim_ros_interface:make /home/user/coppelia_ws/logs/sim_ros_interface/build.make.000.log
Traceback (most recent call last):
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 200, in <module>
pycpp = PyCPP(input_str=input_str, params=params)
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 113, in __init__
raise RuntimeError('line {:d}: expected "{}" to close "{}"'.format(line.no, cur.rule.close_tag, cur.tag))
RuntimeError: line 9: expected "endfor" to close "for"
make[2]: *** [generated/adv.cpp] Error 1
make[1]: *** [CMakeFiles/generate_ros_code.dir/all] Error 2
make: *** [all] Error 2
cd /home/user/coppelia_ws/build/sim_ros_interface; catkin build --get-env sim_ros_interface | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
....................................................................................................
Failed << sim_ros_interface:make [ Exited with code 2 ]
Failed <<< sim_ros_interface [ 3.0 seconds ]
[build] Summary: 1 of 2 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 5.7 seconds total.
ROS2 distro : dashing
Error Massage:
Code: Select all
$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DLIBPLUGIN_DIR=$COPPELIASIM_ROOT_DIR/programming/libPlugin
Starting >>> ros2_bubble_rob
Starting >>> sim_ros2_interface
--- stderr: ros2_bubble_rob
CMake Warning:
Manually-specified variables were not used by the project:
LIBPLUGIN_DIR
---
Finished <<< ros2_bubble_rob [7.64s]
[Processing: sim_ros2_interface]
[Processing: sim_ros2_interface]
--- stderr: sim_ros2_interface
Traceback (most recent call last):
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 200, in <module>
Traceback (most recent call last):
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 200, in <module>
pycpp = PyCPP(input_str=input_str, params=params)
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 113, in __init__
raise RuntimeError('line {:d}: expected "{}" to close "{}"'.format(line.no, cur.rule.close_tag, cur.tag))
pycpp = PyCPP(input_str=input_str, params=params)
RuntimeError: File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 113, in __init__
line 9: expected "endfor" to close "for"
Traceback (most recent call last):
Traceback (most recent call last):
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 200, in <module>
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 200, in <module>
raise RuntimeError('line {:d}: expected "{}" to close "{}"'.format(line.no, cur.rule.close_tag, cur.tag))
RuntimeError: line 10: expected "endfor" to close "for"
Traceback (most recent call last):
pycpp = PyCPP(input_str=input_str, params=params)
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 200, in <module>
pycpp = PyCPP(input_str=input_str, params=params)
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 113, in __init__
Traceback (most recent call last):
Traceback (most recent call last):
pycpp = PyCPP(input_str=input_str, params=params)
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 200, in <module>
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 200, in <module>
pycpp = PyCPP(input_str=input_str, params=params)
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 113, in __init__
pycpp = PyCPP(input_str=input_str, params=params)
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 113, in __init__
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 113, in __init__
raise RuntimeError('line {:d}: expected "{}" to close "{}"'.format(line.no, cur.rule.close_tag, cur.tag))
raise RuntimeError('line {:d}: expected "{}" to close "{}"'.format(line.no, cur.rule.close_tag, cur.tag))
RuntimeError : raise RuntimeError('line {:d}: expected "{}" to close "{}"'.format(line.no, cur.rule.close_tag, cur.tag))
RuntimeErrorline 22: expected "endfor" to close "for": raise RuntimeError('line {:d}: expected "{}" to close "{}"'.format(line.no, cur.rule.close_tag, cur.tag))
RuntimeError
: line 12: expected "endfor" to close "for"
RuntimeErrorline 10: expected "endfor" to close "for": line 28: expected "endfor" to close "for"
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 113, in __init__
raise RuntimeError('line {:d}: expected "{}" to close "{}"'.format(line.no, cur.rule.close_tag, cur.tag))
RuntimeError: line 10: expected "endfor" to close "for"
Traceback (most recent call last):
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 200, in <module>
pycpp = PyCPP(input_str=input_str, params=params)
File "/home/user/Downloads/coppeliaSimProV400/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py", line 101, in __init__
raise RuntimeError('line {:d}: unexpected "{}" after "{}"'.format(line.no, line.text, cur.tag))
RuntimeError: line 69: unexpected "else:
" after "else"
make[2]: *** [generated/cli_new.cpp] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [generated/cli_del.cpp] Error 1
make[2]: *** [generated/pub_del.cpp] Error 1
make[2]: *** [generated/pub_publish.cpp] Error 1
make[2]: *** [generated/pub_new.cpp] Error 1
make[2]: *** [generated/cli_call.cpp] Error 1
make[2]: *** [generated/callbacks.cpp] Error 1
make[2]: *** [generated/callbacks.h] Error 1
make[1]: *** [CMakeFiles/generate_ros_code.dir/all] Error 2
make: *** [all] Error 2
---
Failed <<< sim_ros2_interface [ Exited with code 2 ]
Summary: 1 package finished [1min 10s]
1 package failed: sim_ros2_interface
2 packages had stderr output: ros2_bubble_rob sim_ros2_interface
I will appreciate your help with this situation.
masato